axis index error,Z motor rotates when jog moving X......

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11 Apr 2024 03:49 #297983 by PeakWang
LinuxCNC+3 sets of EtherCAT servo
now I met an issue: axis index error
I installed the EtherCAT servo from X to Z in EtherCAT topology, but when I jog moving X axis, Z motor rotates,  jog moving Z axis, X motor rotates
I checked the XXX.ini, XXX.hal and XXX.xml, can't found the reason, can you advice me how to solve it?

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11 Apr 2024 04:30 #297986 by rodw
Sounds like your physical wiring is mixed up. Just debug one slve at a time.
You could try changing your ini file to 
COORDINATES = ZYX

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11 Apr 2024 13:53 #297999 by PeakWang
Thank you for your timely reply.
Yes, my mistake, it is physical wiring issue.
I use Xinje Ethercat servo(Type: DS5C1K-20P4-PTA), its IN port on the down side while OUT port on the up side. I regarded upside port(OUT port) as IN port wrongly, it works in weird ways.

besides, I also changed the COORDINATES as your said, but there is not any differences before and after i correct the wiring, XZ axis not swaps.
XXX.ini file
[TRAJ]
COORDINATES = X Y Z or Z Y X
LINEAR_UNITS = mm
ANGULAR_UNITS = degree
The following user(s) said Thank You: rodw

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01 Jul 2024 20:19 #304173 by petervg
Just adding my 5 cents. I also had the same issue (3 axis machine with the Z-axis actually moving when I jogged the X-axis on the PC).

I'm using the leadshine CS3E-D1008 and in/out was connected correctly. But the PC was connected to the drive with slave address 2. Motors are wired with slave 0 connected to the X motor, slave 1 to Y motor and slave 2 to Z motor.  This cause X/Z to be swapped in linuxcnc.

Ethercat is not ethernet. Order of connecting DOES really matter! See attached picture for correct wiring of 3 ethercat drives for an XYZ machine.


 
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