Trouble with Cia402 drive configuration

peterpan
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03 Oct 2025 18:51 - 03 Oct 2025 19:20 #335793 by peterpan

Replied by peterpan on topic Trouble with Cia402 drive configuration

Update: Got the drive to start moving when the home button is pressed!
We'll see where I go from here

Last edit: 03 Oct 2025 19:20 by peterpan.

The following user(s) said Thank You: Hakan

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peterpan
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05 Nov 2025 16:37 #337892 by peterpan

Replied by peterpan on topic Trouble with Cia402 drive configuration

Hate to open this back up, but after a 2-week hiatus I came back and linuxcnc doesn't seem to start with the Clearpath drive connected. I don't recall editing anything since it was working, but I doubt that's actually possible. It might be something simple, but here's the error:

dmesg

[  +0.000006] EtherCAT 0: Slave states on main device: INIT, OP.
[  +0.000002] EtherCAT 0: Re-scanning now.
[  +0.002280] EtherCAT 0: Scanning bus.
[  +1.647025] EtherCAT 0: Bus scanning completed in 1648 ms.
[  +0.000006] EtherCAT 0: Using slave 0 as DC reference clock.
[  +0.014687] EtherCAT 0: Slave states on main device: PREOP, OP.
[  +3.742316] EtherCAT WARNING 0-0: SDO information error response while fetching SDO entry 0x1C32:07!
[  +0.000006] EtherCAT ERROR 0-0: SDO abort message 0x06090011: "Subindex does not exist".
[  +0.003995] EtherCAT WARNING 0-0: SDO information error response while fetching SDO entry 0x1C32:08!
[  +0.000002] EtherCAT ERROR 0-0: SDO abort message 0x06090011: "Subindex does not exist".
[  +0.005998] EtherCAT WARNING 0-0: SDO information error response while fetching SDO entry 0x1C32:0A!
[  +0.000002] EtherCAT ERROR 0-0: SDO abort message 0x06090011: "Subindex does not exist".
[  +0.002995] EtherCAT WARNING 0-0: SDO information error response while fetching SDO entry 0x1C32:0B!
[  +0.000001] EtherCAT ERROR 0-0: SDO abort message 0x06090011: "Subindex does not exist".
[  +0.005999] EtherCAT WARNING 0-0: SDO information error response while fetching SDO entry 0x1C32:0D!
[  +0.000002] EtherCAT ERROR 0-0: SDO abort message 0x06090011: "Subindex does not exist".
[  +0.003001] EtherCAT WARNING 0-0: SDO information error response while fetching SDO entry 0x1C32:0E!
[  +0.000002] EtherCAT ERROR 0-0: SDO abort message 0x06090011: "Subindex does not exist".
[  +0.002997] EtherCAT WARNING 0-0: SDO information error response while fetching SDO entry 0x1C32:0F!
[  +0.000001] EtherCAT ERROR 0-0: SDO abort message 0x06090011: "Subindex does not exist".
[  +0.002998] EtherCAT WARNING 0-0: SDO information error response while fetching SDO entry 0x1C32:10!
[  +0.000003] EtherCAT ERROR 0-0: SDO abort message 0x06090011: "Subindex does not exist".
[  +0.002999] EtherCAT WARNING 0-0: SDO information error response while fetching SDO entry 0x1C32:11!
[  +0.000002] EtherCAT ERROR 0-0: SDO abort message 0x06090011: "Subindex does not exist".
[  +0.002999] EtherCAT WARNING 0-0: SDO information error response while fetching SDO entry 0x1C32:12!
[  +0.000002] EtherCAT ERROR 0-0: SDO abort message 0x06090011: "Subindex does not exist".
[  +0.002993] EtherCAT WARNING 0-0: SDO information error response while fetching SDO entry 0x1C32:13!
[  +0.000002] EtherCAT ERROR 0-0: SDO abort message 0x06090011: "Subindex does not exist".
