Stepperonline Y series/ YAKO YKD2608PE configuration

yes I dont know what keeps happening I have registered 3 times in 72hrs.

Here is that log

There it is.

 

The problem is with your slave 5, the EL1014.
Can it be that it is a very old version? They had a different PDO mapping.

Can you temporarily remove or comment out slave idx=5 and see if you 
come any further?
We can come back to how to fix it for the EL1014.
Well, it is to run lcec_configgen with the option, "lcec_configgen --typedb=false"
and then take the info for slave 5 from that output.

Okay so i commented out the 2 1014's then 2 2004 now i get a servo thread not found so i attached all files and the log again

Progress!

You forgot the two first lines from that example cia402.hal

Okay seems we have progress!!! I changed those I/O modules to newer ones and they are working renumbered and structured the xml file to reflect that now my error shows 

./Ethercat.hal:51: Pin 'lcec.0.3.cia-statusword' does not exist
10890

is there a place I missed to add these?

You just named them "statusword" instead of "cia-statusword" in the ethercat-conf.xml file.
It is often worthwhile to examine the words it complains about.

So i changed that and it still shows the same thing

There is some mismatch with the numbering.
The pattern is lcec.<master idx>.<slave idx>.halPinName
master idx is always 0 for you. Slave idx is 0-3 in ethercat-conf.xml
but 3-6 in the hal file. They must agree.
Go through the hal file and compare with ethercat-conf.xml so you
refer to what you intend to.

Oh, wait! There is the name="D1" field used. Then the hal pin is called lcec.0.D1.halPinName.
With that info, rename the lcec variables in the hal file. D1, D2, D3 etc.
Many of us use a descriptive name like X instead of D1 and so on.