EtherCAT XML Configuration help (Elmo drive)

Good so far.
lcec_configgen reads the info from the ELMO drives and formats it in a suitable way.
You can read out the info yourself with "ethercat -p 0 sdos", "ethercat -p 0 pdos" and "ethercat -p 0 -v slaves"

For the error you have, was kind of expected. No easy way I know off to know the halpin names of a built-in device like the basic_cia402.
But you can find out with this series of commands (linuxcnc not started)From that output you should be able to find something that resembles cia-statusword (index 0x6041). Do the same for the other missing variables.
So with that info, you replace lcec.0.0.cia-statusword with whatever the output above says for 0x6041.

One can also look up the index of interest, any places but here are two basic ones
doc-legacy.synapticon.com/software/44/ob...pdo/rxpdo/index.html
doc-legacy.synapticon.com/software/44/ob...pdo/txpdo/index.html
You will probably need that for the other halpins, I guess they will give the same type of error.

I have attached the output of those commands. I am having a hard time understanding what information to take from the `show pin` output and where (cia402.hal?) to put it exactly. for that line regarding statusword it shows:
"    10  u32   OUT    0x00000000  lcec.0.D1.srv-cia-statusword"
and I could not find any reference to 0x6041 anywhere. 
 
Also, after running `halcmd loadrt lcec` , the ethercat network activity stops, where usually it's blinking. not sure if that is expected or not. 

Steve Cap

There it is, that's the name lcec.0.D1.srv-cia-statusword instead of lcec.0.0.cia-statusword you have in the hal file.
Replace in cia402.hal file and you should come one step further, to the next variable.

The index 0x6041, you don't seem to need that now when the naming pattern is so obvious from the listing.

I guess EtherCAT went out of OP mode, to INIT or PREOP. No harm done. You have started linuxcnc in a very rudimentary state. If you like to, you can stop it with "halrun -U". Optional. EtherCAT continues to work and linuxcnc will make it enter the state it needs to be in.

Ok, we made it a bit further. but now the entry I've added that should be correct does not seem to take, also there is an error regarding SDO upload?

Steve Cap

What's the cause among all text, but it is this line in the middle. More variables to rename.
You have it marked already in the left window. lcec.0.D1.srv-cia-controlword
But you renamed the wrong variable. Rename lcec.0.0.cia-controlword.
 

OK, I am making some headway and beginning to understand how things are being read in. The GUI loads up now, but before  I try to jog anything do I need to modify these sections too? 

No need to change, they are fine. For joint 0 and motor "D1"
But I saw in the screenshot, you mix D1 and D2, can't do that. "D1" comes from ethercat-conf.xml, the first drive. You will find "D1" there.
Change D2 to D1.
 

I did catch that a bit afterwards, lol. thank you for keeping an eye out though. I tried to un-E-Stop, power button on and home all axis. No motor movement, drives are still in preop state. Have attached the resulting output.

Steve Cap
 

Have to act on appTimePeriod message.
Check line two in this file github.com/dbraun1981/hal-cia402/blob/ma...le/ethercat-conf.xml and well you can copy that line to your file.
You can add line 4 as well if it isn't there already. Pay attention to placements, line 2 in the master line. Line 4 under slave, for the three drives.

Sorry for the long delay, have been battling a nasty bug of the human variety. I have added line 2 and line 4 to my xml and it has resolved the appTimePeriod errors. I also simplified the .xml and .hal file to only deal with one ethercat node for the time being until i manage to get my head around all this, lol. Once linuxcnc loaded with no errors I clicked the power button and tried to home all axis. This resulted in `joint0 following error`.