linuxcnc+ethercat drives the AKD servo motor it cannot be moved

<masters>
  <master idx="0" appTimePeriod="1000000" refClockSyncCycles="5">
    <slave idx="0" type="generic" vid="0000006a" pid="0x00414b44" configPdos="true">

    <sdoConfig idx="6060" subIdx="0">
        <sdoDataRaw data="08"/>
    </sdoConfig>
    
    <sdoConfig idx="60C2" subIdx="1">
    <sdoDataRaw data="02"/>
    </sdoConfig>

    <syncManager idx="0" dir="out"></syncManager>
    <syncManager idx="1" dir="in"></syncManager>

    <syncManager idx="2" dir="out">
    <pdo idx="1725">
        <pdoEntry idx="6040" subIdx="00" bitLen="16" halPin="drivecontrol" halType="bit"/>
        <pdoEntry idx="607A" subIdx="00" bitLen="32" halPin="poscommand" halType="float" scale="1000"/>
    </pdo>
    </syncManager>

    <syncManager idx="3" dir="in">
    <pdo idx="1B26">
        <pdoEntry idx="6041" subIdx="00" bitLen="16" halPin="drivestatus" halType="bit"/>
        <pdoEntry idx="6064" subIdx="00" bitLen="32" halPin="pos" halType="float" scale="1000"/>
    </pdo>
    </syncManager>

    <dcConf assignActivate="300" sync0Cycle="*1" sync0Shift="250000"/>

    </slave>
    </master>
</masters>

# EMC controller parameters for a simulated machine.

# General note: Comments can either be preceded with a # or ; - either is
# acceptable, although # is in keeping with most linux config files.

# General section

---

[EMC]

# Version of this INI file
VERSION = 1.1

# Name of machine, for use with display, etc.
MACHINE = LinuxCNC-HAL-SIM-AXIS

# Debug level, 0 means no messages. See src/emc/nml_int/emcglb.h for others
#DEBUG = 0x7FFFFFFF
DEBUG = 0

# Sections for display options

---

[DISPLAY]

# Name of display program, e.g., axis
DISPLAY = axis

# Cycle time, in seconds, that display will sleep between polls
CYCLE_TIME = 0.100

# Path to help file
HELP_FILE = doc/help.txt

# Initial display setting for position, RELATIVE or MACHINE
POSITION_OFFSET = RELATIVE

# Initial display setting for position, COMMANDED or ACTUAL
POSITION_FEEDBACK = ACTUAL

# Highest value that will be allowed for feed override, 1.0 = 100%
MAX_FEED_OVERRIDE = 1.2
MAX_SPINDLE_OVERRIDE = 1.0

MAX_LINEAR_VELOCITY = 5
DEFAULT_LINEAR_VELOCITY = .25
DEFAULT_SPINDLE_SPEED = 200
# Prefix to be used
PROGRAM_PREFIX = ../../nc_files/

# Introductory graphic
INTRO_GRAPHIC = linuxcnc.gif
INTRO_TIME = 5

#EDITOR = gedit
TOOL_EDITOR = tooledit

INCREMENTS = 1 in, 0.1 in, 10 mil, 1 mil, 1mm, .1mm, 1/8000 in

[FILTER]
PROGRAM_EXTENSION = .png,.gif,.jpg Grayscale Depth Image
PROGRAM_EXTENSION = .py Python Script

png = image-to-gcode
gif = image-to-gcode
jpg = image-to-gcode
py = python

# Task controller section

---

[TASK]

# Name of task controller program, e.g., milltask
TASK = milltask

# Cycle time, in seconds, that task controller will sleep between polls
CYCLE_TIME = 0.001

# Part program interpreter section

---

[RS274NGC]

# File containing interpreter variables
PARAMETER_FILE = sim.var

# Motion control section

---

[EMCMOT]

EMCMOT = motmod

# Timeout for comm to emcmot, in seconds
COMM_TIMEOUT = 1.0

# BASE_PERIOD is unused in this configuration but specified in core_sim.hal
BASE_PERIOD = 0
# Servo task period, in nano-seconds
SERVO_PERIOD = 1000000

# section for main IO controller parameters

---

[EMCIO]

# Name of IO controller program, e.g., io
EMCIO = io

# cycle time, in seconds
CYCLE_TIME = 0.100

# tool table file
TOOL_TABLE = sim.tbl
TOOL_CHANGE_POSITION = 0 0 0
TOOL_CHANGE_QUILL_UP = 1

# Hardware Abstraction Layer section

---

[HAL]

