Problems with Lichuan Ethercat servo drive

Actually we are using 7.3 Periodic synchronous position mode (CSP mode)
 

It looks like even in CSP mode, there is an option for Velocity Feed Forward. This is one of the biggest improvements a control loop can have. Has anyone tried this? 
60B1h 00 Speed offset

 

 Please note this is not in anyway final. I just wanted to show how I am running and homing a gantry.
I would like to use the actual captured value of the index pulse, not just let LinuxCNC know that it's been hit, but at slow speeds it doesn't matter in my case.
 
 

   
 

more files



 

Copying the velocity FF command from the comp file to the XML file significantly reduces following error to a ramp. I haven't really tuned the drive yet. If anyone has found an auto-tune button, please let me know.

.comp
  drv_target_velocity = (int32_t) (velocity_cmd * velo_scale);

.xml
<pdoEntry idx="60B1" subIdx="00" bitLen="32" halPin="target-velocity" halType="s32"/>

Why do i get that it cant find "cia402.0.probe1rising". Where does these pins get added? And in what directory should i have the .comp file?
 

It is in the hal file I attached in a previous message. Search for probe1rising. Please note that this is a work in progress (or lack there of for a couple of weeks). I just wanted to show my hack to get a gantry going. Download all the files and search them. Be aware of the LinuxCNC underscore dash translation that occurs between various files. That's why my naming is poorly readable.

If you aren't trying to get a gantry going don't look at what I've posted, it will only set you back.

LC-E series drives dont have an auto tune feature. Has anyone successfully tuned these drives even when only one motor is used per axis (not a gantry)? Considering if I buy a kit as well over Inovance or Leadshine

I'm still waiting to see these in proper functional use on a machine too.
These are very appealing to spec on my machine, but I want someone else to make sure it works first, hahaha.