If you look at the PDO output from post #1, it looks like it's using somewhat unusual PDO addresses -- 0x1b01 and 0x1701, while the XML file going around uses 0x1600 and 0x1a00. PDO mapping and addresses seems to vary a *lot* between various CiA 402 Ethercat devices that I've seen. Examples:
- RTelligent ECT60. Supports 3x RX and TX PDOs with 12 entries each, at 0x1600, 0x1601, and 0x1602.
- RTelligent ECT60X2. Supports 2x RX and TX PDOs with 12 entries each, at 0x1600 and 0x1610. 0x1601 returns an error. 0x1620 returns an error.
- Leadshine 2CS3E-D507. Supports 3x RX and TX PDOs with 8 entries each at 0x1600, 0x1601, etc. Setting 0x1600:09 returns an error.
- Omron MX2. Supports 512x (!) RX and TX PDOs with 2 (!) entries each, at 0x1600-0x17ff. Setting 0x1600:03 returns an error.
I suspect there are some devices that will let you use anything in that general range for PDOs, and just follow whatever you put into the sync manager config. Others are *extremely* limited. Even better, a lot of this depends on the exact firmware involved, and the firmware doesn't always match the documentation. For example, RTelligent's ESI claims that the ECT60X2 has the same config as the ECT60, but mine *really* doesn't.
Deleting the PDO config mostly just means that there's no way to tell the device what to do; that's the important part of the config
.
To start with, what does `ethercat pdos` show *after power-cycling but before running LinuxCNC*? And what does your XML file look like?
I just broke down and ordered a cheap Lichuan LC10E, so hopefully there will be a driver for it by late May, but that depends on shipping and my work schedule.
