Trouble with Cia402 drive configuration

peterpan
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New Member

22 Sep 2025 15:45 #335286 by peterpan

Trouble with Cia402 drive configuration was created by peterpan

I've been working on an EtherCAT build for a couple of months now, and wanted to avoid posting here, but it seems I have hit a wall.
For some background: I am completely new to LinuxCNC but wanted to build an EtherCAT AXYZ cnc with Cia402 drives. I got an EK1100, EL1008, and EL2008, and my brother gave me a ClearPath-EC Teknic Cia402 (CoE) drive. I had a raspberry pi 5 available, so I am testing my configuration on that right now. I used the Pre-packaged rasp-pi install (Debian 12) with LinuxCNC from the linuxcnc website, and had very little trouble following Rod's installation from repositories. From there I had a lot of trouble, but got a configuration based off of the sim.axis config working with the EtherCAT slaves, and was able to test I/O with no trouble.
Now, as I am attempting to incorporate the drive, but I can't get it into the OP state. The EtherCAT master recognizes it, and I can define pdos, but sdo 0x2000 and 0x2011 seem to just not exist, which I currently think has to do with the problem. I'm still having trouble wrapping my head around this, so let me know if there's anything else you need to help me. I would really appreciate the help!

teknic.com/files/downloads/ClearPath-EC_User_Manual.pdf

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Hakan
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Platinum Member

22 Sep 2025 16:57 #335292 by Hakan

Replied by Hakan on topic Trouble with Cia402 drive configuration

Ok, to understand a bit better, post the error you get.
If it is just that the device doesn't go to OP, please post the, say, 40 last lines of the output of "sudo dmesg".
Please also post you ethercat-conf.xml and the output of the "ethercat sdos" command.

I want to see the error from EtherCAT master which come in the syslog.
And match your config with the actual sdos the drive have.

The following user(s) said Thank You: peterpan

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peterpan
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22 Sep 2025 18:21 - 22 Sep 2025 18:34 #335299 by peterpan

Replied by peterpan on topic Trouble with Cia402 drive configuration

dmesg:

