LinuxCNC and Beckhoff AX5000 servo drives

Hi Endian,sorry, but I still cannot get it working. I spent many hours on it yesterday evening, and I am obviously still doing something wrong.I am not sure whether I am missing an important step, whether I made a mistake in the configuration, or whether I am still missing a required driver or component.As you suggested, I redid the whole process from scratch using the current translator from the publish folder: fresh TwinCAT export, start the , use , and then convert the export again. This time the conversion itself seems to have worked properly.I am attaching:

• the fresh
  Code:

  ethercat-conf.xml
  generated by the current translator
• my adapted machine
  Code:

  ethercat-conf.xml
  with the other real bus slaves added back in

Current status on the real machine:
LinuxCNC 2.9.8
IgH EtherCAT master 1.6.8
all non-AX slaves go OP
only the AX5125-0000-0216 stays in Current error:
AX5125 stays in PREOP + ERROR.
AL status message 0x0045: "MBX_SOE" currently shows:ethercat slaves
0  0:0   OP     +  EK1100 EtherCAT Coupler (2A E-Bus)
1  0:1   OP     +  EL1008 8K. Dig. Eingang 24V, 3ms
2  0:2   OP     +  EL1008 8K. Dig. Eingang 24V, 3ms
3  0:3   OP     +  EL1008 8K. Dig. Eingang 24V, 3ms
4  0:4   OP     +  EL2008 8K. Dig. Ausgang 24V, 0.5A
5  0:5   OP     +  EL2008 8K. Dig. Ausgang 24V, 0.5A
6  0:6   OP     +  EL2008 8K. Dig. Ausgang 24V, 0.5A
7  0:7   PREOP  E  AX5125-0000-0216 EtherCAT Drive (SoE, 1 Ch.)
8  0:8   OP     +  EK1100 EtherCAT Coupler (2A E-Bus)
9  0:9   OP     +  EL2008 8K. Dig. Ausgang 24V, 0.5A
10 0:10  OP     +  EK1100 EtherCAT-Koppler (2A E-Bus)
11 0:11  OP     +  EL1008 8K. Dig. Eingang 24V, 3ms
12 0:12  OP     +  EL3255 5K. Potentiometerauswertung mit SensorversorgungCould you please compare:

• the freshly generated translator XML
• the adapted machine bus XML

My main question is:
Do you already see from these two XML files what is still wrong in the AX5125 startup / SoE configuration, or what the minimal correct AX5125 configuration should look like?If there is already a known working example config for an AX5125 with , that would also help a lot, because at this point I am worried that I may still be missing something fundamental.ChatGPT helped me sort the files and compare the configs, but the machine is still not getting past , so I would really appreciate your expert view on the actual AX5125 setup.Thanks a lot for your time.

greetings
Tom

both file missing startup IDNs

send me your active TC3 project archive I can translate it at my place... 

Thank you for your help, and sorry for taking up your time. I hope to learn this myself as soon as possible so I won’t have to bother anyone.The exported file was called “.tnzip” for some reason I have no idea why. I renamed it to “.zip” so I can upload it here.

Surmetall wrote:

Thank you for your help, and sorry for taking up your time. I hope to learn this myself as soon as possible so I won’t have to bother anyone.The exported file was called “.tnzip” for some reason I have no idea why. I renamed it to “.zip” so I can upload it here.
 

here is output.. check it all

Damn, I was afraid of that, unfortunately I had to leave the workshop… just missed it. Thanks for doing it right away today! Sorry for my vad Timing....Thanks a lot for exporting it, I’ll test it tomorrow evening right away!I’m afraid I won’t be able to sleep tonight

Hi endian,thank you again. I made a completely clean test now with only the AX5125 connected on the EtherCAT bus, no other slaves connected.

I used your files from the zip exactly for the AX test. The startup initCmds file is your Antrieb-1-AX5-0-initCmds.xml unchanged. I only pointed my machine config to that file.

Current result is much better now:
the AX5125 reaches OP when it is the only slave on the bus.Current ethercat slaves output is:
0 0:0 OP + AX5125-0000-0216 EtherCAT Drive (SoE, 1 Ch.)

The important dmesg lines are these:
EtherCAT WARNING 0-0: Slave does not support changing the PDO mapping!
Currently mapped PDO entries: 0x0086:00/16 0x002F:00/32. Entries to map: 0x0086:01/16 0x002F:01/32 0x0024:01/32 0x0050:01/16 0x81E4:01/32 0x81E5:01/32EtherCAT WARNING 0-0: Slave does not support changing the PDO mapping!
Currently mapped PDO entries: 0x0087:00/16 0x0033:00/32 0x00BD:00/32. Entries to map: 0x0087:01/16 0x0033:01/32 0x00BD:01/32 0x0054:01/16 0x0028:01/32 0x81CC:01/16 0x81CD:01/16EtherCAT 0: Slave states on main device: OP.My currently active AX slave config is:
slave idx 0
type generic
vid 0x00000002
pid 0x14056012
name Antrieb-1-AX5-0
configPdos trueMDT PDO 0018 entries requested by config:
0086:01 16 bit
002F:01 32 bit
0024:01 32 bit
0050:01 16 bit
81E4:01 32 bit
81E5:01 32 bitAT PDO 0010 entries requested by config:
0087:01 16 bit
0033:01 32 bit
00BD:01 32 bit
0054:01 16 bit
0028:01 32 bit
81CC:01 16 bit
81CD:01 16 bitDC config currently used:
assignActivate 730
sync0Cycle 250000
sync0Shift 0
sync1Cycle 750000
sync1Shift 0

So the situation now seems to be:
before, the drive stayed in PREOP plus ERROR with MBX_SOE.
now, with only the AX and your startup file, it reaches OP.
but the drive reports that its current mapped PDOs are still the smaller set with subindex 00, while the config wants the extended subindex 01 mapping.

My main question is:
is this already the expected next step, meaning I should now reduce the config to the fixed PDO set the drive actually reports as mapped, or is there still a missing startup/configuration step that should switch the AX5125 to the full 01 PDO mapping?
In other words: now that the drive reaches OP, what is the correct next step before I put the other slaves back on the bus?

Thanks a lot for your help.