Configuration Schnider electric ILA2 Servo

I’m trying to connect an ICLA ILA2E servo drive over EtherCAT using LinuxCNC 2.9.7 with the lcec driver and the IgH EtherCAT master 1.6.8 (on Debian 12 RT). The EtherCAT bus is: PC → Beckhoff EK1100 → ICLA ILA PLCOpen (the ILA2E servo). The EK1100 coupler always reaches OP state without problems, but the servo stays stuck in PREOP + ERROR when controlled through lcec.When I control the servo manually with thecommand-line tools, it behaves correctly. If I send controlwords 0x0006, 0x0007, and then 0x000F to object 0x6040, the drive enables, holds torque, and moves as expected. The feedback position from 0x6064 changes correctly, and the motor clearly enters operational state internally, even thoughstill lists it as PREOP + ERROR. So communication works and the drive can be controlled directly, but it never transitions to OP when LinuxCNC and lcec are running.The PDO mapping was taken directly from the drive:RxPDO 0x1600 contains 6040 (controlword, 16 bits), 6060 (opmode, 8 bits), 607A (target position, 32 bits), and 60FF (target velocity, 32 bits).
TxPDO 0x1A00 contains 6041 (statusword, 16 bits), 6061 (opmode display, 8 bits), 6064 (actual position, 32 bits), 606C (actual velocity, 32 bits), and 6077 (actual torque, 16 bits).The XML configuration for the slave defines these PDOs and basic HAL pins for cia-controlword, opmode, target-position, actual-position, and so on. I have not included any DC configuration yet because the drive does not reach OP even in basic mode.When I start LinuxCNC, lcec loads normally, but the servo never leaves PREOP. The HAL pins show that the slave is online but not operational. The logs show mailbox or CoE errors such as “Invalid input configuration (0x001E)” or timeouts while reading SDOs like 0x1C33:3. Despite that, if I exit LinuxCNC and usecommands directly, the servo behaves correctly every time.So the problem is that the drive can reach operational state when commanded manually through, but it stays in PREOP when controlled via lcec. I suspect the issue might be in the XML configuration or a missing initialization SDO sequence.Has anyone successfully used an ICLA ILA PLCOpen (Vendor ID 0x0800005A, Product ID 0x000022DB, model ILA2E) servo with LinuxCNC and lcec? Any hints about what might be missing in the configuration would be greatly appreciated.

Check syslog with "sudo dmesg | tail -20", the master usually tells you in its own cryptic way what's wrong.

Edit, sorry I see you have already done that. Nevertheless, show us messages in the syslog.
And the ethercat-conf.xml file.

Thanks a lot for looking into this and taking the time to check my issue. I really appreciate the help and suggestions.
Below I’m attaching the XML configuration and system logs for reference.


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I see these two linesThe first one with datagrams TIMED OUT is usually due to network adapter perfomance.
If you have a Realtek network adapter, install the realtek dkms linux drivers.
12 datagrams timed out isn't too bad and it should still work.

The second line indicates your drive supports EoE, Ethernet over EtherCat.
Unfortunately, linuxcnc-ethercat doesn't support that and people have all kinds
of problem to get such servos going.
The most straight-forward way is to download the IgH Ethertcat master and build it
with the flag --disable-eoe.
There is another way - read out the eeprom content of the drive, modify two bits,
and write back. forum.linuxcnc.org/ethercat/55806-long-i...660n?start=20#337450

Thanks for the hint. I recompiled and installed the EtherCAT master with , and now EoE is fully disabled.Also, my network card is Intel, not Realtek, so the Realtek DKMS driver wasn’t needed.After reinstalling the master without EoE, the bus comes up normally and the slaves are detected correctly.

However, I still have one remaining issue after boot. Here is the relevant kernel log excerpt:EK1100 goes into OP, but the servo stays in PREOP + ERROR with "Invalid output configuration" when LinuxCNC (via lcec) tries to move the system into OP. 

Looks good so far. Those Unmatched might have been an EoE effect.

How come you put in those idx="0000" pdos in the ethercat-conf.xml?
I have never seen such before and that can't be right?
I would remove all those pdo idx="0000"

 

  I actually mixed up the files earlier. Here is the proper configuration file I'm using now.

"Invalid output configuration" means SM2 isn't configured correct. You ethercat-conf.xml now looks fine.
It can be that you may need to configure sm2 yourself using initcmds.
Let's investigate a bit first. Enable ethercat debug with "ethercat debug 1", try to start linuxcnc
and show the contents of syslog from that start attempt. There should now be more output in there.

