CiA 402 Folder Missing

But I cannot define PDO mapping in the drive itself. The control device i.e. the EtherCAT master should write the PDO mapping on startup.

I found a few ways of defining the SDO in drive from LinuxCNC - sdoconfig and initcmds.

What do you mean by adjusting the servo?

You wrote:
“It can be seen that 1C12h should be set to 1600h and 1C13h should be set to 1A00h to activate the variable PDO mapping.”
Set this if possible. Lcec will take care of the rest when linuxcnc starts up and set the correct addresses on the servo. This is the same for Stepperonline servos. 
You will then see the correct assignment when linuxcnc is running. If not,  you may have to set the assignment in the servos manually.

 

I was trying the entire weekend to make the drives work but still no success. Basically I started from scratch and cloned "linux-cia402" from RodW github page. Then executed "ethercat pdos" and the drives return PDO mapping 1701h and 1B01h. Next, following the manual and the mapping for 1701h and 1B01h, I wrote the .xml and .hal files. In the .xml file, I tried to set the data type for each pin as per the manual but the lcec components does not like s16, u16 and u8, anyway I changed them to s32. LinuxCNC opens and loads the configuration but when I try to home, a following error occurs.

In the terminal I observed a weird output when execute "ethercat pdos" after LinuxCNC has started - there is no names on the right of the PDOs, look at the attached pdos.txt file.

Also the synchronization error  and 1 datagram unmatached warning appeared again.

In the beginning of the .xml file I tried to set the PDO mapping using "sdoconfig" but it does not seem to help either.

Never mind. 

I talked to the manufacturer of the drives and they told me that the PDO mapping should be set in the control device on each start of the machine.

With the above mentioned configuration I tested the homing and it seems the motor find the index pulse but then it starts rotating very fast and following error is reported.

But the synchronization error is still present.

Initcmds can be used to set a configuration at startup  github.com/linuxcnc-ethercat/linuxcnc-et...er/examples/initcmds

your cia402.0.pos-scale is very large. Double-check that one.

Set a negative value for refClockSyncCycles="–1", that switches on the PLL to synchronize
servo loop with DC clock. You also have "did not sync in 5000 cycles" in dmesg. I have no
good way of fixing that, eventually the drives will sync their time though.