A brief comment about the HAL setup, please.

hello

We are studying one by one.

Currently connected with Panasonic AC servo motor.
(Please check the attached image)
The ethercat slave command is shown below.
" PREOP + MADHT1507BA1 "

hello

We are studying one by one.

Currently connected with Panasonic AC servo motor.
(Please check the attached image)
The ethercat slave command is shown below.
PREOP + MADHT1507BA1

About the ethercat pdos command
The number is printed as shown in the attached image.
Based on that, I created an xml file.

Could you please look at the HAL file?
I'm totally lost from here


setp lcec.0.0.drivecontrol-1 1 <-- 
When I tested 1, 0 using this command, I could see the value change in HAL config.

(see attached image)

Now I want to spin the motor. But I don't know which direction

Any help I can refer to please.

Below is the HAL I created.
================================
loadusr -W lcec_conf ethercat-conf.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 0
setp lcec.0.0.drivecontrol-3 1

net ready_to_switch lcec.state-op => lcec.0.0.drivecontrol-0

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