[  321.982900] macb 1f00100000.ethernet eth0: Link is Up - 100Mbps/Full - flow control off
[  321.984924] EtherCAT 0: Link state of ecm0 changed to UP.
[  321.992919] EtherCAT 0: 3 slave(s) responding on main device. Re-scanning on next possibility.
[  321.992922] EtherCAT 0: Slave states on main device: INIT.
[  321.992925] EtherCAT 0: Re-scanning now.
[  321.993087] EtherCAT 0: Scanning bus.
[  322.263441] EtherCAT 0: Bus scanning completed in 268 ms.
[  322.263445] EtherCAT 0: Using slave 0 as DC reference clock.
[  322.300887] EtherCAT 0: Slave states on main device: PREOP.
[  325.484594] EtherCAT 0: 4 slave(s) responding on main device. Re-scanning on next possibility.
[  325.484598] EtherCAT 0: Slave states on main device: INIT, PREOP.
[  325.484600] EtherCAT 0: Re-scanning now.
[  325.484777] EtherCAT 0: Scanning bus.
[  326.024428] EtherCAT 0: Bus scanning completed in 536 ms.
[  326.024433] EtherCAT 0: Using slave 0 as DC reference clock.
[  326.028554] EtherCAT 0: Slave states on main device: PREOP.
[  327.733588] EtherCAT: Requesting master 0...
[  327.733594] EtherCAT: Successfully requested master 0.
[  327.733858] EtherCAT 0: Domain0: Logical address 0x00000000, 28 byte, expected working counter 6.
[  327.733860] EtherCAT 0:   Datagram domain0-0-main: Logical offset 0x00000000, 28 byte, type LRW.
[  327.733877] EtherCAT 0: Master thread exited.
[  327.733879] EtherCAT 0: Starting EtherCAT-OP thread.
[  328.066961] EtherCAT ERROR 0-3: Failed to set SAFEOP state, slave refused state change (PREOP + ERROR).
[  328.068961] EtherCAT ERROR 0-3: AL status message 0x001E: "Invalid input configuration".
[  328.070960] EtherCAT 0-3: Acknowledged state PREOP.
[  328.076386] EtherCAT 0: Slave states on main device: PREOP, OP.
[  331.671725] EtherCAT WARNING 0-3: SDO information error response while fetching SDO entry 0x1C32:07!
[  331.671732] EtherCAT ERROR 0-3: SDO abort message 0x06090011: "Subindex does not exist".
[  331.675725] EtherCAT WARNING 0-3: SDO information error response while fetching SDO entry 0x1C32:08!
[  331.675727] EtherCAT ERROR 0-3: SDO abort message 0x06090011: "Subindex does not exist".
[  331.681724] EtherCAT WARNING 0-3: SDO information error response while fetching SDO entry 0x1C32:0A!
[  331.681727] EtherCAT ERROR 0-3: SDO abort message 0x06090011: "Subindex does not exist".
[  331.684725] EtherCAT WARNING 0-3: SDO information error response while fetching SDO entry 0x1C32:0B!
[  331.684726] EtherCAT ERROR 0-3: SDO abort message 0x06090011: "Subindex does not exist".
[  331.690724] EtherCAT WARNING 0-3: SDO information error response while fetching SDO entry 0x1C32:0D!
[  331.690726] EtherCAT ERROR 0-3: SDO abort message 0x06090011: "Subindex does not exist".
[  331.693724] EtherCAT WARNING 0-3: SDO information error response while fetching SDO entry 0x1C32:0E!
[  331.693726] EtherCAT ERROR 0-3: SDO abort message 0x06090011: "Subindex does not exist".
[  331.696725] EtherCAT WARNING 0-3: SDO information error response while fetching SDO entry 0x1C32:0F!
[  331.696726] EtherCAT ERROR 0-3: SDO abort message 0x06090011: "Subindex does not exist".
[  331.699724] EtherCAT WARNING 0-3: SDO information error response while fetching SDO entry 0x1C32:10!
[  331.699726] EtherCAT ERROR 0-3: SDO abort message 0x06090011: "Subindex does not exist".
[  331.702725] EtherCAT WARNING 0-3: SDO information error response while fetching SDO entry 0x1C32:11!
[  331.702727] EtherCAT ERROR 0-3: SDO abort message 0x06090011: "Subindex does not exist".
[  331.705724] EtherCAT WARNING 0-3: SDO information error response while fetching SDO entry 0x1C32:12!
[  331.705726] EtherCAT ERROR 0-3: SDO abort message 0x06090011: "Subindex does not exist".
[  331.708724] EtherCAT WARNING 0-3: SDO information error response while fetching SDO entry 0x1C32:13!
[  331.708725] EtherCAT ERROR 0-3: SDO abort message 0x06090011: "Subindex does not exist".
[  331.711724] EtherCAT WARNING 0-3: SDO information error response while fetching SDO entry 0x1C32:14!
[  331.711726] EtherCAT ERROR 0-3: SDO abort message 0x06090011: "Subindex does not exist".
[  331.714724] EtherCAT WARNING 0-3: SDO information error response while fetching SDO entry 0x1C32:15!
[  331.714726] EtherCAT ERROR 0-3: SDO abort message 0x06090011: "Subindex does not exist".
[  331.717724] EtherCAT WARNING 0-3: SDO information error response while fetching SDO entry 0x1C32:16!
[  331.717726] EtherCAT ERROR 0-3: SDO abort message 0x06090011: "Subindex does not exist".
[  331.720724] EtherCAT WARNING 0-3: SDO information error response while fetching SDO entry 0x1C32:17!
[  331.720726] EtherCAT ERROR 0-3: SDO abort message 0x06090011: "Subindex does not exist".
[  331.723724] EtherCAT WARNING 0-3: SDO information error response while fetching SDO entry 0x1C32:18!
[  331.723726] EtherCAT ERROR 0-3: SDO abort message 0x06090011: "Subindex does not exist".
[  331.726724] EtherCAT WARNING 0-3: SDO information error response while fetching SDO entry 0x1C32:19!
[  331.726725] EtherCAT ERROR 0-3: SDO abort message 0x06090011: "Subindex does not exist".
[  331.729724] EtherCAT WARNING 0-3: SDO information error response while fetching SDO entry 0x1C32:1A!
[  331.729726] EtherCAT ERROR 0-3: SDO abort message 0x06090011: "Subindex does not exist".
[  331.732724] EtherCAT WARNING 0-3: SDO information error response while fetching SDO entry 0x1C32:1B!
[  331.732726] EtherCAT ERROR 0-3: SDO abort message 0x06090011: "Subindex does not exist".
[  331.735725] EtherCAT WARNING 0-3: SDO information error response while fetching SDO entry 0x1C32:1C!
[  331.735726] EtherCAT ERROR 0-3: SDO abort message 0x06090011: "Subindex does not exist".
[  331.738724] EtherCAT WARNING 0-3: SDO information error response while fetching SDO entry 0x1C32:1D!
[  331.738725] EtherCAT ERROR 0-3: SDO abort message 0x06090011: "Subindex does not exist".
[  331.741724] EtherCAT WARNING 0-3: SDO information error response while fetching SDO entry 0x1C32:1E!
[  331.741726] EtherCAT ERROR 0-3: SDO abort message 0x06090011: "Subindex does not exist".
[  331.744724] EtherCAT WARNING 0-3: SDO information error response while fetching SDO entry 0x1C32:1F!
[  331.744726] EtherCAT ERROR 0-3: SDO abort message 0x06090011: "Subindex does not exist".
[  331.774724] EtherCAT WARNING 0-3: SDO information error response while fetching SDO entry 0x1C33:07!
[  331.774726] EtherCAT ERROR 0-3: SDO abort message 0x06090011: "Subindex does not exist".
[  331.777724] EtherCAT WARNING 0-3: SDO information error response while fetching SDO entry 0x1C33:08!
[  331.777726] EtherCAT ERROR 0-3: SDO abort message 0x06090011: "Subindex does not exist".
[  331.783724] EtherCAT WARNING 0-3: SDO information error response while fetching SDO entry 0x1C33:0A!
[  331.783726] EtherCAT ERROR 0-3: SDO abort message 0x06090011: "Subindex does not exist".
[  331.786724] EtherCAT WARNING 0-3: SDO information error response while fetching SDO entry 0x1C33:0B!
[  331.786725] EtherCAT ERROR 0-3: SDO abort message 0x06090011: "Subindex does not exist".
[  331.792724] EtherCAT WARNING 0-3: SDO information error response while fetching SDO entry 0x1C33:0D!
[  331.792726] EtherCAT ERROR 0-3: SDO abort message 0x06090011: "Subindex does not exist".
[  331.795725] EtherCAT WARNING 0-3: SDO information error response while fetching SDO entry 0x1C33:0E!
[  331.795726] EtherCAT ERROR 0-3: SDO abort message 0x06090011: "Subindex does not exist".
[  331.798724] EtherCAT WARNING 0-3: SDO information error response while fetching SDO entry 0x1C33:0F!
[  331.798725] EtherCAT ERROR 0-3: SDO abort message 0x06090011: "Subindex does not exist".
[  331.801724] EtherCAT WARNING 0-3: SDO information error response while fetching SDO entry 0x1C33:10!
[  331.801726] EtherCAT ERROR 0-3: SDO abort message 0x06090011: "Subindex does not exist".
[  331.804724] EtherCAT WARNING 0-3: SDO information error response while fetching SDO entry 0x1C33:11!
[  331.804726] EtherCAT ERROR 0-3: SDO abort message 0x06090011: "Subindex does not exist".
[  331.807724] EtherCAT WARNING 0-3: SDO information error response while fetching SDO entry 0x1C33:12!
[  331.807725] EtherCAT ERROR 0-3: SDO abort message 0x06090011: "Subindex does not exist".
[  331.810724] EtherCAT WARNING 0-3: SDO information error response while fetching SDO entry 0x1C33:13!
[  331.810726] EtherCAT ERROR 0-3: SDO abort message 0x06090011: "Subindex does not exist".
[  331.813724] EtherCAT WARNING 0-3: SDO information error response while fetching SDO entry 0x1C33:14!
[  331.813725] EtherCAT ERROR 0-3: SDO abort message 0x06090011: "Subindex does not exist".
[  331.816724] EtherCAT WARNING 0-3: SDO information error response while fetching SDO entry 0x1C33:15!
[  331.816726] EtherCAT ERROR 0-3: SDO abort message 0x06090011: "Subindex does not exist".
[  331.819724] EtherCAT WARNING 0-3: SDO information error response while fetching SDO entry 0x1C33:16!
[  331.819725] EtherCAT ERROR 0-3: SDO abort message 0x06090011: "Subindex does not exist".
[  331.822724] EtherCAT WARNING 0-3: SDO information error response while fetching SDO entry 0x1C33:17!
[  331.822725] EtherCAT ERROR 0-3: SDO abort message 0x06090011: "Subindex does not exist".
[  331.825724] EtherCAT WARNING 0-3: SDO information error response while fetching SDO entry 0x1C33:18!
[  331.825726] EtherCAT ERROR 0-3: SDO abort message 0x06090011: "Subindex does not exist".
[  331.828724] EtherCAT WARNING 0-3: SDO information error response while fetching SDO entry 0x1C33:19!
[  331.828725] EtherCAT ERROR 0-3: SDO abort message 0x06090011: "Subindex does not exist".
[  331.831724] EtherCAT WARNING 0-3: SDO information error response while fetching SDO entry 0x1C33:1A!
[  331.831726] EtherCAT ERROR 0-3: SDO abort message 0x06090011: "Subindex does not exist".
[  331.834724] EtherCAT WARNING 0-3: SDO information error response while fetching SDO entry 0x1C33:1B!
[  331.834725] EtherCAT ERROR 0-3: SDO abort message 0x06090011: "Subindex does not exist".
[  331.837723] EtherCAT WARNING 0-3: SDO information error response while fetching SDO entry 0x1C33:1C!
[  331.837725] EtherCAT ERROR 0-3: SDO abort message 0x06090011: "Subindex does not exist".
[  331.840724] EtherCAT WARNING 0-3: SDO information error response while fetching SDO entry 0x1C33:1D!
[  331.840725] EtherCAT ERROR 0-3: SDO abort message 0x06090011: "Subindex does not exist".
[  331.843724] EtherCAT WARNING 0-3: SDO information error response while fetching SDO entry 0x1C33:1E!
[  331.843725] EtherCAT ERROR 0-3: SDO abort message 0x06090011: "Subindex does not exist".
[  331.846723] EtherCAT WARNING 0-3: SDO information error response while fetching SDO entry 0x1C33:1F!
[  331.846725] EtherCAT ERROR 0-3: SDO abort message 0x06090011: "Subindex does not exist".

