Ethercat HAL driver

Then you can try something like that from the command line:

-p0 for slave position=0 , 0x8006 : CAN TxPDO Configuration Node for slave 0,
1 : subindex for Configuration of CAN TxPDO 1 , OCTET_STRING as explained for (8006+n*16):01 .

Unfortunately it will be 2.5 weeks before I can try anything, but the issue is not the configuration of the el6751, after configuring the 8yyx objects it's all setup appropriately. The issue is that the igh ethercat master does not know that the mapping has changed and thinks that there are no PDOs assigned to 1000 and 1400 physical addresses - but there are by now.

What puzzles me is how could this github.com/sittner/linuxcnc-ethercat/blo.../ethercat-conf_X.xml have ever worked ... I can only assume that the backup parameter was used to store the canopen slaves configuration so that it's available at preop just after boot, hence caught in the igh ethercat initial bus scan. But I did try the backup parameter without success - though I'm not sure I did it properly . . .

You can also do after the first (unsuccessful) launch.

BTW, last time I tied to use OCTET_STRING from cmd, I did not really succeed:
lists.etherlab.org/pipermail/etherlab-users/2016/003094.html .

The goal is to be able to boot the pc and launch linuxcnc without manual steps.

Thanks Boris. I will keep trying when I'm back home.

Hi Sirop,

I dug deeper as you suggested into the AKD example. Ran the bash example code and managed to output ethercat cstruct. (I have attached the file) As you can see there is some info at the top enabling the syncManagers which makes sense because I see the amplifier (Delta ASDA-A2E) in the preop state in LinuxCNC and cannot make it switch states or interact with it at all.

Q1. Is the file outputted by the cstruct command the "glue module" referred to here?
wiki.linuxcnc.org/cgi-bin/wiki.pl?Etherlab .

Q2. Does this info also need to be included in the xml file and if so how would it be parsed?

Q3. To all. Show of hands how many people have a working machine? Working on a bench?