Secondly, investigate what's in SM2.
Show the output of... as many as the output of the first command says. It should say 4 I guess.
This output should match what you have in ethercat-conf.xml Index subIndx and length in 2+1+1 bytes,
like 0x60400010 for index 1. If one find that this mapping is wrong, one can download the wanted mapping.
And -p 0, the zero is the slave number of your servo.

[17147.638691] EtherCAT 0: Released.
[17147.638692] EtherCAT DEBUG: 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 
[17147.638697] EtherCAT DEBUG: 00 00 00 00 
[17147.638699] EtherCAT ERROR 0-0: Failed to receive AL state datagram: Datagram initialized.
[17147.638702] EtherCAT DEBUG 0: Datagram 000000007305a9ff already queued (skipping).
[17147.653272] EtherCAT DEBUG 0-0: Changing state from PREOP to PREOP (forced).
[17147.653276] EtherCAT DEBUG 0-0: Configuring...
[17147.653587] EtherCAT DEBUG 0-0: Now in INIT.
[17147.653587] EtherCAT DEBUG 0-0: Clearing FMMU configurations...
[17147.653831] EtherCAT DEBUG 0-0: Clearing sync manager configurations...
[17147.654076] EtherCAT DEBUG 0-0: Clearing DC assignment...
[17147.654320] EtherCAT DEBUG 0-0: Configuring mailbox sync managers...
[17147.654321] EtherCAT DEBUG 0-0: SM0: Addr 0x1000, Size 1024, Ctrl 0x26, En 1
[17147.654323] EtherCAT DEBUG 0-0: SM1: Addr 0x1400, Size 1024, Ctrl 0x22, En 1
[17147.654565] EtherCAT DEBUG 0-0: Assigning SII access to PDI.
[17147.655300] EtherCAT DEBUG 0-0: Now in PREOP.
[17147.655301] EtherCAT DEBUG 0-0: Assigning SII access back to EtherCAT.
[17147.655559] EtherCAT DEBUG 0-0: Finished configuration.
[17147.673277] EtherCAT WARNING: Datagram 000000007305a9ff (master-fsm) was SKIPPED 1 time.
[17149.457536] EtherCAT DEBUG 0: IDLE -> ORPHANED.
[17149.457539] EtherCAT DEBUG 0: Stopping master thread.
[17149.457556] EtherCAT DEBUG 0: Master IDLE thread exiting...
[17149.457620] EtherCAT 0: Master thread exited.
[17149.457733] EtherCAT 0: Releasing main device 00:0B:AB:B6:75:75.
[17149.477426] ec_generic: Unloading.
[17149.532305] EtherCAT: Master module cleaned up.
[17150.618596] EtherCAT: Master driver 1.6.8 1.6.8
[17150.618712] EtherCAT: 1 master waiting for devices.
[17150.623226] ec_generic: EtherCAT master generic Ethernet device module 1.6.8 1.6.8
[17150.623234] EtherCAT: Accepting 00:0B:AB:B6:75:75 as main device for master 0.
[17150.623242] ec_generic: Binding socket to interface 2 (enp2s0).
[17150.641322] EtherCAT 0: Starting EtherCAT-IDLE thread.
[17150.641454] EtherCAT 0: Link state of ecm0 changed to UP.
[17150.653291] EtherCAT 0: 1 slave(s) responding on main device. Re-scanning on next possibility.
[17150.653294] EtherCAT 0: Slave states on main device: PREOP.
[17150.653295] EtherCAT 0: Re-scanning now.
[17150.653617] EtherCAT 0: Scanning bus.
[17150.834164] EtherCAT 0: Bus scanning completed in 180 ms.
[17150.834168] EtherCAT 0: Using slave 0 as DC reference clock.
[17161.960782] EtherCAT 0: Master debug level set to 1.
[17164.670125] EtherCAT: Requesting master 0...
[17164.670128] EtherCAT DEBUG 0: IDLE -> OPERATION.
[17164.670129] EtherCAT: Successfully requested master 0.
[17164.670131] EtherCAT DEBUG 0: ecrt_master_create_domain(master = 0x0000000069b184e5)
[17164.670133] EtherCAT DEBUG 0: Created domain 0.
[17164.670134] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x0000000069b184e5, alias = 0, position = 1, vendor_id = 0x0800005a, product_code = 0x000022db)
