StepperOnline A6 Servo

Addendum:
Something is wrong.
In the current configuration of the servos (factory settings), it is not possible to set a speed.
Is anyone else using the 6M60-400H2A1-M17?

Why do you want to set a speed? Normally you set a position.

No, I haven't changed anything.
Those are the servo's default settings.
I need to see where I can switch the servo from speed to position mode.

sets csp mode.

That won't work.The Slave is currently unavailable in the current configuration.I will have to set it manually.

That's how it's done. You really don't tell us much.
Isn't the problem that the slave is not available in the current configuration then?

See my post on page 6.The slave reports with a completely different configuration. I haven't changed anything; these are the factory settings. I now have two options: either I create a minimal configuration where I activate csp mode, or I do this directly via the servo or software.

Every slave must have its own configuration in the config xml file.
See example here. github.com/dbraun1981/hal-cia402/blob/ma...le/ethercat-conf.xml

You must enter the config for the new drive.

Hi,

Here is my cthercAT.xml. 
When loading, I get an error saying that the pin lcec.0.A6.control-word already exists.
>EtherCAT pdos< gives me completely different addresses for the A6 400W.
0x6060 is not mapped:
It is possible that my XML has an error.
But how am I supposed to write an 8 (csp mode) to 0x6060 if it does not currently exist on the A  6 400W?

Here is the excerpt from my post again:

A6 750W
=== Master 0, Slave 0 ===
SM0: PhysAddr 0x1000, DefaultSize  256, ControlRegister 0x26, Enable 1
SM1: PhysAddr 0x1400, DefaultSize  256, ControlRegister 0x22, Enable 1
SM2: PhysAddr 0x1800, DefaultSize   12, ControlRegister 0x64, Enable 1
  RxPDO 0x1600 ""
    PDO entry 0x6040:00, 16 bit, ""
    PDO entry 0x6060:00,  8 bit, ""
    PDO entry 0x607a:00, 32 bit, ""
    PDO entry 0x60ff:00, 32 bit, ""
    PDO entry 0x607c:00, 32 bit, ""
    PDO entry 0x6098:00,  8 bit, ""
    PDO entry 0x6099:01, 32 bit, ""
    PDO entry 0x6099:02, 32 bit, ""
    PDO entry 0x609a:00, 32 bit, ""
SM3: PhysAddr 0x1c00, DefaultSize   28, ControlRegister 0x20, Enable 1
  TxPDO 0x1a00 ""
    PDO entry 0x6041:00, 16 bit, ""
    PDO entry 0x6061:00,  8 bit, ""
    PDO entry 0x6064:00, 32 bit, ""
    PDO entry 0x606c:00, 32 bit, ""
    PDO entry 0x6077:00, 16 bit, ""

A6 400W
=== Master 0, Slave 1 ===
SM0: PhysAddr 0x1000, DefaultSize  256, ControlRegister 0x26, Enable 1
SM1: PhysAddr 0x1400, DefaultSize  256, ControlRegister 0x22, Enable 1
SM2: PhysAddr 0x1800, DefaultSize   12, ControlRegister 0x64, Enable 1
  RxPDO 0x1701 ""
    PDO entry 0x6040:00, 16 bit, ""
    PDO entry 0x607a:00, 32 bit, ""
    PDO entry 0x60b8:00, 16 bit, ""
    PDO entry 0x60fe:01, 32 bit, ""
SM3: PhysAddr 0x1c00, DefaultSize   28, ControlRegister 0x20, Enable 1
  TxPDO 0x1b01 ""
    PDO entry 0x603f:00, 16 bit, ""
    PDO entry 0x6041:00, 16 bit, ""
    PDO entry 0x6064:00, 32 bit, ""
    PDO entry 0x6077:00, 16 bit, ""
    PDO entry 0x60f4:00, 32 bit, ""
    PDO entry 0x60b9:00, 16 bit, ""
    PDO entry 0x60ba:00, 32 bit, ""
    PDO entry 0x60bc:00, 32 bit, ""
    PDO entry 0x60fd:00, 32 bit, ""

Edit:
i just realized that I probably have the same problem as @dschultz.
I just don't know how to switch to variable PDO mapping?

I believe the real issue was the drive didn't like the PDOS I had in the xml.
Even though my original settings were one of the "Fixed PDO mapping" options from the manual (1704 & 1B02).
Anyway, I switched it to the "Variable PDO mapping" 1600 & 1A00 and the drive goes to OP mode and comes alive when I enable the machine!

Has anyone had success with setting up the CIA402 homing mode?