Config-Problem Ethercat

Yes thats ok
But i can not link joint.2.motor-pos-fb to cia402.2.pos-fb
Because it is already linked :net z-pos-cmd joint.2.motor-pos-cmd cia402.pos-cmd joint.2.motor-pos-fb

Axis and halshow means that move the axis but it dosnt move.

Can you check that the drive is in OP like below
 
And with halshow that you have the same values in the following parameters,
not the commanded and actual positions of course, but they should follow the same pattern.
 

For your Z drive.

here my screenshoots:

   

Thanks for your help

Also check opmode-display and connect it to cia402
like here  github.com/dbraun1981/hal-cia402/blob/ma...le/ethercat-conf.xml and here  github.com/dbraun1981/hal-cia402/blob/main/example/cia402.hal

If it still doesn't work after that, you should do a factory reset of the erc60.
It means writing to a SDO with "ethercat download -p 5 0x2nnn m 1"
where you need to find the right index n and subindex m from the erc60 manual.

Strang. minimal config works without problems.:
 
 


 full setup, sometimes it works, sometimes it doesn't image missing /media/kunena/emoticons/sad.png

 
 

is the problem because "dcconf"?

Yes, I see the difference in refclocksynccycles and assignActivate, that's most likely it.
I seem to recall the erc60 only works with DC sync mode, that is set assignActivate=300.