ethercat sdos:

=== Master 0, Slave 3 ===
SDO 0x1000, "Device Type"
  0x1000:00, r-r-r-, uint32, 32 bit, ""
SDO 0x1001, "Error Register"
  0x1001:00, r-r-r-, uint8, 8 bit, ""
SDO 0x1008, "Manufacturer Device Name"
  0x1008:00, r-r-r-, string, 168 bit, ""
SDO 0x1009, "Manufacturer Hardware Version"
  0x1009:00, r-r-r-, string, 24 bit, ""
SDO 0x100a, "Manufacturer Software Version"
  0x100a:00, r-r-r-, string, 80 bit, ""
SDO 0x1010, "Store Parameters"
  0x1010:00, r-r-r-, uint8, 8 bit, ""
  0x1010:01, rwr-r-, uint32, 32 bit, ""
SDO 0x1018, "Identity Object"
  0x1018:00, r-r-r-, uint8, 8 bit, ""
  0x1018:01, r-r-r-, uint32, 32 bit, ""
  0x1018:02, r-r-r-, uint32, 32 bit, ""
  0x1018:03, r-r-r-, uint32, 32 bit, ""
  0x1018:04, r-r-r-, uint32, 32 bit, ""
SDO 0x1023, "Command Object"
  0x1023:00, r-r-r-, uint8, 8 bit, ""
  0x1023:01, rwrwrw, octet_string, 256 bit, ""
  0x1023:02, r-r-r-, uint8, 8 bit, ""
  0x1023:03, r-r-r-, octet_string, 256 bit, ""
SDO 0x10f3, "Diagnosis History"
  0x10f3:00, r-r-r-, uint8, 8 bit, ""
  0x10f3:01, [code]=== Master 0, Slave 3 ===
SDO 0x1000, "Device Type"
  0x1000:00, r-r-r-, uint32, 32 bit, ""
SDO 0x1001, "Errorr-r-r-, uint8, 8 bit, ""
  0x10f3:02, r-r-r-, uint8, 8 bit, ""
  0x10f3:03, rwrwrw, uint8, 8 bit, ""
  0x10f3:04, r-r-r-, bool, 1 bit, ""
  0x10f3:05, rwrwrw, uint16, 16 bit, ""
  0x10f3:06, r-r-r-, octet_string, 208 bit, ""
  0x10f3:07, r-r-r-, octet_string, 208 bit, ""
  0x10f3:08, r-r-r-, octet_string, 208 bit, ""
  0x10f3:09, r-r-r-, octet_string, 208 bit, ""
  0x10f3:0a, r-r-r-, octet_string, 208 bit, ""
  0x10f3:0b, r-r-r-, octet_string, 208 bit, ""
  0x10f3:0c, r-r-r-, octet_string, 208 bit, ""
  0x10f3:0d, r-r-r-, octet_string, 208 bit, ""
  0x10f3:0e, r-r-r-, octet_string, 208 bit, ""
  0x10f3:0f, r-r-r-, octet_string, 208 bit, ""
  0x10f3:10, r-r-r-, octet_string, 208 bit, ""
  0x10f3:11, r-r-r-, octet_string, 208 bit, ""
  0x10f3:12, r-r-r-, octet_string, 208 bit, ""
  0x10f3:13, r-r-r-, octet_string, 208 bit, ""
  0x10f3:14, r-r-r-, octet_string, 208 bit, ""
  0x10f3:15, r-r-r-, octet_string, 208 bit, ""
  0x10f3:16, r-r-r-, octet_string, 208 bit, ""
  0x10f3:17, r-r-r-, octet_string, 208 bit, ""
  0x10f3:18, r-r-r-, octet_string, 208 bit, ""
  0x10f3:19, r-r-r-, octet_string, 208 bit, ""
  0x10f3:1a, r-r-r-, octet_string, 208 bit, ""
  0x10f3:1b, r-r-r-, octet_string, 208 bit, ""
  0x10f3:1c, r-r-r-, octet_string, 208 bit, ""
  0x10f3:1d, r-r-r-, octet_string, 208 bit, ""
  0x10f3:1e, r-r-r-, octet_string, 208 bit, ""
  0x10f3:1f, r-r-r-, octet_string, 208 bit, ""
  0x10f3:20, r-r-r-, octet_string, 208 bit, ""
  0x10f3:21, r-r-r-, octet_string, 208 bit, ""
  0x10f3:22, r-r-r-, octet_string, 208 bit, ""
  0x10f3:23, r-r-r-, octet_string, 208 bit, ""
  0x10f3:24, r-r-r-, octet_string, 208 bit, ""
  0x10f3:25, r-r-r-, octet_string, 208 bit, ""
  0x10f3:26, r-r-r-, octet_string, 208 bit, ""
  0x10f3:27, r-r-r-, octet_string, 208 bit, ""
  0x10f3:28, r-r-r-, octet_string, 208 bit, ""
  0x10f3:29, r-r-r-, octet_string, 208 bit, ""
  0x10f3:2a, r-r-r-, octet_string, 208 bit, ""
  0x10f3:2b, r-r-r-, octet_string, 208 bit, ""
  0x10f3:2c, r-r-r-, octet_string, 208 bit, ""
  0x10f3:2d, r-r-r-, octet_string, 208 bit, ""
  0x10f3:2e, r-r-r-, octet_string, 208 bit, ""
  0x10f3:2f, r-r-r-, octet_string, 208 bit, ""
  0x10f3:30, r-r-r-, octet_string, 208 bit, ""
  0x10f3:31, r-r-r-, octet_string, 208 bit, ""
  0x10f3:32, r-r-r-, octet_string, 208 bit, ""
  0x10f3:33, r-r-r-, octet_string, 208 bit, ""
  0x10f3:34, r-r-r-, octet_string, 208 bit, ""
  0x10f3:35, r-r-r-, octet_string, 208 bit, ""
  0x10f3:36, r-r-r-, octet_string, 208 bit, ""
  0x10f3:37, r-r-r-, octet_string, 208 bit, ""
SDO 0x10f9, "Time Distribution Object"
  0x10f9:00, rwrwrw, uint64, 64 bit, ""
SDO 0x1600, "Receive PDO Mapping Parameter 1"
  0x1600:00, rwr-r-, uint8, 8 bit, ""
  0x1600:01, rwr-r-, uint32, 32 bit, ""
  0x1600:02, rwr-r-, uint32, 32 bit, ""
  0x1600:03, rwr-r-, uint32, 32 bit, ""
  0x1600:04, rwr-r-, uint32, 32 bit, ""
  0x1600:05, rwr-r-, uint32, 32 bit, ""
  0x1600:06, rwr-r-, uint32, 32 bit, ""
  0x1600:07, rwr-r-, uint32, 32 bit, ""
  0x1600:08, rwr-r-, uint32, 32 bit, ""
SDO 0x1601, "Receive PDO Mapping Parameter 2"
  0x1601:00, rwr-r-, uint8, 8 bit, ""
  0x1601:01, rwr-r-, uint32, 32 bit, ""
  0x1601:02, rwr-r-, uint32, 32 bit, ""
  0x1601:03, rwr-r-, uint32, 32 bit, ""