[17164.670136] EtherCAT DEBUG 0: Creating slave configuration for 0:1, 0x0800005A/0x000022DB.
[17164.670139] EtherCAT DEBUG 0 0:1: Failed to find slave for configuration.
[17164.670175] EtherCAT DEBUG 0 0:1: ecrt_slave_config_dc(sc = 0x000000008a2cea03, assign_activate = 0x0300, sync0_cycle = 1000000, sync0_shift = 0, sync1_cycle = 0, sync1_shift = 0
[17164.670179] EtherCAT DEBUG 0 0:1: ecrt_slave_config_sync_manager(sc = 0x000000008a2cea03, sync_index = 2, dir = 1, watchdog_mode = 0)
[17164.670182] EtherCAT DEBUG 0 0:1: ecrt_slave_config_pdo_assign_clear(sc = 0x000000008a2cea03, sync_index = 2)
[17164.670184] EtherCAT DEBUG 0 0:1: ecrt_slave_config_pdo_assign_add(sc = 0x000000008a2cea03, sync_index = 2, pdo_index = 0x1600)
[17164.670186] EtherCAT DEBUG 0 0:1: ecrt_slave_config_pdo_mapping_clear(sc = 0x000000008a2cea03, pdo_index = 0x1600)
[17164.670188] EtherCAT DEBUG 0 0:1: ecrt_slave_config_pdo_mapping_add(sc = 0x000000008a2cea03, pdo_index = 0x1600, entry_index = 0x6040, entry_subindex = 0x00, entry_bit_length = 16)
[17164.670191] EtherCAT DEBUG 0 0:1: ecrt_slave_config_pdo_mapping_add(sc = 0x000000008a2cea03, pdo_index = 0x1600, entry_index = 0x6060, entry_subindex = 0x00, entry_bit_length = 8)
[17164.670193] EtherCAT DEBUG 0 0:1: ecrt_slave_config_pdo_mapping_add(sc = 0x000000008a2cea03, pdo_index = 0x1600, entry_index = 0x607A, entry_subindex = 0x00, entry_bit_length = 32)
[17164.670195] EtherCAT DEBUG 0 0:1: ecrt_slave_config_pdo_mapping_add(sc = 0x000000008a2cea03, pdo_index = 0x1600, entry_index = 0x60FF, entry_subindex = 0x00, entry_bit_length = 32)
[17164.670197] EtherCAT DEBUG 0 0:1: ecrt_slave_config_sync_manager(sc = 0x000000008a2cea03, sync_index = 3, dir = 2, watchdog_mode = 0)
[17164.670199] EtherCAT DEBUG 0 0:1: ecrt_slave_config_pdo_assign_clear(sc = 0x000000008a2cea03, sync_index = 3)
[17164.670200] EtherCAT DEBUG 0 0:1: ecrt_slave_config_pdo_assign_add(sc = 0x000000008a2cea03, sync_index = 3, pdo_index = 0x1A00)
[17164.670202] EtherCAT DEBUG 0 0:1: ecrt_slave_config_pdo_mapping_clear(sc = 0x000000008a2cea03, pdo_index = 0x1A00)
[17164.670204] EtherCAT DEBUG 0 0:1: ecrt_slave_config_pdo_mapping_add(sc = 0x000000008a2cea03, pdo_index = 0x1A00, entry_index = 0x6041, entry_subindex = 0x00, entry_bit_length = 16)
[17164.670206] EtherCAT DEBUG 0 0:1: ecrt_slave_config_pdo_mapping_add(sc = 0x000000008a2cea03, pdo_index = 0x1A00, entry_index = 0x6061, entry_subindex = 0x00, entry_bit_length = 8)
[17164.670208] EtherCAT DEBUG 0 0:1: ecrt_slave_config_pdo_mapping_add(sc = 0x000000008a2cea03, pdo_index = 0x1A00, entry_index = 0x6064, entry_subindex = 0x00, entry_bit_length = 32)
[17164.670210] EtherCAT DEBUG 0 0:1: ecrt_slave_config_pdo_mapping_add(sc = 0x000000008a2cea03, pdo_index = 0x1A00, entry_index = 0x606C, entry_subindex = 0x00, entry_bit_length = 32)
[17164.670211] EtherCAT DEBUG 0 0:1: ecrt_slave_config_pdo_mapping_add(sc = 0x000000008a2cea03, pdo_index = 0x1A00, entry_index = 0x6077, entry_subindex = 0x00, entry_bit_length = 16)
[17164.670235] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x0000000069b184e5, alias = 0, position = 1, vendor_id = 0x0800005a, product_code = 0x000022db)
[17164.670238] EtherCAT DEBUG 0 0:1: ecrt_slave_config_reg_pdo_entry(sc = 0x000000008a2cea03, index = 0x6040, subindex = 0x00, domain = 0x00000000e562637d, bit_position = 0x00000000935bf368)
[17164.670240] EtherCAT DEBUG 0: Domain 0: Added 11 bytes, total 11.