[  +0.003003] EtherCAT WARNING 0-0: SDO information error response while fetching SDO entry 0x1C32:14!
[  +0.000002] EtherCAT ERROR 0-0: SDO abort message 0x06090011: "Subindex does not exist".
[  +0.002994] EtherCAT WARNING 0-0: SDO information error response while fetching SDO entry 0x1C32:15!
[  +0.000002] EtherCAT ERROR 0-0: SDO abort message 0x06090011: "Subindex does not exist".
[  +0.003000] EtherCAT WARNING 0-0: SDO information error response while fetching SDO entry 0x1C32:16!
[  +0.000001] EtherCAT ERROR 0-0: SDO abort message 0x06090011: "Subindex does not exist".
[  +0.002999] EtherCAT WARNING 0-0: SDO information error response while fetching SDO entry 0x1C32:17!
[  +0.000002] EtherCAT ERROR 0-0: SDO abort message 0x06090011: "Subindex does not exist".
[  +0.002997] EtherCAT WARNING 0-0: SDO information error response while fetching SDO entry 0x1C32:18!
[  +0.000002] EtherCAT ERROR 0-0: SDO abort message 0x06090011: "Subindex does not exist".
[  +0.003001] EtherCAT WARNING 0-0: SDO information error response while fetching SDO entry 0x1C32:19!
[  +0.000002] EtherCAT ERROR 0-0: SDO abort message 0x06090011: "Subindex does not exist".
[  +0.002995] EtherCAT WARNING 0-0: SDO information error response while fetching SDO entry 0x1C32:1A!
[  +0.000002] EtherCAT ERROR 0-0: SDO abort message 0x06090011: "Subindex does not exist".
[  +0.003001] EtherCAT WARNING 0-0: SDO information error response while fetching SDO entry 0x1C32:1B!
[  +0.000001] EtherCAT ERROR 0-0: SDO abort message 0x06090011: "Subindex does not exist".
[  +0.003001] EtherCAT WARNING 0-0: SDO information error response while fetching SDO entry 0x1C32:1C!
[  +0.000005] EtherCAT ERROR 0-0: SDO abort message 0x06090011: "Subindex does not exist".
[  +0.003988] EtherCAT WARNING 0-0: SDO information error response while fetching SDO entry 0x1C32:1D!
[  +0.000003] EtherCAT ERROR 0-0: SDO abort message 0x06090011: "Subindex does not exist".
[  +0.003001] EtherCAT WARNING 0-0: SDO information error response while fetching SDO entry 0x1C32:1E!
[  +0.000001] EtherCAT ERROR 0-0: SDO abort message 0x06090011: "Subindex does not exist".
[  +0.002999] EtherCAT WARNING 0-0: SDO information error response while fetching SDO entry 0x1C32:1F!
[  +0.000001] EtherCAT ERROR 0-0: SDO abort message 0x06090011: "Subindex does not exist".
[  +0.030001] EtherCAT WARNING 0-0: SDO information error response while fetching SDO entry 0x1C33:07!
[  +0.000005] EtherCAT ERROR 0-0: SDO abort message 0x06090011: "Subindex does not exist".
[  +0.003993] EtherCAT WARNING 0-0: SDO information error response while fetching SDO entry 0x1C33:08!
[  +0.000002] EtherCAT ERROR 0-0: SDO abort message 0x06090011: "Subindex does not exist".
[  +0.006996] EtherCAT WARNING 0-0: SDO information error response while fetching SDO entry 0x1C33:0A!
[  +0.000001] EtherCAT ERROR 0-0: SDO abort message 0x06090011: "Subindex does not exist".
[  +0.004001] EtherCAT WARNING 0-0: SDO information error response while fetching SDO entry 0x1C33:0B!
[  +0.000002] EtherCAT ERROR 0-0: SDO abort message 0x06090011: "Subindex does not exist".
[  +0.005999] EtherCAT WARNING 0-0: SDO information error response while fetching SDO entry 0x1C33:0D!
[  +0.000003] EtherCAT ERROR 0-0: SDO abort message 0x06090011: "Subindex does not exist".
[  +0.002992] EtherCAT WARNING 0-0: SDO information error response while fetching SDO entry 0x1C33:0E!