  0x1601:04, rwr-r-, uint32, 32 bit, ""
  0x1601:05, rwr-r-, uint32, 32 bit, ""
  0x1601:06, rwr-r-, uint32, 32 bit, ""
  0x1601:07, rwr-r-, uint32, 32 bit, ""
  0x1601:08, rwr-r-, uint32, 32 bit, ""
SDO 0x1602, "Receive PDO Mapping Parameter 3"
  0x1602:00, rwr-r-, uint8, 8 bit, ""
  0x1602:01, rwr-r-, uint32, 32 bit, ""
  0x1602:02, rwr-r-, uint32, 32 bit, ""
  0x1602:03, rwr-r-, uint32, 32 bit, ""
  0x1602:04, rwr-r-, uint32, 32 bit, ""
  0x1602:05, rwr-r-, uint32, 32 bit, ""
  0x1602:06, rwr-r-, uint32, 32 bit, ""
  0x1602:07, rwr-r-, uint32, 32 bit, ""
  0x1602:08, rwr-r-, uint32, 32 bit, ""
SDO 0x1603, "Receive PDO Mapping Parameter 4"
  0x1603:00, rwr-r-, uint8, 8 bit, ""
  0x1603:01, rwr-r-, uint32, 32 bit, ""
  0x1603:02, rwr-r-, uint32, 32 bit, ""
  0x1603:03, rwr-r-, uint32, 32 bit, ""
  0x1603:04, rwr-r-, uint32, 32 bit, ""
  0x1603:05, rwr-r-, uint32, 32 bit, ""
  0x1603:06, rwr-r-, uint32, 32 bit, ""
  0x1603:07, rwr-r-, uint32, 32 bit, ""
  0x1603:08, rwr-r-, uint32, 32 bit, ""
SDO 0x1604, "Receive PDO Mapping Parameter 5"
  0x1604:00, rwr-r-, uint8, 8 bit, ""
  0x1604:01, rwr-r-, uint32, 32 bit, ""
  0x1604:02, rwr-r-, uint32, 32 bit, ""
  0x1604:03, rwr-r-, uint32, 32 bit, ""
  0x1604:04, rwr-r-, uint32, 32 bit, ""
  0x1604:05, rwr-r-, uint32, 32 bit, ""
  0x1604:06, rwr-r-, uint32, 32 bit, ""
  0x1604:07, rwr-r-, uint32, 32 bit, ""
  0x1604:08, rwr-r-, uint32, 32 bit, ""
SDO 0x1605, "Receive PDO Mapping Parameter 6"
  0x1605:00, rwr-r-, uint8, 8 bit, ""
  0x1605:01, rwr-r-, uint32, 32 bit, ""
  0x1605:02, rwr-r-, uint32, 32 bit, ""
  0x1605:03, rwr-r-, uint32, 32 bit, ""
  0x1605:04, rwr-r-, uint32, 32 bit, ""
  0x1605:05, rwr-r-, uint32, 32 bit, ""
  0x1605:06, rwr-r-, uint32, 32 bit, ""
  0x1605:07, rwr-r-, uint32, 32 bit, ""
  0x1605:08, rwr-r-, uint32, 32 bit, ""
SDO 0x1a00, "Transmit PDO Mapping Parameter 1"
  0x1a00:00, rwr-r-, uint8, 8 bit, ""
  0x1a00:01, rwr-r-, uint32, 32 bit, ""
  0x1a00:02, rwr-r-, uint32, 32 bit, ""
  0x1a00:03, rwr-r-, uint32, 32 bit, ""
  0x1a00:04, rwr-r-, uint32, 32 bit, ""
  0x1a00:05, rwr-r-, uint32, 32 bit, ""
  0x1a00:06, rwr-r-, uint32, 32 bit, ""
  0x1a00:07, rwr-r-, uint32, 32 bit, ""
  0x1a00:08, rwr-r-, uint32, 32 bit, ""
SDO 0x1a01, "Transmit PDO Mapping Parameter 2"
  0x1a01:00, rwr-r-, uint8, 8 bit, ""
  0x1a01:01, rwr-r-, uint32, 32 bit, ""
  0x1a01:02, rwr-r-, uint32, 32 bit, ""
  0x1a01:03, rwr-r-, uint32, 32 bit, ""
  0x1a01:04, rwr-r-, uint32, 32 bit, ""
  0x1a01:05, rwr-r-, uint32, 32 bit, ""
  0x1a01:06, rwr-r-, uint32, 32 bit, ""
  0x1a01:07, rwr-r-, uint32, 32 bit, ""
  0x1a01:08, rwr-r-, uint32, 32 bit, ""
SDO 0x1a02, "Transmit PDO Mapping Parameter 3"
  0x1a02:00, rwr-r-, uint8, 8 bit, ""
  0x1a02:01, rwr-r-, uint32, 32 bit, ""
  0x1a02:02, rwr-r-, uint32, 32 bit, ""
  0x1a02:03, rwr-r-, uint32, 32 bit, ""
  0x1a02:04, rwr-r-, uint32, 32 bit, ""
  0x1a02:05, rwr-r-, uint32, 32 bit, ""
  0x1a02:06, rwr-r-, uint32, 32 bit, ""
  0x1a02:07, rwr-r-, uint32, 32 bit, ""
  0x1a02:08, rwr-r-, uint32, 32 bit, ""
SDO 0x1a03, "Transmit PDO Mapping Parameter 4"
  0x1a03:00, rwr-r-, uint8, 8 bit, ""
  0x1a03:01, rwr-r-, uint32, 32 bit, ""
  0x1a03:02, rwr-r-, uint32, 32 bit, ""
  0x1a03:03, rwr-r-, uint32, 32 bit, ""
  0x1a03:04, rwr-r-, uint32, 32 bit, ""
  0x1a03:05, rwr-r-, uint32, 32 bit, ""
  0x1a03:06, rwr-r-, uint32, 32 bit, ""
  0x1a03:07, rwr-r-, uint32, 32 bit, ""
  0x1a03:08, rwr-r-, uint32, 32 bit, ""
SDO 0x1a04, "Transmit PDO Mapping Parameter 5"
  0x1a04:00, rwr-r-, uint8, 8 bit, ""
  0x1a04:01, rwr-r-, uint32, 32 bit, ""
  0x1a04:02, rwr-r-, uint32, 32 bit, ""
  0x1a04:03, rwr-r-, uint32, 32 bit, ""
  0x1a04:04, rwr-r-, uint32, 32 bit, ""
  0x1a04:05, rwr-r-, uint32, 32 bit, ""
  0x1a04:06, rwr-r-, uint32, 32 bit, ""
  0x1a04:07, rwr-r-, uint32, 32 bit, ""
  0x1a04:08, rwr-r-, uint32, 32 bit, ""
SDO 0x1a05, "Transmit PDO Mapping Parameter 6"
  0x1a05:00, rwr-r-, uint8, 8 bit, ""
  0x1a05:01, rwr-r-, uint32, 32 bit, ""
  0x1a05:02, rwr-r-, uint32, 32 bit, ""
  0x1a05:03, rwr-r-, uint32, 32 bit, ""
  0x1a05:04, rwr-r-, uint32, 32 bit, ""
  0x1a05:05, rwr-r-, uint32, 32 bit, ""
  0x1a05:06, rwr-r-, uint32, 32 bit, ""
  0x1a05:07, rwr-r-, uint32, 32 bit, ""
  0x1a05:08, rwr-r-, uint32, 32 bit, ""
SDO 0x1c00, "Sync Manager Communication Type"
  0x1c00:00, r-r-r-, uint8, 8 bit, ""
  0x1c00:01, r-r-r-, uint8, 8 bit, ""
