need help ethercat et linuxcnc

Hello everyone. This is the first time i'm using linuxcnc and i have a lot of questions. I've retrofited dozens of cnc machines with mach3, but none with linuxcnc. This time i need help. I've installed and configured ethercat with kollmorgen s700 drives. I've made a window to read input and output states. and it works. My problem is that i don't know how to display the position of the axes, the x,y and z positions are always at 0 in the main window. Any ideas? I've looked for information in the forums but i guess the answer is so simple that no one has written it down. Thank you in advance.

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Your drives appear to be cia402 compatible devices.
If you start here
forum.linuxcnc.org/ethercat/45336-etherc...-how-to-step-by-step
clone the cia402.comp and follow the cia402 examples and be sure to set the scale in pulses per device units.
Eg I use metric units and have a drive with 4000 encoder pulses per revolution on a 5mm pitch ball screw so my scale is 800 (pulses per mm)
Also check the notes about what is said about ini file settings for the joints.
The pin for the encoder Is joint.N.pos-fb  which is documented here linuxcnc.org/docs/stable/html/man/man9/motion.9.html
but you should see the DRO's move if you lean on your motor.

OK, thank you very much.

Hello everyone.
It works now but i have another problem. My machine have 2 motors for the X axis. When i click on the X+ or X- button only one motor turns (X1). when i click on the Y+ or Y- button it's the other x motor that turns (X2). Any ideas?
Thanks in advance.    
LINUXCNC - 2.9.4
Machine configuration directory is '/home/byuser/linuxcnc/configs/53h_alfa'
Machine configuration file is '53h_alfa.ini'

check_config:
  INCONSISTENT coordinates specifications:
               trivkins coordinates=XXYZ
               [TRAJ]COORDINATES=XYZ

Starting LinuxCNC...
linuxcnc TPMOD=tpmod HOMEMOD=homemod EMCMOT=motmod
Note: Using POSIX realtime
Found file(REL): ./pre_gui.hal

identityKinematicsSetup: coordinates:XXYZ
   Joint 0 ==> Axis X
   Joint 1 ==> Axis X
   Joint 2 ==> Axis Y
   Joint 3 ==> Axis Z
identityKinematicsSetup: Recommend: kinstype=both

 

Solved!!!

[KINS]
KINEMATICS = trivkins coordinates=XXYZ kinstype=BOTH
JOINTS = 4