[17164.670242] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x0000000069b184e5, alias = 0, position = 1, vendor_id = 0x0800005a, product_code = 0x000022db)
[17164.670244] EtherCAT DEBUG 0 0:1: ecrt_slave_config_reg_pdo_entry(sc = 0x000000008a2cea03, index = 0x6060, subindex = 0x00, domain = 0x00000000e562637d, bit_position = 0x00000000ac012020)
[17164.670246] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x0000000069b184e5, alias = 0, position = 1, vendor_id = 0x0800005a, product_code = 0x000022db)
[17164.670247] EtherCAT DEBUG 0 0:1: ecrt_slave_config_reg_pdo_entry(sc = 0x000000008a2cea03, index = 0x607A, subindex = 0x00, domain = 0x00000000e562637d, bit_position = 0x000000001f67561c)
[17164.670249] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x0000000069b184e5, alias = 0, position = 1, vendor_id = 0x0800005a, product_code = 0x000022db)
[17164.670251] EtherCAT DEBUG 0 0:1: ecrt_slave_config_reg_pdo_entry(sc = 0x000000008a2cea03, index = 0x60FF, subindex = 0x00, domain = 0x00000000e562637d, bit_position = 0x00000000adab25ff)
[17164.670253] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x0000000069b184e5, alias = 0, position = 1, vendor_id = 0x0800005a, product_code = 0x000022db)
[17164.670255] EtherCAT DEBUG 0 0:1: ecrt_slave_config_reg_pdo_entry(sc = 0x000000008a2cea03, index = 0x6041, subindex = 0x00, domain = 0x00000000e562637d, bit_position = 0x00000000ca53a04f)
[17164.670256] EtherCAT DEBUG 0: Domain 0: Added 13 bytes, total 24.
[17164.670258] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x0000000069b184e5, alias = 0, position = 1, vendor_id = 0x0800005a, product_code = 0x000022db)
[17164.670259] EtherCAT DEBUG 0 0:1: ecrt_slave_config_reg_pdo_entry(sc = 0x000000008a2cea03, index = 0x6061, subindex = 0x00, domain = 0x00000000e562637d, bit_position = 0x00000000a5c96db3)
[17164.670261] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x0000000069b184e5, alias = 0, position = 1, vendor_id = 0x0800005a, product_code = 0x000022db)
[17164.670263] EtherCAT DEBUG 0 0:1: ecrt_slave_config_reg_pdo_entry(sc = 0x000000008a2cea03, index = 0x6064, subindex = 0x00, domain = 0x00000000e562637d, bit_position = 0x0000000065407bda)
[17164.670265] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x0000000069b184e5, alias = 0, position = 1, vendor_id = 0x0800005a, product_code = 0x000022db)
[17164.670267] EtherCAT DEBUG 0 0:1: ecrt_slave_config_reg_pdo_entry(sc = 0x000000008a2cea03, index = 0x606C, subindex = 0x00, domain = 0x00000000e562637d, bit_position = 0x0000000094304504)
[17164.670269] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x0000000069b184e5, alias = 0, position = 1, vendor_id = 0x0800005a, product_code = 0x000022db)
[17164.670270] EtherCAT DEBUG 0 0:1: ecrt_slave_config_reg_pdo_entry(sc = 0x000000008a2cea03, index = 0x6077, subindex = 0x00, domain = 0x00000000e562637d, bit_position = 0x00000000ca6b8c7f)
[17164.670281] EtherCAT DEBUG 0: ecrt_domain_external_memory(domain = 0x00000000e562637d, mem = 0x0000000053c8073c)
[17164.670282] EtherCAT DEBUG 0: ecrt_master_callbacks(master = 0x0000000069b184e5, send_cb = 0x000000000166930d, receive_cb = 0x00000000a879b1f0, cb_data = 0x0000000069b184e5)
[17164.670284] EtherCAT DEBUG 0: ecrt_master_activate(master = 0x0000000069b184e5)
[17164.670286] EtherCAT DEBUG 0: Adding datagram pair with expected WC 3.
[17164.670286] EtherCAT 0: Domain0: Logical address 0x00000000, 24 byte, expected working counter 3.