  0x1c00:02, r-r-r-, uint8, 8 bit, ""
  0x1c00:03, r-r-r-, uint8, 8 bit, ""
  0x1c00:04, r-r-r-, uint8, 8 bit, ""
SDO 0x1c12, "RxPDO Assignment"
  0x1c12:00, rwr-r-, uint8, 8 bit, ""
  0x1c12:01, rwr-r-, uint16, 16 bit, ""
  0x1c12:02, rwr-r-, uint16, 16 bit, ""
  0x1c12:03, rwr-r-, uint16, 16 bit, ""
  0x1c12:04, rwr-r-, uint16, 16 bit, ""
  0x1c12:05, rwr-r-, uint16, 16 bit, ""
  0x1c12:06, rwr-r-, uint16, 16 bit, ""
SDO 0x1c13, "TxPDO Assignment"
  0x1c13:00, rwr-r-, uint8, 8 bit, ""
  0x1c13:01, rwr-r-, uint16, 16 bit, ""
  0x1c13:02, rwr-r-, uint16, 16 bit, ""
  0x1c13:03, rwr-r-, uint16, 16 bit, ""
  0x1c13:04, rwr-r-, uint16, 16 bit, ""
  0x1c13:05, rwr-r-, uint16, 16 bit, ""
  0x1c13:06, rwr-r-, uint16, 16 bit, ""
SDO 0x1c32, "RxPDO Synchronization"
  0x1c32:00, r-r-r-, uint8, 8 bit, ""
  0x1c32:01, r-r-r-, uint16, 16 bit, ""
  0x1c32:02, r-r-r-, uint32, 32 bit, ""
  0x1c32:03, r-r-r-, uint32, 32 bit, ""
  0x1c32:04, r-r-r-, uint16, 16 bit, ""
  0x1c32:05, r-r-r-, uint32, 32 bit, ""
  0x1c32:06, r-r-r-, uint32, 32 bit, ""
  0x1c32:09, r-r-r-, uint32, 32 bit, ""
  0x1c32:0c, r-r-r-, uint16, 16 bit, ""
  0x1c32:20, r-r-r-, bool, 1 bit, ""
SDO 0x1c33, "TxPDO Synchronization"
  0x1c33:00, r-r-r-, uint8, 8 bit, ""
  0x1c33:01, r-r-r-, uint16, 16 bit, ""
  0x1c33:02, r-r-r-, uint32, 32 bit, ""
  0x1c33:03, r-r-r-, uint32, 32 bit, ""
  0x1c33:04, r-r-r-, uint16, 16 bit, ""
  0x1c33:05, r-r-r-, uint32, 32 bit, ""
  0x1c33:06, r-r-r-, uint32, 32 bit, ""
  0x1c33:09, r-r-r-, uint32, 32 bit, ""
  0x1c33:0c, r-r-r-, uint16, 16 bit, ""
  0x1c33:20, r-r-r-, bool, 1 bit, ""
SDO 0x2006, "Internal Parameter 6"
  0x2006:00, rwr-r-, uint16, 16 bit, ""
SDO 0x2007, "Internal Parameter 7"
  0x2007:00, r-r-r-, uint16, 16 bit, ""
SDO 0x2009, "Alert Register"
  0x2009:00, r-r-r-, octet_string, 96 bit, ""
SDO 0x2014, "Internal Parameter 20"
  0x2014:00, rwr-r-, uint16, 16 bit, ""
SDO 0x2015, "Internal Parameter 21"
  0x2015:00, r-r-r-, uint16, 16 bit, ""
SDO 0x2017, "HW Config Register"
  0x2017:00, rwrwrw, uint32, 32 bit, ""
SDO 0x2018, "Application Config Register"
  0x2018:00, rwrwrw, uint32, 32 bit, ""
SDO 0x201d, "On Time"
  0x201d:00, r-r-r-, uint32, 32 bit, ""
SDO 0x2039, "RAS Delay"
  0x2039:00, r-r-r-, uint16, 16 bit, ""
SDO 0x2048, "Internal Parameter 72"
  0x2048:00, rwrwrw, uint16, 16 bit, ""
SDO 0x204a, "Internal Parameter 74"
  0x204a:00, rwrwrw, int32, 32 bit, ""
SDO 0x205c, "Internal Parameter 92"
  0x205c:00, rwrwrw, int16, 16 bit, ""
SDO 0x2063, "Input A Filter Time"
  0x2063:00, rwrwrw, uint16, 16 bit, ""
SDO 0x2066, "Input B Filter Time"
  0x2066:00, rwrwrw, uint16, 16 bit, ""
SDO 0x2068, "Internal Parameter 104"
  0x2068:00, r-r-r-, int32, 32 bit, ""
SDO 0x2069, "Internal Parameter 105"
  0x2069:00, rwrwrw, uint16, 16 bit, ""
SDO 0x206a, "Internal Parameter 106"
  0x206a:00, rwrwrw, uint16, 16 bit, ""
SDO 0x206b, "Internal Parameter 107"
  0x206b:00, rwrwrw, uint16, 16 bit, ""
SDO 0x206f, "Internal Parameter 111"
  0x206f:00, rwrwrw, uint16, 16 bit, ""
SDO 0x2071, "Internal Parameter 113"
  0x2071:00, rwrwrw, uint16, 16 bit, ""
SDO 0x2072, "Internal Parameter 114"
  0x2072:00, rwrwrw, uint16, 16 bit, ""
SDO 0x2073, "Internal Parameter 115"
  0x2073:00, rwrwrw, uint16, 16 bit, ""
SDO 0x210b, "Internal Parameter 267"
  0x210b:00, rwrwrw, int32, 32 bit, ""
SDO 0x210e, "Internal Parameter 270"
  0x210e:00, rwrwrw, int32, 32 bit, ""
SDO 0x210f, "Internal Parameter 271"
  0x210f:00, rwrwrw, uint16, 16 bit, ""
SDO 0x2113, "Internal Parameter 275"
  0x2113:00, rwrwrw, int32, 32 bit, ""
SDO 0x2118, "Bus Voltage Measured"
  0x2118:00, r-r-r-, uint16, 16 bit, ""
SDO 0x2123, "Drive Temperature"
  0x2123:00, r-r-r-, int16, 16 bit, ""
SDO 0x2135, "Internal Parameter 309"
  0x2135:00, rwrwrw, uint16, 16 bit, ""
SDO 0x213e, "Kip"
  0x213e:00, rwrwrw, uint16, 16 bit, ""
SDO 0x213f, "Kii"
  0x213f:00, rwrwrw, uint16, 16 bit, ""
SDO 0x2143, "Kr"
  0x2143:00, rwrwrw, int16, 16 bit, ""
SDO 0x2144, "Internal Parameter 324"
  0x2144:00, rwrwrw, uint16, 16 bit, ""
SDO 0x2145, "Tuning Config Register"
  0x2145:00, rwrwrw, uint32, 32 bit, ""
SDO 0x2146, "Kv"
  0x2146:00, rwrwrw, uint32, 32 bit, ""
SDO 0x2147, "Kp"
  0x2147:00, rwrwrw, uint32, 32 bit, ""
SDO 0x2148, "Ki"
  0x2148:00, rwrwrw, uint32, 32 bit, ""
SDO 0x2149, "Kfv"
  0x2149:00, rwrwrw, uint32, 32 bit, ""
SDO 0x214a, "Kfa"