[  +0.000004] EtherCAT ERROR 0-0: SDO abort message 0x06090011: "Subindex does not exist".
[  +0.003998] EtherCAT WARNING 0-0: SDO information error response while fetching SDO entry 0x1C33:0F!
[  +0.000001] EtherCAT ERROR 0-0: SDO abort message 0x06090011: "Subindex does not exist".
[  +0.003001] EtherCAT WARNING 0-0: SDO information error response while fetching SDO entry 0x1C33:10!
[  +0.000002] EtherCAT ERROR 0-0: SDO abort message 0x06090011: "Subindex does not exist".
[  +0.002998] EtherCAT WARNING 0-0: SDO information error response while fetching SDO entry 0x1C33:11!
[  +0.000002] EtherCAT ERROR 0-0: SDO abort message 0x06090011: "Subindex does not exist".
[  +0.002999] EtherCAT WARNING 0-0: SDO information error response while fetching SDO entry 0x1C33:12!
[  +0.000002] EtherCAT ERROR 0-0: SDO abort message 0x06090011: "Subindex does not exist".
[  +0.002996] EtherCAT WARNING 0-0: SDO information error response while fetching SDO entry 0x1C33:13!
[  +0.000002] EtherCAT ERROR 0-0: SDO abort message 0x06090011: "Subindex does not exist".
[  +0.002999] EtherCAT WARNING 0-0: SDO information error response while fetching SDO entry 0x1C33:14!
[  +0.000001] EtherCAT ERROR 0-0: SDO abort message 0x06090011: "Subindex does not exist".
[  +0.002998] EtherCAT WARNING 0-0: SDO information error response while fetching SDO entry 0x1C33:15!
[  +0.000002] EtherCAT ERROR 0-0: SDO abort message 0x06090011: "Subindex does not exist".
[  +0.002999] EtherCAT WARNING 0-0: SDO information error response while fetching SDO entry 0x1C33:16!
[  +0.000001] EtherCAT ERROR 0-0: SDO abort message 0x06090011: "Subindex does not exist".
[  +0.002997] EtherCAT WARNING 0-0: SDO information error response while fetching SDO entry 0x1C33:17!
[  +0.000002] EtherCAT ERROR 0-0: SDO abort message 0x06090011: "Subindex does not exist".
[  +0.003002] EtherCAT WARNING 0-0: SDO information error response while fetching SDO entry 0x1C33:18!
[  +0.000005] EtherCAT ERROR 0-0: SDO abort message 0x06090011: "Subindex does not exist".
[  +0.002991] EtherCAT WARNING 0-0: SDO information error response while fetching SDO entry 0x1C33:19!
[  +0.000001] EtherCAT ERROR 0-0: SDO abort message 0x06090011: "Subindex does not exist".
[  +0.003001] EtherCAT WARNING 0-0: SDO information error response while fetching SDO entry 0x1C33:1A!
[  +0.000001] EtherCAT ERROR 0-0: SDO abort message 0x06090011: "Subindex does not exist".
[  +0.002998] EtherCAT WARNING 0-0: SDO information error response while fetching SDO entry 0x1C33:1B!
[  +0.000002] EtherCAT ERROR 0-0: SDO abort message 0x06090011: "Subindex does not exist".
[  +0.002999] EtherCAT WARNING 0-0: SDO information error response while fetching SDO entry 0x1C33:1C!
[  +0.000001] EtherCAT ERROR 0-0: SDO abort message 0x06090011: "Subindex does not exist".
[  +0.003001] EtherCAT WARNING 0-0: SDO information error response while fetching SDO entry 0x1C33:1D!
[  +0.000002] EtherCAT ERROR 0-0: SDO abort message 0x06090011: "Subindex does not exist".
[  +0.002994] EtherCAT WARNING 0-0: SDO information error response while fetching SDO entry 0x1C33:1E!
[  +0.000001] EtherCAT ERROR 0-0: SDO abort message 0x06090011: "Subindex does not exist".
[  +0.003002] EtherCAT WARNING 0-0: SDO information error response while fetching SDO entry 0x1C33:1F!
[  +0.000001] EtherCAT ERROR 0-0: SDO abort message 0x06090011: "Subindex does not exist".

