# LICHUAN A6 Servo Drives

motion4sim controller now also supports  LICHUAN A6 Servo Drives and series.

To utilize the internal homing functions of the A6 servo driver  with the M4S controller, please follow the instructions below. If you wish to use limit switches, you can easily connect the pulse and direction and enable lines of the actuator with a custom cable and dont need a breakout pcb.(end of post)\
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you will find A6 servo motor and driver here:\
<https://www.lichuanservomotor.com/a6-series-ac-servo-motor-driver.html>\
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or at:\
<https://www.omc-stepperonline.com/servo-motor>\
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the A6 servo driver has an dsub hd 44 pin interface for motioncontroll, the modbus interface is too slow for  pulse command. so we need an breakout board to interface. i have designed an pcb for this purpose. so you can connect a dsub25 cable to the servo and the motion4sim controller.\
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![](/files/TegObXoYYauQ6KllYvp9)<br>

Connectors

1. CN1    12-24 V DC IN Connector    MOLEX 39288020 (only for brake required  Pin1+)
2. CN 3   Brake out Connector   (Pin 1+ Pin2 -)  MOLEX 39288020
3. CN2  DC OUT Connector  MOLEX 39288020
4. DSUB 25 straigth Connector  DS1034-25FUNSI44
5. DSUB HD 44 90 DS1038-44MBNSIA74-0CC  rigth Angle connector
6. Homing pins for aktor end sensors and ext Homing switch

<figure><img src="/files/OlpyL1NCrjzZdfCo2mlY" alt="" width="188"><figcaption></figcaption></figure>

<figure><img src="/files/miSn0ogj67TlCL4q9G7J" alt="" width="188"><figcaption></figcaption></figure>

for using the A6 with or without brake  you have to setup the internal registers of the drive . please note that the homing logic of the m4s controller wont work with the A6 so you have to setup the A6 internal referencing mechanism. there will be a special fw for the A6 servo to work with the m4s controller until pcb rev 2.xx (with SAME70 MCU)\ <br>

To set up the drive:

1. Use the AncDeviceStarter APP if the drive has a USB connector as the values shown in the image below.
2. If there is no USB connector, configure the settings manually using the driver display and buttons as the values shown in the image below.\
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   The values to change are highlighted with ochre color.

<figure><img src="/files/VEzQj5EPAkOyo5ASANf0" alt="" width="188"><figcaption></figcaption></figure>

download from here:\
[https://www.dropbox.com/scl/fi/mp1y5k895o7gp2qk63v64/A6\_Debug\_Software.zip?rlkey=eb81nrw1losvrh5wvusaftbeg\&e=1\&st=uqsa05eq\&dl=0l](https://www.dropbox.com/scl/fi/mp1y5k895o7gp2qk63v64/A6_Debug_Software.zip?rlkey=eb81nrw1losvrh5wvusaftbeg\&e=1\&st=uqsa05eq\&dl=0)

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for homing use this configuration :

<figure><img src="/files/HUZx5a79bZgJoqCzdB7T" alt=""><figcaption></figcaption></figure>

<br>

also setup inputs and outputs :&#x20;

<figure><img src="/files/wI5NDdNFtD5bzfep2x4X" alt=""><figcaption></figcaption></figure>

further setup the electronics gearing parameter  C03\_02 to 131072 so it fits to Motion4sim basic PN98=2 setting

please request our discord for BOM & Pick\&Place and Gerber Files to manufacture the breakout pcb .

{% file src="/files/VSOAfOJ3gAni4v2Bfo2R" %}

{% file src="/files/ulWSF1JUR9EA8dPWGQ28" %}

{% file src="/files/JevWqAKEaXVk7ElIhoJr" %}

finally the motion4sim controller needs some modification . we have already an input for each servo channel in the pcb included but for the A6 servo driver we need an output to trigger the homing process of the servo.\
so we have to solder brigde the resistors not needed . Please note that also all other servos do not need this input channel so no problem  if you decided to use aasd servo in the future.<br>

Substitute the resistors with a solder bridge for each servo:

* Servo 1: R100
* Servo 2: R101
* Servo 3: R102
* Servo 4: R97
* Servo 5: R104
* Servo 6: R105
* Servo 7: R103

please be carefull the are small !! you can order the m4s board prepared for the A6 servo drivers, the breakout pcb is only on specially demand available .&#x20;

<figure><img src="/files/5jI5EPvBCbMxm5hBPVjW" alt="" width="188"><figcaption></figcaption></figure>

<figure><img src="/files/b4Ez79R4HbAcovpe6gM7" alt="" width="101"><figcaption></figcaption></figure>

<figure><img src="/files/dSew3MDzsvIkarE7HsCs" alt="" width="161"><figcaption></figcaption></figure>

<figure><img src="/files/zmqmTZlZjd5ab7lPlAYS" alt="" width="85"><figcaption></figcaption></figure>

<figure><img src="/files/E2ueVpUcm43nxKJ2vTf7" alt="" width="56"><figcaption></figcaption></figure>

To set up your Motion4Sim controller with the actuators, follow these steps:

1. Open the Dashboard config form.
2. Navigate to the Setup tab.
3. Enable the "Servo Enable Activ High" option.
4. transmit settings to the controller

all other options are "normal"

if you need further help please join our discord channel \
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<https://discord.com/invite/hKUzQKcqRD><br>

## ***Custom Cable wiring***

if you use external homing sensors with the m4s controller you can wire directly , the servo driver will be always enabled ! use the following layout

## DB44 ↔ DB25 Wiring (LICHUAN A6 ↔ Motion4Sim)

### DB44 (drive enable & DI supply)

| Purpose          | From (DB44)           | To (DB44)              | Note                                       |
| ---------------- | --------------------- | ---------------------- | ------------------------------------------ |
| Supply DI common | **Pin 17 – VCC\_24V** | **Pin 11 – COM+**      | Powers the digital-input common (+24 V).   |
| Enable drive     | **COM−**              | **Pin 33 – SERVO\_ON** | Tie SERVO\_ON to COM− to enable the drive. |

### Motion signals (PULSE/DIR)

| Function          | DB25 (Breakout) | Signal    | DB44 (A6)  | Signal              |
| ----------------- | --------------- | --------- | ---------- | ------------------- |
| Pulse +           | **Pin 3**       | HPULSE+   | **Pin 38** | PULSE+              |
| Pulse −           | **Pin 14**      | HPULSE−   | **Pin 36** | PULSE−              |
| Dir +             | **Pin 4**       | HDIR+     | **Pin 42** | DIR+                |
| Dir −             | **Pin 5**       | HDIR−     | **Pin 40** | DIR−                |
| (Recommended) GND | **Pin 11**      | GND\_CTRL | **Pin 29** | PULS/DIR SIGNAL GND |

**Note:** This mapping follows your latest spec (PULSE+ → DB44-38, PULSE− → DB44-36; DIR+ → DB44-42, DIR− → DB44-40). If your A6 pinout variant differs, double-check against the drive’s connector table.\
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Please also note the  A6 uses internal +24V for internal digital inputs , do never connect any pin of the motion4sim controller to this voltage, the controller will be destroyed!


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