  0x214a:00, rwrwrw, uint32, 32 bit, ""
SDO 0x214b, "Kfj"
  0x214b:00, rwrwrw, uint32, 32 bit, ""
SDO 0x214d, "Knv"
  0x214d:00, rwrwrw, uint32, 32 bit, ""
SDO 0x214e, "Internal Parameter 334"
  0x214e:00, rwrwrw, int16, 16 bit, ""
SDO 0x214f, "Torque Bias"
  0x214f:00, rwrwrw, int16, 16 bit, ""
SDO 0x2150, "Internal Parameter 336"
  0x2150:00, rwrwrw, uint16, 16 bit, ""
SDO 0x2151, "Internal Parameter 337"
  0x2151:00, rwrwrw, uint16, 16 bit, ""
SDO 0x2152, "Internal Parameter 338"
  0x2152:00, rwrwrw, uint16, 16 bit, ""
SDO 0x2153, "Internal Parameter 339"
  0x2153:00, rwrwrw, uint32, 32 bit, ""
SDO 0x2154, "Internal Parameter 340"
  0x2154:00, rwrwrw, uint32, 32 bit, ""
SDO 0x2155, "Internal Parameter 341"
  0x2155:00, rwrwrw, uint16, 16 bit, ""
SDO 0x2156, "Internal Parameter 342"
  0x2156:00, rwrwrw, uint16, 16 bit, ""
SDO 0x215a, "Internal Parameter 346"
  0x215a:00, rwrwrw, int32, 32 bit, ""
SDO 0x215b, "Internal Parameter 347"
  0x215b:00, rwrwrw, int32, 32 bit, ""
SDO 0x215c, "Internal Parameter 348"
  0x215c:00, rwrwrw, int32, 32 bit, ""
SDO 0x215d, "Fine Tuning Slider"
  0x215d:00, rwrwrw, uint16, 16 bit, ""
SDO 0x2163, "Move Done Torque Foldback"
  0x2163:00, rwrwrw, int16, 16 bit, ""
SDO 0x2164, "Move Done Torque Foldback TC"
  0x2164:00, rwrwrw, int16, 16 bit, ""
SDO 0x2167, "Internal Parameter 359"
  0x2167:00, rwrwrw, int32, 32 bit, ""
SDO 0x2168, "Internal Parameter 360"
  0x2168:00, rwrwrw, int16, 16 bit, ""
SDO 0x2169, "Internal Parameter 361"
  0x2169:00, rwrwrw, int16, 16 bit, ""
SDO 0x216a, "Internal Parameter 362"
  0x216a:00, rwrwrw, int16, 16 bit, ""
SDO 0x216b, "Hardstop Torque Maximum"
  0x216b:00, rwrwrw, int16, 16 bit, ""
SDO 0x216c, "Internal Parameter 364"
  0x216c:00, rwrwrw, uint16, 16 bit, ""
SDO 0x216f, "Mechanical Position"
  0x216f:00, r-r-r-, int32, 32 bit, ""
SDO 0x2170, "Delay Disable Time"
  0x2170:00, rwrwrw, int16, 16 bit, ""
SDO 0x2172, "Internal Parameter 370"
  0x2172:00, rwrwrw, int16, 16 bit, ""
SDO 0x2173, "Internal Parameter 371"
  0x2173:00, rwrwrw, int16, 16 bit, ""
SDO 0x2201, "Physical Home Clearance"
  0x2201:00, rwrwrw, uint32, 32 bit, ""
SDO 0x2209, "Internal Parameter 521"
  0x2209:00, rwrwrw, int16, 16 bit, ""
SDO 0x2242, "Minimum Operating Volts"
  0x2242:00, rwrwrw, int16, 16 bit, ""
SDO 0x2243, "Max User Temp"
  0x2243:00, rwrwrw, int16, 16 bit, ""
SDO 0x2244, "Bus Current Trip"
  0x2244:00, rwrwrw, int16, 16 bit, ""
SDO 0x2300, "Shaft Homing Target"
  0x2300:00, rwrwrw, uint32, 32 bit, ""
SDO 0x230e, "Digital Input Map"
  0x230e:00, rwrwrw, uint16, 16 bit, ""
SDO 0x230f, "RMS Level"
  0x230f:00, r-r-r-, uint16, 16 bit, ""
SDO 0x2316, "Current Profile Position"
  0x2316:00, r-r-r-, int32, 32 bit, ""
SDO 0x2317, "Current Profile Velocity"
  0x2317:00, r-r-r-, int32, 32 bit, ""
SDO 0x2318, "Current Profile Acceleration"
  0x2318:00, r-r-r-, uint32, 32 bit, ""
SDO 0x2319, "Current Profile Deceleration"
  0x2319:00, r-r-r-, uint32, 32 bit, ""
SDO 0x231a, "Overspeed Timeout"
  0x231a:00, rwrwrw, uint16, 16 bit, ""
SDO 0x6007, "Abort Connection Option Code"
  0x6007:00, rwrwrw, int16, 16 bit, ""
SDO 0x603f, "Error Code"
  0x603f:00, r-r-r-, uint16, 16 bit, ""
SDO 0x6040, "Controlword"
  0x6040:00, rwrwrw, uint16, 16 bit, ""
SDO 0x6041, "Statusword"
  0x6041:00, r-r-r-, uint16, 16 bit, ""
SDO 0x605a, "Quick Stop Option Code"
  0x605a:00, rwrwrw, int16, 16 bit, ""
SDO 0x605c, "Disable Operation Option Code"
  0x605c:00, rwrwrw, int16, 16 bit, ""
SDO 0x605d, "Halt Option Code"
  0x605d:00, rwrwrw, int16, 16 bit, ""
SDO 0x605e, "Fault Reaction Option Code"
  0x605e:00, rwrwrw, int16, 16 bit, ""
SDO 0x6060, "Modes of Operation"
  0x6060:00, rwrwrw, int8, 8 bit, ""
SDO 0x6061, "Modes of Operation Display"
  0x6061:00, r-r-r-, int8, 8 bit, ""
SDO 0x6062, "Position Demand Value"
  0x6062:00, r-r-r-, int32, 32 bit, ""
SDO 0x6063, "Position Actual Internal Value"
  0x6063:00, r-r-r-, int32, 32 bit, ""
SDO 0x6064, "Position Actual Value"
  0x6064:00, r-r-r-, int32, 32 bit, ""
SDO 0x6065, "Following Error Window"
  0x6065:00, rwrwrw, uint32, 32 bit, ""
SDO 0x6066, "Following Error Time Out"
  0x6066:00, rwrwrw, uint16, 16 bit, ""
SDO 0x6067, "Position Window"
  0x6067:00, rwrwrw, uint32, 32 bit, ""
SDO 0x6068, "Position Window Time"
  0x6068:00, rwrwrw, uint16, 16 bit, ""
SDO 0x606b, "Velocity Demand Value"
  0x606b:00, r-r-r-, int32, 32 bit, ""