And in the terminal running linuxcnc:

LINUXCNC - 2.9.6
Machine configuration directory is '/home/cnc/linuxcnc/configs/sim.axis'
Machine configuration file is 'axis.ini'
Starting LinuxCNC...
linuxcnc TPMOD=tpmod HOMEMOD=homemod EMCMOT=motmod
Note: Using POSIX realtime
Found file(REL): ./ethercat.hal
Failed to execute SDO upload: Invalid argument
LCEC: slave 0.3: Failed to execute SDO upload (0x6502:0x00, error -22, abort_code 00000000)
Failed to execute SDO upload: Invalid argument
LCEC: slave 0.3: Failed to execute SDO upload (0x6060:0x00, error -22, abort_code 00000000)
Failed to execute SDO upload: Invalid argument
LCEC: slave 0.3: Failed to execute SDO upload (0x607a:0x00, error -22, abort_code 00000000)
Failed to get reference clock time: Input/output error
LCEC: slave 0.3: Failed to execute SDO upload (0x6502:0x00, error -22, abort_code 00000000)
...
Failed to get reference clock time: No such device or address
Failed to get reference clock time: Input/output error

It says no such device or address about a bagillion times.

As always, thanks in advance!

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Hakan
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05 Nov 2025 18:29 #337897 by Hakan

Replied by Hakan on topic Trouble with Cia402 drive configuration

Looks like the slaves are out of order, I mean disorder, not right numbered.
Check with "ethercat slaves" that the cia402 drive really is slave 3.
Looks to me like the Beckhoffs didn't start up properly.

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peterpan
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05 Nov 2025 20:52 #337911 by peterpan

Replied by peterpan on topic Trouble with Cia402 drive configuration

You are completely correct. Do you have a clue as to why slave 3 switched to slave 0, and is there a way to force the order?

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Hakan
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05 Nov 2025 21:16 #337916 by Hakan

Replied by Hakan on topic Trouble with Cia402 drive configuration

They are numbered after the network chain. 0 is closest to the master, 1 is next, 2 is nextnext and so on .
Can't change that afaik. Rearrange the network cables if you have to have a certain numbering.

Happy it was so easy this time

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peterpan
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10 Nov 2025 17:32 - 10 Nov 2025 17:33 #338145 by peterpan

Replied by peterpan on topic Trouble with Cia402 drive configuration

I have been trying to solve these problems on my own with very little headway:

When the Servo moves 2 inches, LinuxCNC registers it as ~6.5inches regardless of the encoder_scale value

joint following error when I try to jog over ~60in/min (linuxcnc units)

joint following error when try to home (probably related)

I haven't even gotten to the real configuration and am already failing :'/
Help is appreciated

Last edit: 10 Nov 2025 17:33 by peterpan.

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Hakan
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10 Nov 2025 18:59 - 10 Nov 2025 19:34 #338149 by Hakan

Replied by Hakan on topic Trouble with Cia402 drive configuration

Not sure what you mean by encoder_value.
You have the cia402.x.pos-scale to work with.
Instead of mathematically figuring it out, multiply the current value with 6.5/2 = 3.25 and try again.
If you find that number matches a known relation, use that.

I think the following errors follows from the pos-scale. At least get this right first.

More text here on how to calculate pos-scale
forum.linuxcnc.org/ethercat/22346-etherc...er?start=1360#338150

Last edit: 10 Nov 2025 19:34 by Hakan. Reason: 2

The following user(s) said Thank You: peterpan

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peterpan
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10 Nov 2025 20:57 #338156 by peterpan

Replied by peterpan on topic Trouble with Cia402 drive configuration

Is there a good .hal tutorial you could point me towards? I'm guessing many of my problems stem from my incompetence there.

I fixed pos-scale so that linuxcnc and the drive match, but the other issues still occur. Odd thing is that it still gives the joint 0 following error at ~60in/min, despite the drive actually moving faster. I suspect, then, that I could make the drive move twice as fast and the jog error would stay at the same logical velocity.

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peterpan
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10 Nov 2025 21:11 #338158 by peterpan

Replied by peterpan on topic Trouble with Cia402 drive configuration

I also might have stumbled upon a very similar, if not the exact same situation:
www.forum.linuxcnc.org/ethercat/56535-pi...ed-servo-in-csp-mode

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Hakan
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10 Nov 2025 21:19 - 10 Nov 2025 21:25 #338159 by Hakan

Replied by Hakan on topic Trouble with Cia402 drive configuration

Maybe there is a guide, I don't remember it right away. I mean these are, shall we say, the common problems people encounter, nothing strange about it.
I'm patient so just keep asking.

When you get following errors in EtherCAT drives at high speed there are a couple of things.
1. Tune the servo. Settings in the servo drive.
2. If you still get following error, increase FERROR and MIN_FERROR

With EtherCAT it takes two servo cycles to receive the feedback value, so feedback position
is always two cycles behind. At 60 inch/min = 1inch/sec => 0.002 inch following error due to to turn-around time.
Position feedback isn't used for anything more than to warn when it becomes too large.
Tune the servo, that is the main thing.

Answering the second post here. With the minus sign in RefClockSyncCycles value the DC and the servo loop are synchronized.

forum.linuxcnc.org/ethercat/57349-import...ration-option#335710

Last edit: 10 Nov 2025 21:25 by Hakan.

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