AMSAMOTION IO module

ethercat xml
<?xml version="1.0" ?>
<EtherCATInfo>
  <!-- Slave 0 -->
  <Vendor>
    <Id>2965</Id>
  </Vendor>
  <Descriptions>
    <Devices>
      <Device>
        <Type ProductCode="#x00001101" RevisionNo="#x01020109">EC3A-IO1632</Type>
        <Name><![CDATA[EC3A-IO1632]]></Name>
        <Sm Enable="1" StartAddress="#x1000" ControlByte="#x26" DefaultSize="128" />
        <Sm Enable="1" StartAddress="#x1080" ControlByte="#x22" DefaultSize="128" />
        <Sm Enable="1" StartAddress="#x1100" ControlByte="#x64" DefaultSize="2" />
        <Sm Enable="1" StartAddress="#x1400" ControlByte="#x20" DefaultSize="2" />
        <RxPdo Sm="2" Fixed="1" Mandatory="1">
          <Index>#x1600</Index>
          <Name>DOOutputs process data mapping</Name>
          <Entry>
            <Index>#x7000</Index>
            <SubIndex>1</SubIndex>
            <BitLen>16</BitLen>
            <Name>OUT_GEN_DO</Name>
            <DataType>UINT16</DataType>
          </Entry>
        </RxPdo>
        <TxPdo Sm="3" Fixed="1" Mandatory="1">
          <Index>#x1a00</Index>
          <Name>DIInputs process data mapping</Name>
          <Entry>
            <Index>#x6000</Index>
            <SubIndex>1</SubIndex>
            <BitLen>16</BitLen>
            <Name>IN_GEN_DI</Name>
            <DataType>UINT16</DataType>
          </Entry>
        </TxPdo>
      </Device>
    </Devices>
  </Descriptions>
</EtherCATInfo>
cnc@cnc:~$ ethercat pdos
SM0: PhysAddr 0x1000, DefaultSize  128, ControlRegister 0x26, Enable 1
SM1: PhysAddr 0x1080, DefaultSize  128, ControlRegister 0x22, Enable 1
SM2: PhysAddr 0x1100, DefaultSize    2, ControlRegister 0x64, Enable 1
  RxPDO 0x1600 "DOOutputs process data mapping"
    PDO entry 0x7000:01, 16 bit, "OUT_GEN_DO"
SM3: PhysAddr 0x1400, DefaultSize    2, ControlRegister 0x20, Enable 1
  TxPDO 0x1a00 "DIInputs process data mapping"
    PDO entry 0x6000:01, 16 bit, "IN_GEN_DI"

$ lcec_configgen

<masters>
  <master idx="0">
    <slave idx="0" type="generic" vid="0x00000b95" pid="0x00001101" name="D1">
      <!--EC3A-IO1632-->
      <syncManager idx="0" dir="in"/>
      <syncManager idx="1" dir="out"/>
      <syncManager idx="2" dir="out">
        <pdo idx="1600">
          <!--DOOutputs process data mapping-->
          <pdoEntry idx="7000" subIdx="01" bitLen="16" halPin="EC3A-do" halType="bit"/>
        </pdo>
      </syncManager>
      <syncManager idx="3" dir="in">
        <pdo idx="1a00">
          <!--DIInputs process data mapping-->
          <pdoEntry idx="6000" subIdx="01" bitLen="16" halPin="EC3A-di" halType="bit"/>
        </pdo>
      </syncManager>
    </slave>
  </master>
</masters>

cat ec3a.hal ec3a.ini
# Load real-time components
loadrt threads name1=servo-thread period1=1000000  # 1ms servo thread (matches XML appTimePeriod)

# Load EtherCAT driver with config XML
loadusr -W lcec_conf ec3a_io_hal.xml
loadrt lcec

# Load ClassicLadder (nogui mode, loading your project file)
#loadusr -W classicladder --nogui ec3a_ladder.clp

loadrt classicladder_rt
addf classicladder.0.refresh servo-thread

# Connect example I/O pins to ClassicLadder (map %I0-%I3 to inputs, %Q0-%Q3 to outputs)
# Expand to all 16 as needed
#net input-0 classicladder.0.in-00 <= lcec.0.0.EC3A-di.0
#net input-1 classicladder.0.in-01 <= lcec.0.0.EC3A-di.1
#net input-2 classicladder.0.in-02 <= lcec.0.0.EC3A-di.2
#net input-3 classicladder.0.in-03 <= lcec.0.0.EC3A-di.3

#net output-0 classicladder.0.out-00 => lcec.0.0.EC3A-do.0
#net output-1 classicladder.0.out-01 => lcec.0.0.EC3A-do.1
#net output-2 classicladder.0.out-02 => lcec.0.0.EC3A-do.2
#net output-3 classicladder.0.out-03 => lcec.0.0.EC3A-do.3[EMC]
# The version string for this INI file.
VERSION = 1.1

