EtherCAT master xml file for Yaskawa Sigma Servo motor?

tar_san
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Junior Member

24 Dec 2025 01:09 - 24 Dec 2025 02:54 #340446 by tar_san

Replied by tar_san on topic EtherCAT master xml file for Yaskawa Sigma Servo motor?

I attached dmesg file which is
refClockSyncCycles="-1" version.

(PS)
I have to add this info.
I tested multiple times this refClockSyncCycles="-1" version.

sometimes (33%?) , No alarm , and I could Power on (servo on) and jog moving.

But sometimes ( 66%?) I can't control servo motor at all from the begining after execute LinuxCNC.
In this case, CiA402 status=0000. if I pull off and push in (reconnect physically) EtherCAT cable several times, sometimes get correct status,
and after that I can control servo. ( not all the times )

Last edit: 24 Dec 2025 02:54 by tar_san.

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Hakan
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Platinum Member

24 Dec 2025 07:49 #340457 by Hakan

Replied by Hakan on topic EtherCAT master xml file for Yaskawa Sigma Servo motor?

It looks like you are still running the old version of ethercat master.
I look at this message in syslog

[ 8170.607102] EtherCAT 0: Stopping EoE thread.
[ 8170.607113] EtherCAT 0: EoE thread exited.
[ 8170.607114] EtherCAT 0: Starting EoE thread.

This means the EoE code is still active in the ethercat master.
When EoE is removed from the master, all messaged with EoE will disappear.

Make sure to remove the debian/apt installed version of the ethercat master

apt purge ethercat-master ethercat-dkms

Then re-compile and re-install the new version of ethercat master.
Also, the configure statement I told you was wrong (sorry about that), it should be

make clean
./bootstrap
./configure --sysconfdir=/etc --disable-eoe

and continue to install according to INSTALL.md.

When you have the ethercat master up and running again, check the syslog. There should be no EOE mentioned.
This must work, it is all dependent on that EoE is removed.

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EtherCAT master xml file for Yaskawa Sigma Servo motor?

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