Ethercat drive configuration woes

you can't set id for ethercat slaves. Slave enumeration is done automatic by the daisy chain order.... first slave is slave after the master.

state machine from my comp is ok . 0x6 -> 0x7 -> 0x7f . Bit 2 (quickstop) is always set.

Yeah trying to do bit-banging in my head at 1 am isn't good, especially when trying to read code on the phone screen should heave looked a few lines above

I've just realised that about the enumeration.
I've now set all drives to 0, and they get allocated 1 to 3 (on their built in displays) when LinuxCNC starts.

That has possibly been one of my issues, but there seems to be some kind of mapping issue between the slaves, and LinuxCNC.

If I query the statusword register via the terminal (ethercat upload -p(N) -t int16 0x6041 0 where N is the slave id from 0-2)
At first reboot of drives and computer, it returns 0
Start LinuxCNC and let the drives enter OP, it returns 0x231 561
Then after closing LinuxCNC, it returns 0x0250 592

If I look at the lcec.0.N.cia-statuswords in Hal Config, they all show as zero.

This behaviour is consistent even after powering off everything off, and back on again.

And I've just noticed the controlword doesn't appear to be getting written to the drive from LinuxCNC.

Without LinuxCNC running, I can set (download) the controlword (0x6040) (I tried 4 and 6), and then read (upload) that value back vai a terminal.
But with LinuxCNC running, reading 0x6040 via a terminal, it always returns 0, yet in Hal Config, it shows 4 or 6 (machine off or on).

It's like there is a big void of zeros in my mapping somewhere.

I just saw this topic and I think I'm using the same drives / clones. I'm testing out a leadshine CS3E-D1008 which seems to be exactly the same as yours. I have a setup up and running with an issue I'm trying to resolve with my distributor, but the drive is recognized and the motor is spinning (albeit not yet perfectly).

Anything I can send or test here to help out? I'm not using a PI though, but a freshly install debian 11...

Could you be so kind as to take a look at this post of mine to see if you have also experience the same (or might run into the same ). I have used a part of your hal file to get going (posted separately as not to hijack this thread)
leadshine-cs3e-d1008-not-running-smoothly