AX58100

As a comment, and room for improvements, if one so wishes.

The stepspermm variable is set up as a pdos. Meaning that this value
will be updated every servo cycle (miilisecond). That is not very optimal,
the steps per mm scaling factor is a constant. Set it once and it stays there.
It is not like one will change the scaling value during operation.

The options I saw when I put it as a pdos was to either make it a sdos or a constant in the MCU program.
As a constant in the MCU program it becomes kind of inaccessible, but apart from that it will work fine.
Making it a sdos adds a bit of complexity when giving it a value. There is no interface for sdos to hal
that I know about. One can give a value to a sdos in the ethercat-conf.xml config file, but that brings
its own unnecessary complexity. One need to enter a line like the last line below

To end up with "40 06" one brings up a decimal to hex converter and converts 1600 which gives 640.
Shift place on the two bytes 06 40 => 40 06 which one then enters in ethercat-conf.xml.
The code in the MCU stays the same, still Obj.StepsPerMM1 (or what is is called). It is just not updated
every serocycle but once in the beginning.

Just a bit of background and rambling.

I'm still lost. I'm used to using STEP SCALE in the ini to adjust the number of steps needed to move one mm. but now I don't know how to do it. For example if I need 320 steps/mm, how do I adjust the value lcec.0.D1.stepspermm?

Ok I see, the hal syntax is or for example
and that goes into the main hal file.

Are these values ​​in the xml file okay?
<master idx="0" appTimePeriod="1000000" refClockSyncCycles="-1"> <!-- was "5" -->
<dcConf assignActivate="300" sync0Cycle="*1" sync0Shift="1000000"/> <!-- was "0" -->

I think so.
Is there anything suspicuous?

Comments.
appTimePeriod must match the SERVO_CYCLE setting in the ini file. If you go for a SERVO_CYCLE of 2ms, change appTimePeriod to 2000000 as well.
The dcConf line says the Ethercat device is running its own loop at 1 ms, synchronized by ethercat"s own internal clock. Sync0Shift says when, inside that 1 ms, the sync event takes place. 1000000 means right at the end of that 1 ms.

I have already tested the STEP generators and they work perfectly, the only problem I have found is that the maximum speed I have achieved is 12, any higher speed immediately gives a join X following error. I tried changing the FERROR and MIM ERROR values, it improves I can increase the speed but in the end the following error appears again.