Help,with the EtherCAT config

Well,I updated the hal file ,and the error still ,but the msg changed as following ..

Debug file information:
Note: Using POSIX realtime
Failed to execute SDO download: Input/output error
LCEC: slave 0.0: Failed to execute SDO download (0x2000:0x00, size 2, byte0=112, error -5, abort_code 08000000)
LCEC: failed to configure slave 0.0 sdo 2000:00
Failed to execute SDO download: Input/output error
LCEC: slave 0.0: Failed to execute SDO download (0x2007:0x06, size 1, byte0=5, error -5, abort_code 06090011)
LCEC: failed to configure slave 0.0 sdo 2007:06
Failed to execute SDO download: Input/output error
LCEC: slave 0.0: Failed to execute SDO download (0x2007:0x05, size 1, byte0=5, error -5, abort_code 06090011)
LCEC: failed to configure slave 0.0 sdo 2007:05
Failed to execute SDO download: Input/output error
LCEC: slave 0.0: Failed to execute SDO download (0x2011:0x00, size 2, byte0=1, error -5, abort_code 08000000)
LCEC: failed to configure slave 0.0 sdo 2011:00
Failed to execute SDO download: Input/output error
LCEC: slave 0.0: Failed to execute SDO download (0x607c:0x00, size 2, byte0=0, error -5, abort_code 08000000)
LCEC: failed to configure slave 0.0 sdo 607c:00
Failed to execute SDO download: Input/output error
LCEC: slave 0.0: Failed to execute SDO download (0x609a:0x00, size 2, byte0=244, error -5, abort_code 08000000)
LCEC: failed to configure slave 0.0 sdo 609a:00
Failed to execute SDO download: Input/output error
LCEC: slave 0.0: Failed to execute SDO download (0x6099:0x01, size 2, byte0=196, error -5, abort_code 08000000)
LCEC: failed to configure slave 0.0 sdo 6099:01
Failed to execute SDO download: Input/output error
LCEC: slave 0.0: Failed to execute SDO download (0x6099:0x02, size 2, byte0=244, error -5, abort_code 08000000)
LCEC: failed to configure slave 0.0 sdo 6099:02
Failed to execute SDO download: Input/output error
LCEC: slave 0.1: Failed to execute SDO download (0x2000:0x00, size 2, byte0=112, error -5, abort_code 06090031)
LCEC: failed to configure slave 0.1 sdo 2000:00
Failed to execute SDO download: Input/output error
LCEC: slave 0.1: Failed to execute SDO download (0x2007:0x06, size 1, byte0=5, error -5, abort_code 06090011)
LCEC: failed to configure slave 0.1 sdo 2007:06
Failed to execute SDO download: Input/output error
LCEC: slave 0.1: Failed to execute SDO download (0x2011:0x00, size 2, byte0=1, error -5, abort_code 06020000)
LCEC: failed to configure slave 0.1 sdo 2011:00
Failed to execute SDO download: Invalid argument
LCEC: slave 0.2: Failed to execute SDO download (0x2000:0x00, size 2, byte0=88, error -22, abort_code 5142f089)
LCEC: failed to configure slave 0.2 sdo 2000:00
Failed to execute SDO download: Invalid argument
LCEC: slave 0.2: Failed to execute SDO download (0x2007:0x06, size 1, byte0=5, error -22, abort_code 00000000)
LCEC: failed to configure slave 0.2 sdo 2007:06
Failed to execute SDO download: Invalid argument
LCEC: slave 0.2: Failed to execute SDO download (0x2011:0x00, size 2, byte0=0, error -22, abort_code 00000000)
LCEC: failed to configure slave 0.2 sdo 2011:00
Failed to register PDO entry: No such file or directory
LCEC: master 0 PDO entry registration failed
LCEC: failure, clearing config
LCEC: exiting
LCEC: returning -EINVAL
lcec: rtapi_app_main: Invalid argument (-22)
./cia402.hal:15: waitpid failed /usr/bin/rtapi_app lcec
./cia402.hal:15: /usr/bin/rtapi_app exited without becoming ready
./cia402.hal:15: insmod for lcec failed, returned -1
HAL: ERROR: pin 'lcec.0.3.out-01' not found
shutdown.hal:2: unlink failed
3960
Stopping realtime threads
Unloading hal components
Note: Using POSIX realtime

Can you use remote assistance?

I'm afraid not ,I didn't find remote assistance in linuxcnc Raspberry Pi 5 image.Does the error showing up indicate my connection of the hardware wrong ? I just use my Raspberry Pi 5 connect the leashine L7 servo and step moter 556 ,I didnt use Beckhoff Bus ,is this the possible reason ?

Please wait a moment. I will change your configuration and upload it later.

That's very nice of you ! Thanks a lot!

Type ethercat cstruct in the terminal to see what is returned

cnc@raspberrypi:~$ ethercat cstruct
/* Master 0, Slave 0, "L7EC-750"
* Vendor ID: 0x00004321
* Product code: 0x00000093
* Revision number: 0x00000001
*/

ec_pdo_entry_info_t slave_0_pdo_entries[] = {
{0x6040, 0x00, 16},
{0x607a, 0x00, 32},
{0x60b8, 0x00, 16},
{0x603f, 0x00, 16},
{0x6041, 0x00, 16},
{0x6061, 0x00, 8},
{0x6064, 0x00, 32},
{0x60b9, 0x00, 16},
{0x60ba, 0x00, 32},
{0x60fd, 0x00, 32},
};

ec_pdo_info_t slave_0_pdos[] = {
{0x1600, 3, slave_0_pdo_entries + 0},
{0x1a00, 7, slave_0_pdo_entries + 3},
};

ec_sync_info_t slave_0_syncs[] = {
{0, EC_DIR_OUTPUT, 0, NULL, EC_WD_DISABLE},
{1, EC_DIR_INPUT, 0, NULL, EC_WD_DISABLE},
{2, EC_DIR_OUTPUT, 1, slave_0_pdos + 0, EC_WD_ENABLE},
{3, EC_DIR_INPUT, 1, slave_0_pdos + 1, EC_WD_DISABLE},
{0xff}
};

/* Master 0, Slave 1, "DM3E-556"
* Vendor ID: 0x00004321
* Product code: 0x00008100
* Revision number: 0x00000001
*/

ec_pdo_entry_info_t slave_1_pdo_entries[] = {
{0x6040, 0x00, 16},
{0x607a, 0x00, 32},
{0x60b8, 0x00, 16},
{0x603f, 0x00, 16},
{0x6041, 0x00, 16},
{0x6061, 0x00, 8},
{0x6064, 0x00, 32},
{0x60b9, 0x00, 16},
{0x60ba, 0x00, 32},
{0x60fd, 0x00, 32},
};

ec_pdo_info_t slave_1_pdos[] = {
{0x1600, 3, slave_1_pdo_entries + 0},
{0x1a00, 7, slave_1_pdo_entries + 3},
};

ec_sync_info_t slave_1_syncs[] = {
{0, EC_DIR_OUTPUT, 0, NULL, EC_WD_DISABLE},
{1, EC_DIR_INPUT, 0, NULL, EC_WD_DISABLE},
{2, EC_DIR_OUTPUT, 1, slave_1_pdos + 0, EC_WD_ENABLE},
{3, EC_DIR_INPUT, 1, slave_1_pdos + 1, EC_WD_DISABLE},
{0xff}
};

cnc@raspberrypi:~$

Try using these two files
Pay attention to changing the file name of the hal file.
 
 

Thanks a lot ,I 'll try it now

The three errors in the xml file have not been changed. Use the xml file I re-uploaded.