Ethercat HAL driver

@db1981 .... yes I means "show axis configuration HAL pin" .... not see my error ...sorry.... dmesg seems normal ...

bkt

@bkt

-does the slave 6 goes to op state, after starting linuxcnc? (ethercat slaves)

@db1981

Just control .... slaves 6 stay in preop when all other slaves is on op state. Why these? It need a specific sdoConfig? generic drive is not enought?

@bkt
please post the output of "ethercat pdos -p6" .

Is this an brand new or used EL5151? May it has been switched to counter mode or an custom process image.

db1981 wrote: maybe an comm/cycle time issue.

please do an manual ethercat upload after starting lcnc, to check the values of sdo's
-0x1006 Index 0
-0x60C2 Index 1
-0x60C2 Index 2

which type of value are them?

lcnc@Linuxcnc-EtherCAT:~$ ethercat upload -p0 --type int32 0x1006 0 = 0x000001f4 500

lcnc@Linuxcnc-EtherCAT:~$ ethercat upload -p0 --type bool 0x60C2 1 = 0x32 50
lcnc@Linuxcnc-EtherCAT:~$ ethercat upload -p0 --type bool 0x60C2 2 = 0xfffffffb -5

hope i got the types right.

hello,

0x1006 is the com cycle time = 500µs this is equal to your ethercat app cycle time
0x60C2 is the interpolation time, it's also 50ms * 10^ -5 = 500µs.

is your servo_period in the ini (thread which executes lcec_read/write) also set to 500000ns (2khz) ?