SDO 0x606c, "Velocity Actual Value"
  0x606c:00, r-r-r-, int32, 32 bit, ""
SDO 0x606d, "Velocity Window"
  0x606d:00, rwrwrw, uint16, 16 bit, ""
SDO 0x606e, "Velocity Window Time"
  0x606e:00, rwrwrw, uint16, 16 bit, ""
SDO 0x6071, "Target Torque"
  0x6071:00, rwrwrw, int16, 16 bit, ""
SDO 0x6072, "Max Torque"
  0x6072:00, rwrwrw, uint16, 16 bit, ""
SDO 0x6074, "Torque Demand Value"
  0x6074:00, r-r-r-, int16, 16 bit, ""
SDO 0x6077, "Torque Actual Value"
  0x6077:00, r-r-r-, int16, 16 bit, ""
SDO 0x6079, "DC Link Circuit Voltage"
  0x6079:00, r-r-r-, uint32, 32 bit, ""
SDO 0x607a, "Target Position"
  0x607a:00, rwrwrw, int32, 32 bit, ""
SDO 0x607c, "Home Offset"
  0x607c:00, rwrwrw, int32, 32 bit, ""
SDO 0x607d, "Software Position Limit"
  0x607d:00, r-r-r-, uint8, 8 bit, ""
  0x607d:01, rwrwrw, int32, 32 bit, ""
  0x607d:02, rwrwrw, int32, 32 bit, ""
SDO 0x607e, "Polarity"
  0x607e:00, rwrwrw, uint8, 8 bit, ""
SDO 0x6080, "Max Motor Speed"
  0x6080:00, rwrwrw, uint32, 32 bit, ""
SDO 0x6081, "Profile Velocity"
  0x6081:00, rwrwrw, uint32, 32 bit, ""
SDO 0x6083, "Profile Acceleration"
  0x6083:00, rwrwrw, uint32, 32 bit, ""
SDO 0x6084, "Profile Deceleration"
  0x6084:00, rwrwrw, uint32, 32 bit, ""
SDO 0x6085, "Quick Stop Deceleration"
  0x6085:00, rwrwrw, uint32, 32 bit, ""
SDO 0x6087, "Torque Slope"
  0x6087:00, rwrwrw, uint32, 32 bit, ""
SDO 0x608f, "Position Encoder Resolution"
  0x608f:00, r-r-r-, uint8, 8 bit, ""
  0x608f:01, r-r-r-, uint32, 32 bit, ""
  0x608f:02, r-r-r-, uint32, 32 bit, ""
SDO 0x6098, "Homing Method"
  0x6098:00, rwrwrw, int8, 8 bit, ""
SDO 0x6099, "Homing Speeds"
  0x6099:00, r-r-r-, uint8, 8 bit, ""
  0x6099:01, rwrwrw, uint32, 32 bit, ""
  0x6099:02, rwrwrw, uint32, 32 bit, ""
SDO 0x609a, "Homing Acceleration"
  0x609a:00, rwrwrw, uint32, 32 bit, ""
SDO 0x60b0, "Position Offset"
  0x60b0:00, rwrwrw, int32, 32 bit, ""
SDO 0x60b1, "Velocity Offset"
  0x60b1:00, rwrwrw, int32, 32 bit, ""
SDO 0x60b2, "Torque Offset"
  0x60b2:00, rwrwrw, int16, 16 bit, ""
SDO 0x60b8, "Touch Probe Function"
  0x60b8:00, rwrwrw, uint16, 16 bit, ""
SDO 0x60b9, "Touch Probe Status"
  0x60b9:00, r-r-r-, uint16, 16 bit, ""
SDO 0x60ba, "Touch Probe Position 1 Positive Value"
  0x60ba:00, r-r-r-, int32, 32 bit, ""
SDO 0x60bb, "Touch Probe Position 1 Negative Value"
  0x60bb:00, r-r-r-, int32, 32 bit, ""
SDO 0x60bc, "Touch Probe Position 2 Positive Value"
  0x60bc:00, r-r-r-, int32, 32 bit, ""
SDO 0x60bd, "Touch Probe Position 2 Negative Value"
  0x60bd:00, r-r-r-, int32, 32 bit, ""
SDO 0x60c2, "Interpolation Time Period"
  0x60c2:00, r-r-r-, uint8, 8 bit, ""
  0x60c2:01, rwr-r-, uint8, 8 bit, ""
  0x60c2:02, rwr-r-, int8, 8 bit, ""
SDO 0x60d5, "Touch Probe 1 Positive Edge Counter"
  0x60d5:00, r-r-r-, uint16, 16 bit, ""
SDO 0x60d6, "Touch Probe 1 Negative Edge Counter"
  0x60d6:00, r-r-r-, uint16, 16 bit, ""
SDO 0x60d7, "Touch Probe 2 Positive Edge Counter"
  0x60d7:00, r-r-r-, uint16, 16 bit, ""
SDO 0x60d8, "Touch Probe 2 Negative Edge Counter"
  0x60d8:00, r-r-r-, uint16, 16 bit, ""
SDO 0x60e0, "Positive Torque Limit Value"
  0x60e0:00, rwrwrw, uint16, 16 bit, ""
SDO 0x60e1, "Negative Torque Limit Value"
  0x60e1:00, rwrwrw, uint16, 16 bit, ""
SDO 0x60e3, "Supported Homing Methods"
  0x60e3:00, r-r-r-, uint8, 8 bit, ""
  0x60e3:01, r-r-r-, int8, 8 bit, ""
  0x60e3:02, r-r-r-, int8, 8 bit, ""
  0x60e3:03, r-r-r-, int8, 8 bit, ""
  0x60e3:04, r-r-r-, int8, 8 bit, ""
  0x60e3:05, r-r-r-, int8, 8 bit, ""
  0x60e3:06, r-r-r-, int8, 8 bit, ""
  0x60e3:07, r-r-r-, int8, 8 bit, ""
  0x60e3:08, r-r-r-, int8, 8 bit, ""
  0x60e3:09, r-r-r-, int8, 8 bit, ""
  0x60e3:0a, r-r-r-, int8, 8 bit, ""
  0x60e3:0b, r-r-r-, int8, 8 bit, ""
SDO 0x60f4, "Following Error Actual Value"
  0x60f4:00, r-r-r-, int32, 32 bit, ""
SDO 0x60fc, "Position Demand Internal Value"
  0x60fc:00, r-r-r-, int32, 32 bit, ""
SDO 0x60fd, "Digital Inputs"
  0x60fd:00, r-r-r-, uint32, 32 bit, ""
SDO 0x60fe, "Digital Outputs"
  0x60fe:00, r-r-r-, uint8, 8 bit, ""
  0x60fe:01, rwrwrw, uint32, 32 bit, ""
  0x60fe:02, rwrwrw, uint32, 32 bit, ""
SDO 0x60ff, "Target Velocity"
  0x60ff:00, rwrwrw, int32, 32 bit, ""
SDO 0x6502, "Supported Drive Modes"
  0x6502:00, r-r-r-, uint32, 32 bit, ""
SDO 0x67fe, "Version Number"
  0x67fe:00, r-r-r-, uint32, 32 bit, ""
SDO 0x67ff, "Single Device Type"
  0x67ff:00, r-r-r-, uint32, 32 bit, ""

