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Another option for reading 5V signals is spare 7I77 encoder input pins
These have the advantage of being better protected than 7I73 inputs
(to +-25V intermittant)

Got it working!!!

Attached working xml for Hypertherm XPR

Okay, I am pretty sure these are not in the ECAT driver list as I don’t remember ever seeing them, but if they are CiA402 compliant, then it should be possible to get them going.  I am positive I have seen others in the past use Lichuan, but I cannot guarantee that as I have too much LCNC info in my brain already LOL.

First, keep in mind that I can be completely wrong on all of this that I am telling you as I am not the expert on CiA402 as I don’t use it, but Tommy or Rod can check behind me to make sure I don’t get you on the wrong path.   Rod Webster is the CiA402 expert.

When you say, “but I don't yet know how to set this up”, I am not sure if you mean just the XML or the entire system, so I am going to write a little bit and just ignore me if you are verse and know what you are doing.

Since you have LCNC working, you would install the CiA402 comp file that Dominik Braun wrote.  You would use “halcompile” to install the CiA402 comp file from command line.  Next you would setup the “XML” file.  Since there is not a component written for this, you would be using the “generic” driver for your slaves in the “XML”.  There are several examples on the forum, but you basically link the pdos to your hal pins in the “XML” using the xml file you were provided as a reference.   Just search the LCNC forum for xml’s with a generic slave and you will have a starting point to work from.  

If you are not verse with ECAT but are familiar with LCNC, then launch an Axis Sim configuration and just set everything up in a “postgui” hal file and that way you can go one step at a time to get it figured out.  If it was me, I would make a simple working 3 Axis Sim configuration before trying to add the Lichuan drives.  I would just write a simple “XML” with a EK1100 as the only slave in the “XML” as it will start up without any hardware hooked up to the computer (you don’t have to own a Beckhoff EK1100 to get it working).  Once you have a working configuration and can see the LCEC pins in “HALSHOW”, then I would add the CiA402 component and make sure LCNC will still start up and work and that you can see the CiA402 comp.  Once you have the CiA402 comp installed and working, then I would choose AXIS-X/JOINT-1 to work on and add only one of the Lichuan drives and start tweaking the “XML” to get it working with Axis-X.  Once you get one of the drives working, then it’s basically the same for each axis.  I would not try adding both drives at one time as it’s much easier to go one step at a time instead of trying to get it all working in one shot.

If you are not very verse with LCNC you would need to learn the basics of how to setup your “HAL & INI” files and get a basic working configuration first before adding the ECAT section.   If you are new to this but definitely want to use ECAT, don’t get discouraged, all of us here had to start from the beginning.  Luckily I was verse with LCNC when ECAT came on the scene in 2013 as I had been using EMC2 since around 2005ish, but it would be way too confusing to start out fresh with trying to figure out both at the same time.   But since Rod Webster has gotten ECAT simplified for the install, it isn’t like the old days where you had to patch a RTAI kernel, RIP LCNC, EC-debianize, and source build LCAT driver.  Even the source build is much easier than years ago.  No workarounds or tweaks except the “golang” issue, but that is nothing compared to 2013-2015 time period with those kernel module problems.

Once again, CiA402 is rodw’s strong point, and he will be able to help you better than me as I don’t use that component.  Luckily most all of my equipment has the components already written and implemented in the driver.   If rodw can’t help, and you are desperately needing to get the machine up and running for your business, then I would contact Dominik Braun (db1981) as he wrote the CiA402 component and will be the expert on helping you.  I assume that Lichuan will work with the LCNC ECAT driver but do keep in mind that the “generic” driver will not work for all equipment.  Dominik corrected me on this years ago as I thought it would work with anything and that is not true. 

I know this doesn’t get you a working XML if that was what you were looking for, but hope it helps get you a starting point.  Unfortunately, I do not have the time to sit down and write out a “generic” XML and keep responding back and forth to get it working as it can get very involved sometimes, and it’s easier for me to do things if I have the hardware to see what is happening… but hopefully someone can help you as there are several very talented people on here all the time.  I love this community!!!

Hope it somewhat helps…
Robert


*EDIT*
After posting I did a quick search on the forum and it looks like someone else (stirra) has gotten a different Lichuan drive working.  Check his thread and look at the XML he posted.  It looks very simple compared to some of the more involved XML’s.
Missing link in homing LC10E - LinuxCNC

Here is the XML link
forum.linuxcnc.org/media/kunena/attachments/1246/ethercat-conf_2025-01-02-2.xml
 

Hi,
A while back I obtained this great condition mill, and spent a good while getting the original B control and parajust vfd to function. I guess I've had a good few years of use, and learned all that old school stand at the control panel block entry programming system. Thank goodness for CAD systems making it simple to workout profile tangent points and arc centres. What I have learned is the the machine is good, but  for programming prototype parts a bit of a liability, especially if you make changes in the middle of 100 block programme. Not smashed anything, but embarrassed myself.

Always did have a plan to retrofit the control, but now is the time to do it. I know that these old machines have been covered a few times in the forum, but the questions I am bumping into don't seem to be quite covered hence the reason for a new Topic.


My plan is to insert a chassis containing some Mesa boards, and a Raspi 5 in and to make an intermediary interconnection board that accepts all the Hurco edge connectors that go to the B control. From the picture you'll  I've done most of the preparation already. 
The Mesa boards are 7i92T, 7i77D and 7i73  

The sub board accepts the original connectors, and breaks out into solder pads where I can add appropriate wires to connect into the Mesa items. 
My maybe silly idea on this, is that if I don't cut any wires, I can always revert to the historical system, to prove to anyone's  passing grand kids that there is life still in 1980's computing.

I'd like also to use the pots and original pulse generator retained in place in the pendant panel, as well as as the still working fvd and servos etc, in fact everything that's operational and can work with linuxcnc. ( I accept that the encoders will need many more lines and have 2000 cpr ones in stock.)

Question 1 Limit switches
The existing ones are 5volt solid state devices, and the output floats at 5volts, pulled up by a 470ohm resistor in the Hurco control, until triggered where it falls to zero and switches on an LED in an optical isolator which signals the servo to stop as well as telling the operating system that the axis travel has been exceeded.

My initial idea was to connect this output into the 7i77, but I now believe that the field IO terminals TB7/8 won't trigger at only 5 volts, so I propose to use the 7i73 P2 connector, pins IN8 thru' IN15 which are 5 volt tolerant, but with 4.7 kohm pull up resistors.

I'm not the greatest at electrics, so would appreciate your advice.

Thanks