Help with Delta E3 Ethercat drives - hal and ethercat-conf.xml

SPH
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23 Oct 2025 11:31 #336954 by SPH

Replied by SPH on topic Help with Delta E3 Ethercat drives - hal and ethercat-conf.xml

That'd be amazing. I'll be putting some more time into the setup tomorrow so I'll get in touch once I'm back at the machine.

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SPH
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23 Oct 2025 21:52 #336992 by SPH

Replied by SPH on topic Help with Delta E3 Ethercat drives - hal and ethercat-conf.xml

Ok, I feel a bit lost on how to proceed with actually getting my drive connected in HAL.
My previous machine was using MESA hardware and pncconf did most of the heavy lifting, at least giving me a working hal and ini file to work from. As it is I'm struggling to find good tutorials or videos online that actually spell out how to get an axis drive connected and a motor moving. The one video I found (showing a full setup from scratch) gets to the cia402 stage and just says "I wont go into detail on the cia402 setup" and then just shows a moving motor... which makes me think I'm missing something really obvious.

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SPH
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23 Oct 2025 23:55 - 23 Oct 2025 23:57 #336996 by SPH

Replied by SPH on topic Help with Delta E3 Ethercat drives - hal and ethercat-conf.xml

I've found a setup on the forums using Leadshine EL8 drivers and trying to work from there. Setup I'm following.
I've attached the hal, ini and ethercat.xml files. It doesn't load, I get the following error.

Debug file information:
Note: Using POSIX realtime
./EL8_machine.hal:42: Pin 'lcec.0.3.cia-statusword' does not exist
14897
Stopping realtime threads
Unloading hal components
Note: Using POSIX realtime

Not surprising as I've pruned the file down from 5 drives and a spindle to 1, different brand drives etc.

I've used the xml file that I generated.

Am I on the right track at all?[/code][/url]

Last edit: 23 Oct 2025 23:57 by SPH.

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Hakan
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24 Oct 2025 04:27 #337020 by Hakan

Replied by Hakan on topic Help with Delta E3 Ethercat drives - hal and ethercat-conf.xml

Yes you are almost there.
Just the pins are named lcec.0.0.something I would think. Second zero refers to ethercat slave id.
It's a bit catch 22. Easiest way to check pin names is with halshow and for that linuxcnc need to run and for that you need the pin names.
One can possibly temporarily comment out all reference to lcec.0.everything to use halshow to check the names.
Or use the name="X" in the slave line i ethercat-conf.xml and refer to lcec.0.X.something.

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rodw
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24 Oct 2025 07:29 - 24 Oct 2025 07:29 #337025 by rodw

Replied by rodw on topic Help with Delta E3 Ethercat drives - hal and ethercat-conf.xml

with just one drive, the cia402 is probably numbered 0. Your 3. is coming from these lines in your hal. If in doubt, comment them all out so LinuxCNC ipens, then use halshow to work out the correct pin names# ethercat to cia402 driver
net x-statusword lcec.0.3.cia-statusword => cia402.0.statusword
net x-opmode-display lcec.0.3.opmode-display => cia402.0.opmode-display
net x-drv-act-pos lcec.0.3.actual-position => cia402.0.drv-actual-position

# cia402 driver to ethercat
net x-controlword cia402.0.controlword => lcec.0.3.cia-controlword
net x-modes-of-operation cia402.0.opmode => lcec.0.3.opmode
net x-drv-target-pos cia402.0.drv-target-position => lcec.0.3.target-position

Last edit: 24 Oct 2025 07:29 by rodw.

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Hakan
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24 Oct 2025 07:32 - 24 Oct 2025 07:33 #337026 by Hakan

Replied by Hakan on topic Help with Delta E3 Ethercat drives - hal and ethercat-conf.xml

Here is a way to check pin names without modifying the hal file.
Use the halrun command (linuxcnc off), load lcec and lcec_config. The start halshow in another window and explore names.

debian@plasma:~/linuxcnc/configs/QtPlasma$ halrun
halcmd: loadusr -W lcec_conf ethercat-conf.xml
halcmd: loadrt lcec
Note: Using POSIX realtime
halcmd:

Last edit: 24 Oct 2025 07:33 by Hakan. Reason: bbcode

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SPH
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24 Oct 2025 10:49 - 24 Oct 2025 10:50 #337038 by SPH

Replied by SPH on topic Help with Delta E3 Ethercat drives - hal and ethercat-conf.xml

Here's the result of halshow after following your instructions. Is my drive perhaps not defined correctly or something like that? I don't seem to have any pins like your screen shot shows.

Last edit: 24 Oct 2025 10:50 by SPH.

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Hakan
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24 Oct 2025 11:19 #337040 by Hakan

Replied by Hakan on topic Help with Delta E3 Ethercat drives - hal and ethercat-conf.xml

Click the D1 node. Obviously it is called D1 in ethercat-conf.xml

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SPH
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24 Oct 2025 12:13 - 24 Oct 2025 12:14 #337045 by SPH

Replied by SPH on topic Help with Delta E3 Ethercat drives - hal and ethercat-conf.xml

*facepalm* I must have clicked every option except that one.

Well at least now I understand how to rename the drives in the xml file to make organising things simpler.

Here's the output from halcmd show pin

What are the basic pins I need for motion?

And a massive thank you to everyone who takes the time to offer help and guidance, it's genuinely amazing.

Last edit: 24 Oct 2025 12:14 by SPH.

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SPH
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24 Oct 2025 12:41 - 24 Oct 2025 12:43 #337047 by SPH

Replied by SPH on topic Help with Delta E3 Ethercat drives - hal and ethercat-conf.xml

Ok, I think I've replaced all the relevant pins from the EL8 config with my Delta ASDA pins.
Hal file attached. Fails to run with the following error.

Debug file information:
Note: Using POSIX realtime
LCEC: Invalid appTimePeriod of 0 for master 0 (should be 1000000).
note: MAXV max: 50.000 units/sec 3000.000 units/min
note: LJOG max: 50.000 units/sec 3000.000 units/min
note: LJOG default: 2.500 units/sec 150.000 units/min
note: jog_order='X'
note: jog_invert=set()
HAL: ERROR: function 'conv-s32-float.0' not found
pyvcp_panel.hal:8: addf failed
27918
27951
Stopping realtime threads
Unloading hal components
Note: Using POSIX realtime


I can't find any reference to conv-s32-float.0 in any of the files.

Last edit: 24 Oct 2025 12:43 by SPH.

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Help with Delta E3 Ethercat drives - hal and ethercat-conf.xml

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