CiA 402 Folder Missing

@andrax
You are right, the encoders are absolute and have batteries. Perhaps, the homing may be needed for squaring the gantry.

I changed all the cables with CAT6 and there are no loops. Attached are the terminal outputs for "ethercat master", "ethercat slaves" and "sudo dmesg". The synchronization errors seem to be disappeared. There is still some errors but I am not sure if they influence the EtherCAT synchronization.

When I try to execute "dmesg | grep ethercat" it does not output anything, just moves to a new row in the terminal.

EDIT 1: After I ran LinuxCNC and executed "sudo dmesg", it showed a warning that says 'Slave did not sync after 5000ms'. Attaches is a new file - dmesg_new.txt. It contains the warning for synchronization.

EDIT 2: Something weird happens to my system. After playing with LinuxCNC with different configuration, the same syncronization error appears again. It seems that the cable did not help. Attached is the lates "sudo dmesg" output - dmesg_last.txt
 

dmesg_new looks better.
However, your vid and pid are incorrect.
They are from Stepperonline A6.
You must enter those from your servos.
vid according to manufacturer xml: 00000eff
pid: 0d3e0001 (not sure)

Note:
please use: dmesg | grep ethercat as root
sudo su
password
dmesg | grep ethercat
that's conspicuous
EtherCAT ERROR 0-3: AL status message 0x001A: "Synchronization error".

@andrax
How do you know that the vid and pid are wrong? I have set them in the .xml file as per the manufacturer .xml when I created the configuration. Attached is the .xml file.

The "dmesg | grep ethercat" still does not seem to work, I executed the command sequence you posted and it just outputs a new row in the terminal.

I am still unaware why the synchronization error keeps appearing, cables are changed and I also have grounding on the metal parts of the bench.

Perhaps, there are some settings in the servo itself that need to be configured. I still think about the fixed and variable PDO mapping, if it could be the reason for this behaviour. There is a warning that says - 1 datagram UNMATCHED!.



 

Sorry, my mistake, I misread something.
Your sync errors are gone.
But there is another problem,
Your output ethercat pdos:
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Perhaps, I found out what is happening to the drives. I read the PDO mapping part of the manual again and it seems that the PDO mapping objects - 1C12h(RxPDO) and 1C13h(TxPDO) are set to some default values. The PDO mapping cannot be saved in the EEPROM of the drive and therefore the master needs to set the desired mapping in the PREOP state of the drive every time when the drives are powered on.

The output in terminal that show "Gap" in PDO entry is because there is no object mapped to that free slot - PDO mapping is set to fixed.  Here  is the PDO mapping part of the manual. It can be seen that 1C12h should be set to 1600h and 1C13h should be set to 1A00h to activate the variable PDO mapping.

Attached is the PDO mapping objects description from the manual and it shows that they expect data type of ARR(perhaps array). Apparently, LinuxCNC EtherCAT master should define a variable PDO mapping and what objects to include in the mapping.

In my opinion, the PDO mapping should be defined in the .hal file or create a script that executes once when the EtherCAT master detects slaves, similar to the first scan bit of a PLC.

No, you just adjust the servo and the ethercat master and your ethercat.xml take care of the rest.