# The run script first uses halcmd to execute any HALFILE
# files, and then to execute any individual HALCMD commands.
#

# list of hal config files to run through halcmd
# files are executed in the order in which they appear
HALFILE = core_sim.hal
HALFILE = sim_spindle_encoder.hal
HALFILE = axis_manualtoolchange.hal
HALFILE = simulated_home.hal
HALFILE = check_xyz_constraints.hal
HALFILE = deltaPos.hal
# list of halcmd commands to execute
# commands are executed in the order in which they appear
#HALCMD = save neta

# Single file that is executed after the GUI has started.  Only supported by
# AXIS at this time (only AXIS creates a HAL component of its own)
#POSTGUI_HALFILE = test_postgui.hal

HALUI = halui

# Trajectory planner section

---

[TRAJ]
COORDINATES = X Y Z
LINEAR_UNITS = inch
ANGULAR_UNITS = degree
MAX_LINEAR_VELOCITY = 4
DEFAULT_LINEAR_ACCELERATION = 100
MAX_LINEAR_ACCELERATION = 100
POSITION_FILE = position.txt

[KINS]
KINEMATICS = trivkins
JOINTS = 3

# Axes sections

---

[AXIS_X]
MAX_VELOCITY = 4
MAX_ACCELERATION = 100.0
MIN_LIMIT = -10.0
MAX_LIMIT = 10.0

[AXIS_Y]
MAX_VELOCITY = 4
MAX_ACCELERATION = 100.0
MIN_LIMIT = -10.0
MAX_LIMIT = 10.0

[AXIS_Z]
MAX_VELOCITY = 4
MAX_ACCELERATION = 100.0
MIN_LIMIT = -8.0
MAX_LIMIT = 0.12

# Joints sections

---

[JOINT_0]
TYPE = LINEAR
HOME = 0.000
MAX_VELOCITY = 5
MAX_ACCELERATION = 50.0
BACKLASH = 0.000
INPUT_SCALE = 4000
OUTPUT_SCALE = 1.000
FERROR = 0.050
MIN_FERROR = 0.010
MIN_LIMIT = -10.0
MAX_LIMIT = 10.0
HOME_OFFSET = 0.0
HOME_SEARCH_VEL = 20.0
HOME_LATCH_VEL = 20.0
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = NO
HOME_SEQUENCE = 1
HOME_IS_SHARED = 1

[JOINT_1]
TYPE = LINEAR
HOME = 0.000
MAX_VELOCITY = 5
MAX_ACCELERATION = 50.0
BACKLASH = 0.000
INPUT_SCALE = 4000
OUTPUT_SCALE = 1.000
FERROR = 0.050
MIN_FERROR = 0.010
MIN_LIMIT = -10.0
MAX_LIMIT = 10.0
HOME_OFFSET = 0.0
HOME_SEARCH_VEL = 20.0
HOME_LATCH_VEL = 20.0
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = NO
HOME_SEQUENCE = 1

[JOINT_2]
TYPE = LINEAR
HOME = 0.0
MAX_VELOCITY = 5
MAX_ACCELERATION = 50.0
BACKLASH = 0.000
INPUT_SCALE = 4000
OUTPUT_SCALE = 1.000
MIN_LIMIT = -8.0

# Normally the Z max should be 0.000!
# The only reason it's greater than 0 here is so that the splash screen
# gcode will run.
MAX_LIMIT = 0.12

FERROR = 0.050
MIN_FERROR = 0.010
HOME_OFFSET = 1.0
HOME_SEARCH_VEL = 20.0
HOME_LATCH_VEL = 20.0
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = NO
HOME_SEQUENCE = 0
HOME_IS_SHARED = 1

loadusr -W lcec_conf /home/qxh-wyk/linuxcnc-dev/configs/sim/axis/deltaPos.xml
loadrt lcec

addf lcec.read-all servo-thread
addf lcec.write-all servo-thread

setp lcec.0.0.drivecontrol-1 1
setp lcec.0.0.drivecontrol-2 1

#net Xachse_fb lcec.0.0.pos => joint.0.motor-pos-fb
net Xpos => lcec.0.0.poscommand
net Xachse_AF joint.0.amp-enable-out => lcec.0.0.drivecontrol-0
net Xachse_AF  => lcec.0.0.drivecontrol-3
net Xachse_AF  => lcec.0.0.drivecontrol-5