General Questions about using ethercat

That worked but now I get a new error:

./ethercat.hal:50: Pin 'lcec.0.0.cia-statusword' does not exist

this occurs at the following line:

net x-statusword lcec.0.0.cia-statusword => cia402.0.statusword

I clearly have an error here but I don't know where to look to correct the problem

Please check your ethercat.xml file to see if it contains this pin. Similar to...... <pdoEntry idx="6040" subIdx="00" bitLen="16" halPin="cia-controlword" halType="u32"/>

A common error is to not have the right vid and pid in the ethercat-conf.xml file.
Double-check that the vendor id and product code from the output ofmatches the vid and pid fields in ethercat-conf.xml.
Check that for all slaves (0,1,2,etc)
If that didn't help please attach the ethercat-conf.xml file, the hal file and the output of "ethercat slaves -v"

In the file ethercat.hal I have:

net x-statusword lcec.0.0.cia-statusword => cia402.0.statusword

in the file ethercat-conf.xml I have:
<masters>
<master idx="0">
<slave idx="0" type="generic" vid="0x00000a79" pid="0x00002000" name="D1">
<!--OL3-E57H-->
<syncManager idx="0" dir="out">
<pdo idx="1a01">
<!--TxPDO 2-->
<pdoEntry idx="603f" subIdx="00" bitLen="16" halPin="errorcode" halType="BLANK"/>
<pdoEntry idx="6041" subIdx="00" bitLen="16" halPin="statusword" halType="BLANK"/>
<pdoEntry idx="6064" subIdx="00" bitLen="32" halPin="position-actual-value" halType="BLANK"/>
<pdoEntry idx="60fd" subIdx="00" bitLen="32" halPin="digital-inputs" halType="BLANK"/>
<pdoEntry idx="6061" subIdx="00" bitLen="8" halPin="modes-of-operation-display" halType="BLANK"/>
</pdo>
...

where am I going wrong?

I believe I have vid and pid fields correct, output from 'ethercat slaves -v' :
=== Master 0, Slave 0 ===
Device: Main
State: PREOP
Flag: +
Identity:
  Vendor Id:       0x00000a79
  Product code:    0x00002000
  Revision number: 0x00000001
  Serial number:   0x00000000
DL information:
  FMMU bit operation: no
  Distributed clocks: yes, 64 bit
  DC system time transmission delay: 0 ns
Port  Type  Link  Loop    Signal  NextSlave  RxTime [ns]  Diff [ns]   NextDc [ns]
   0  MII   up    open    yes             -   3978170956           0           0
   1  MII   up    open    yes             1   3978172356        1400         700
   2  N/A   down  closed  no              -            -           -           -
   3  N/A   down  closed  no              -            -           -           -
Mailboxes:
  Bootstrap RX: 0x0000/0, TX: 0x0000/0
  Standard  RX: 0x1000/128, TX: 0x1100/128
  Supported protocols: CoE
General:
  Group: EtherCAT Driver
  Image name:
  Order number:
  Device name: OL3-E57H
  CoE details:
    Enable SDO: yes
    Enable SDO Info: no
    Enable PDO Assign: yes
    Enable PDO Configuration: yes
    Enable Upload at startup: no
    Enable SDO complete access: no
  Flags:
    Enable SafeOp: no
    Enable notLRW: no
  Current consumption: 0 mA
=== Master 0, Slave 1 ===
Device: Main
State: PREOP
Flag: +
Identity:
  Vendor Id:       0x00000a79
  Product code:    0x00002000
  Revision number: 0x00000001
  Serial number:   0x00000000
DL information:
  FMMU bit operation: no
  Distributed clocks: yes, 64 bit
  DC system time transmission delay: 700 ns
Port  Type  Link  Loop    Signal  NextSlave  RxTime [ns]  Diff [ns]   NextDc [ns]
   0  MII   down  closed  no              0            -           -           -
   1  MII   up    open    yes             -   4004182021  2051328265           0
   2  N/A   down  closed  no              -            -           -           -
   3  N/A   down  closed  no              -            -           -           -
Mailboxes:
  Bootstrap RX: 0x0000/0, TX: 0x0000/0
  Standard  RX: 0x1000/128, TX: 0x1100/128
  Supported protocols: CoE
General:
  Group: EtherCAT Driver
  Image name:
  Order number:
  Device name: OL3-E57H
  CoE details:
    Enable SDO: yes
    Enable SDO Info: no
    Enable PDO Assign: yes
    Enable PDO Configuration: yes
    Enable Upload at startup: no
    Enable SDO complete access: no
  Flags:
    Enable SafeOp: no
    Enable notLRW: no
  Current consumption: 0 mA

 

I think you need a dcconf item for every slave in the ethercat-cat.xml file.
I don't have exact syntax here on the phone, but search for dcconf and assignactivate 300 and there should be examples of that line.

Thanks, I added dcconf lines (see attachment) but still get the same pin does not exist error

It's named controlword in ethercat-conf.xml, not cia-controlword.
Also change all lcec.1.0 to lcec.0.1 in the hal file.
 

Thanks, I made those changes and still have the original problem:
SodickA:~/linuxcnc/configs/sim.axis$ linuxcnc lathe.ini
LINUXCNC - 2.9.3
Machine configuration directory is '/home/phil/linuxcnc/configs/sim.axis'
Machine configuration file is 'lathe.ini'
Starting LinuxCNC...
libnml/buffer/shmem.cc 320: Shared memory buffers toolCmd and toolCmd may conflict. (key=1004(0x3EC))
libnml/buffer/shmem.cc 320: Shared memory buffers toolSts and toolSts may conflict. (key=1005(0x3ED))
libnml/buffer/shmem.cc 320: Shared memory buffers emcError and emcError may conflict. (key=1003(0x3EB))
linuxcnc TPMOD=tpmod HOMEMOD=homemod EMCMOT=motmod
Note: Using POSIX realtime
Found file(REL): ./ethercat.hal
./ethercat.hal:50: Pin 'lcec.0.0.statusword' does not exist
Shutting down and cleaning up LinuxCNC...
Note: Using POSIX realtime
LinuxCNC terminated with an error.  You can find more information in the log:
    /home/phil/linuxcnc_debug.txt
and
    /home/phil/linuxcnc_print.txt
as well as in the output of the shell command 'dmesg' and in the terminal

Any idea what to try next?

Same principle for the statusword. It is named statusword in ethercat-conf.xml not cia-statusword.
You can go over the names of all pins in ethercat-conf to see that they match the name in the hal file.