Lichuan 4 axis stepper need help-

Hi guys. I've spent the morning having a go at getting a 4 axis ethercat drive working.
Just the most basic config I could devise from Dominic's sample.
I got movement from the first drive but its not right. just a whine and a bare stutter.
I wondered if one of the phases was the wrong polarity but no luck with that. The same result which was odd.

There is a windows USB config program which let me set the motor amps to 2 amps and I could see the steps/rev was 10000 which seemed high.
Any ideas would be appreciated. They are a good solution if we can get it going at USD $92 + shipping (for 4 stepper drives - $23 each stepper)

Sorry its from Lichuan. They also have a closed loop one too

tommylight wrote:

I did check, i can not find anything from Lichuan on Amazon.de, bloody hell, this would have easily been the thing to suck me into EtherCAT, but nooooo...

They have listings of sets with the drives on Aliexpress but I messaged them direct on Alibaba to buy the drive. Had it in about 4 days ex China via DHL.

We have to get this going as its soo cheap!

rodw wrote:

They have listings of sets with the drives on Aliexpress but I messaged them direct on Alibaba to buy the drive. Had it in about 4 days ex China via DHL.

We have to get this going as its soo cheap!
 

I have to order one of these. Will probably take 30-60 days to get to me. About a month to cross the Pacific plus 5-10 days in customs plus 5-10 days ground freight....

NWE wrote:

I have to order one of these. Will probably take 30-60 days to get to me. About a month to cross the Pacific plus 5-10 days in customs plus 5-10 days ground freight....

Message them here lichuanmotor.en.alibaba.com/productgroup...408298/EtherCAT.html

They shipped DHL and got to me across the Pacific in about 4 days for USD $32

There was a question on that drive before in the forum, was that of any help?
Not exactly the problem you have if I recall right, but anyway.
Hoping to avoid looking at all supplied files hehe.

Hakan wrote:

There was a question on that drive before in the forum, was that of any help?
Not exactly the problem you have if I recall right, but anyway.
Hoping to avoid looking at all supplied files hehe.
 

Maybe not so Lucky. I did find a thread on a 2 axis drive that had the same issue but it was never resolved.  I think this is  a deeper problem but don't know why. At least I have the config sorted out and working BUT....

Joint 0 is working perfectly now but Joints 1, 2 and 3 do nothing. The statusword etc are not updating so I am beginning to think this is an issue with our drivers etc. Is it because there is not a slave for every drive? Maybe there is something to enable the later drives so will dig.
I've updated some files attached here.


 

Some ideas.
Check syslog: "sudo dmesg | tail -30"
Are pdos configurable? Check the esi/xml file. Adjust configPdos if needed.
It's one slave. Config looks ok in principle.
Try with only the seconds drive, remove 0x1600, 0x1620, 0x1630, same for Rxpdos.

yeh, I looked at dmesg.
I did a brief review. It looks like cia402 is getting an enable signal and something goes awry before the drives come on line
I've never liked the current cia402 component source code as its really too hard to debug and does not follow a cia402 state machine.
It also no longer works properly for homing without modification with the advent of homecomps!
So I'm going to try to rewrite it