MACHINE = EtherCAT Machine
DEBUG = 1

[DISPLAY]
DISPLAY = axis
EDITOR = gedit

#PYVCP = pyvcp_panel.xml

# places the pyvcp panel at the bottom of the Axis window
PYVCP_POSITION = RIGHT

# Cycle time, in seconds, that display will sleep between polls
CYCLE_TIME =            0.100

# Path to help file
HELP_FILE =             doc/help.txt

# Initial display setting for position, RELATIVE or MACHINE
POSITION_OFFSET = RELATIVE
POSITION_FEEDBACK = ACTUAL
MAX_FEED_OVERRIDE = 1.2
# Prefix to be used
PROGRAM_PREFIX = /home/cnc/linuxcnc/nc_files
INTRO_GRAPHIC = linuxcnc.gif
INTRO_TIME = 0
INCREMENTS = 5mm 1mm .5mm .1mm .05mm .01mm .005mm

[FILTER]
PROGRAM_EXTENSION = .png,.gif,.jpg Greyscale Depth Image
PROGRAM_EXTENSION = .py Python Script
png = image-to-gcode
gif = image-to-gcode
jpg = image-to-gcode
py = python
nc = /usr/bin/axis

[RS274NGC]

PARAMETER_FILE = linuxcnc.var

#[EMCMOT]

#EMCMOT = motmod
#COMM_TIMEOUT = 1.0
#BASE_PERIOD =  0
#SERVO_PERIOD = 1000000

[TASK]
TASK = milltask
CYCLE_TIME = 0.005

[HAL]
HALFILE = ec3a.hal
#SHUTDOWN = shutdown.hal
#HALFILE = custom.hal
#POSTGUI_HALFILE = pyvcp_panel.hal
HALUI = halui

#[HALUI]

[KINS]
KINEMATICS = trivkins coordinates=
JOINTS = 0

[TRAJ]
COORDINATES =
LINEAR_UNITS = mm
ANGULAR_UNITS = degree
DEFAULT_LINEAR_VELOCITY = 1.0
MAX_LINEAR_VELOCITY = 1.0

linuxcnc ec3a.ini
LINUXCNC - 2.9.4
Machine configuration directory is '/home/cnc/Завантажене'
Machine configuration file is 'ec3a.ini'
Starting LinuxCNC...
[EMCIO] CYCLE_TIME not found in /home/cnc/Завантажене/ec3a.ini; using default 0.100000
halui: no [TRAJ]COORDINATES specified, enabling all axes
linuxcnc TPMOD=tpmod HOMEMOD=homemod EMCMOT=motmod
Note: Using POSIX realtime
Found file(REL): ./ec3a.hal
creating ladder-state
emcTrajSetJoints failing: joints=0
emcMotionInit: emcTrajInit failed
Missing [TRAJ]COORDINATES
Shutting down and cleaning up LinuxCNC...
USRMOT: ERROR: command timeout
HAL: ERROR: exit called before init
<commandline>:0: waitpid failed milltask inihal

<commandline>:0: milltask exited without becoming ready
Note: Using POSIX realtime
LinuxCNC terminated with an error.  You can find more information in the log:
    /home/cnc/linuxcnc_debug.txt
and
    /home/cnc/linuxcnc_print.txt
as well as in the output of the shell command 'dmesg' and in the terminal


cat /home/cnc/linuxcnc_debug.txt
Can not find -sec TRAJ -var COORDINATES -num 1
3767
3797
Stopping realtime threads
Unloading hal components
cnc@cnc:~/Завантажене$ cat /home/cnc/linuxcnc_print.txt
RUN_IN_PLACE=no
LINUXCNC_DIR=
LINUXCNC_BIN_DIR=/usr/bin
LINUXCNC_TCL_DIR=/usr/lib/tcltk/linuxcnc
LINUXCNC_SCRIPT_DIR=
LINUXCNC_RTLIB_DIR=/usr/lib/linuxcnc/modules
LINUXCNC_CONFIG_DIR=
LINUXCNC_LANG_DIR=/usr/lib/tcltk/linuxcnc/msgs
INIVAR=inivar
HALCMD=halcmd
LINUXCNC_EMCSH=/usr/bin/wish8.6
INIFILE=/home/cnc/Завантажене/ec3a.ini
VERSION=1.1
PARAMETER_FILE=linuxcnc.var
TPMOD=
HOMEMOD=
TASK=milltask
HALUI=halui
DISPLAY=axis
COORDINATES=
KINEMATICS=trivkins coordinates=
Starting LinuxCNC server program: linuxcncsvr
Loading Real Time OS, RTAPI, and HAL_LIB modules
Starting LinuxCNC IO program: io
Starting HAL User Interface program: halui
Starting TASK program: milltask
Starting DISPLAY program: axis
Removing HAL_LIB, RTAPI, and Real Time OS modules
Removing NML shared memory segments

$ halcmd -f ec3a.hal