[17164.670288] EtherCAT 0:   Datagram domain0-0-main: Logical offset 0x00000000, 24 byte, type LRW.
[17164.670289] EtherCAT DEBUG 0: Stopping master thread.
[17164.670294] EtherCAT DEBUG 0: Master IDLE thread exiting...
[17164.670301] EtherCAT 0: Master thread exited.
[17164.670303] EtherCAT DEBUG 0: FSM datagram is 0000000086147210.
[17164.670303] EtherCAT 0: Starting EtherCAT-OP thread.
[17164.670332] EtherCAT DEBUG 0: Operation thread running with fsm interval = 4000 us, max data size=45000
[17164.670336] EtherCAT DEBUG 0: mmap()
[17164.670339] EtherCAT DEBUG 0: Vma fault, offset = 0, page = 000000002a6bf26c
[17164.709084] EtherCAT DEBUG 0: Configuration changed (aborting state check).
[17164.709087] EtherCAT DEBUG 0-0: Checking system time offset.
[17164.717079] EtherCAT DEBUG 0-0: DC 32 bit system time offset calculation: system_time=1033070246 (corrected with 8000000), app_time=816644270944702775, diff=-988527
[17164.717083] EtherCAT DEBUG 0-0: Not touching time offset.
[17164.725117] EtherCAT DEBUG 0: Requesting OP...
[17164.725120] EtherCAT DEBUG 0: After requesting OP, rescan_required is 0.
[17164.741097] EtherCAT DEBUG 0-0: Changing state from PREOP to OP.
[17164.741102] EtherCAT DEBUG 0-0: Configuring...
[17164.743878] EtherCAT DEBUG 0-0: Now in INIT.
[17164.743880] EtherCAT DEBUG 0-0: Clearing FMMU configurations...
[17164.744877] EtherCAT DEBUG 0-0: Clearing sync manager configurations...
[17164.745877] EtherCAT DEBUG 0-0: Clearing DC assignment...
[17164.746877] EtherCAT DEBUG 0-0: Configuring mailbox sync managers...
[17164.746878] EtherCAT DEBUG 0-0: SM0: Addr 0x1000, Size 1024, Ctrl 0x26, En 1
[17164.746880] EtherCAT DEBUG 0-0: SM1: Addr 0x1400, Size 1024, Ctrl 0x22, En 1
[17164.747878] EtherCAT DEBUG 0-0: Assigning SII access to PDI.
[17164.750882] EtherCAT DEBUG 0-0: Now in PREOP.
[17164.750883] EtherCAT DEBUG 0-0: Assigning SII access back to EtherCAT.
[17164.751879] EtherCAT DEBUG 0-0: SM2: Addr 0x1800, Size  22, Ctrl 0x64, En 1
[17164.751881] EtherCAT DEBUG 0-0: SM3: Addr 0x1C00, Size  24, Ctrl 0x20, En 1
[17164.754878] EtherCAT ERROR 0-0: Failed to set SAFEOP state, slave refused state change (PREOP + ERROR).
[17164.755877] EtherCAT ERROR 0-0: AL status message 0x001E: "Invalid input configuration".
[17164.757879] EtherCAT 0-0: Acknowledged state PREOP.
linuxcnc@linuxcnc:~$ 

 

linuxcnc@linuxcnc:~$ ethercat -p 0 sdos upload 0x1600 0
'sdos' takes no arguments!

ethercat sdos [OPTIONS]

List SDO dictionaries.

SDO dictionary information is displayed in two layers,
which are indented accordingly:

1) SDOs - Hexadecimal SDO index and the name. Example:

SDO 0x1018, "Identity object"

2) SDO entries - SDO index and SDO entry subindex (both
hexadecimal) followed by the access rights (see
below), the data type, the length in bit, and the
description. Example:

0x1018:01, rwrwrw, uint32, 32 bit, "Vendor id"

The access rights are specified for the AL states PREOP,
SAFEOP and OP. An 'r' means, that the entry is readable
in the corresponding state, an 'w' means writable,
respectively. If a right is not granted, a dash '-' is
shown.

If the --quiet option is given, only the SDOs are output.

Command-specific options:
--alias -a <alias>
--position -p <pos> Slave selection. See the help of
the 'slaves' command.
--quiet -q Only output SDOs (without the
SDO entries).

Numerical values can be specified either with decimal (no
prefix), octal (prefix '0') or hexadecimal (prefix '0x') base.