File Attachment:

File Name: axis.ini
File Size:4 KB

File Attachment:

File Name: ethercat.hal
File Size:3 KB

File Attachment:

File Name: ethercat-conf.xml
File Size:1 KB

The vid, pid and SM2 idx and SM3 idx are all correct.
I hope everything is readable. Let me know if there are tools I should use to make things easier to read.

Last edit: 22 Sep 2025 18:34 by peterpan.

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Hakan
Offline
Platinum Member

22 Sep 2025 19:27 - 22 Sep 2025 19:29 #335304 by Hakan

Replied by Hakan on topic Trouble with Cia402 drive configuration

Hmmm, nothing obvious wrong.
Maybe vid and pid? Check that Vendor Id and Product Code from "ethercat slaves -v" agrees with vid and pid in ethercat-conf.xml

Last edit: 22 Sep 2025 19:29 by Hakan.

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peterpan
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23 Sep 2025 13:22 #335323 by peterpan

Replied by peterpan on topic Trouble with Cia402 drive configuration

I made sure that they agree.

Do you know what

[69236.509163] EtherCAT 0: Slave states on main device: PREOP, OP.
[69240.307732] EtherCAT ERROR 0-3: Failed to set SAFEOP state, slave refused state change (PREOP + ERROR).
[69240.309731] EtherCAT ERROR 0-3: AL status message 0x001E: "Invalid input configuration".
[69240.311730] EtherCAT 0-3: Acknowledged state PREOP.

"(PREOP + ERROR) could be caused by? or "Invalid input configuration"?

Also, did you take a look at the .hal and .ini file? There are a few things in the .hal file that I don't know the purpose of, yet LinuxCNC doesn't run without them, so I'd appreciate an explanation of why they're necessary-if you're willing.

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peterpan
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23 Sep 2025 13:25 #335324 by peterpan

Replied by peterpan on topic Trouble with Cia402 drive configuration

It also gives the following error when I press the home button:
"emc/task/taskintf.cc 976: Error on joint 0, command number 74"
if that helps at all...

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rodw
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23 Sep 2025 19:28 #335335 by rodw

Replied by rodw on topic Trouble with Cia402 drive configuration

0x2000 and 0x2011 seem to just not exist
This could be correct as these are from a manufacturer specific range so not CIA402 registers. . You need to review the manual for your drive

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peterpan
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23 Sep 2025 19:59 #335339 by peterpan

Replied by peterpan on topic Trouble with Cia402 drive configuration

Okay, so would the equivalent allow it to become operational?
Do you have a little more guidance as to what I'm looking for, because I still don't really understand what I'm looking at or for. I have a list of seemingly all of this drives pdos/sdos and their descriptions.
The manual says the drives conform to CiA402, but I don't know what all that standard includes-I assume based on your comment that the registers are separate from the standard?

Thanks Rod

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rodw
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24 Sep 2025 07:54 #335355 by rodw

Replied by rodw on topic Trouble with Cia402 drive configuration

Clearpath should have good docs. Typically the CIA402 registers are > 6000.
Its not a one size fits all.

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Hakan
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24 Sep 2025 08:49 #335358 by Hakan

Replied by Hakan on topic Trouble with Cia402 drive configuration

It's not obvious what's wrong. Forget the 0x20xx SDOs, you are not using them, they are not mentioned in ethercat-conf.xml.

Let's look at the error message in syslog

[  331.671725] EtherCAT WARNING 0-3: SDO information error response while fetching SDO entry 0x1C32:07!
[  331.671732] EtherCAT ERROR 0-3: SDO abort message 0x06090011: "Subindex does not exist".

If you look at the subindices that are listed, they agree with the documentation

(From teknic.com/files/downloads/ClearPath-EC_Software_Reference.pdf)
Some subindices ARE missing and I don't know why the EtherCAT master makes a big deal of that. If it needs that info or what?
I think the Invalid input configuration is a consequence of those errors but could be something else also.

Almost out of ideas, but there are two things you can try. Set configPDOS="false" or remove the option altogether.
If that doesn't help, increase debug level on the ethercat master to hopefully get some ideas on what's going wrong.

ethercat debug 1

for example, try to start linuxcnc and list the messages in syslog again.
Can you also show the content of sdo 0x60c2:1 and 0x60c2:2 (interpolation time) Use command

ethercat upload 0x60c2 1

Compare with table in manual.

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Trouble with Cia402 drive configuration

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