CiA 402 Folder Missing

Hi,

The forum was unavailable all weekend.
I checked your configuration.
You are using my config and have deleted the modules in master idx="1" in the XML.
Accordingly, you must also delete the corresponding links in the hal.
These are all links in the “# Switches” section.
If you don't have a handwheel, you can remove this:
loadusr -W xhc-whb04b-6 -HsfB and all MDI_COMMAND in the .ini

However, the error ./cia402-example.hal:63: parameter or pin ‘joint.0.request-cia-homing’ not found 
is strange. The corresponding pins are present.
Can you upload the complete error log next time?
PS: setp iocontrol.0.emc-enable-in 1 System without emergency stop?
Very dangerous.
 

Hello,

the forum was indeed down during the weekend, no problem. On the first run of your configuration I forgot to remove the limit switches, the hand wheel and the MDI commands. Then I removed all of them but still the same result. By the way, I also switched the HOMING_METHOD and DISPLAY in the .ini file.

About the emergency stop - the motors are not mounted on the machine, they are on a stand and there is no danger of hurting anyone. Thank you for pointing it out.

Attached is the entire report when I run the LinuxCNC and the edited configuration files.

Very interesting.
I don't see any errors in the configuration.
Can you please post the following outputs?

ethercat master
ethercat slaves
sudo dmesg

Hello,

attached are the requested outputs and I added PDOs and SDOs outputs as well.

Hi,

I have no experience with CiA homecomp, but if I have a look at the comp source code here , I see that it creates a "joint.%d.request-custom-homing", jno" pin. Could the name be your problem?

Cheers,
Luca

You have a lot of synchronization errors.
What kind of cable are you using?
What is your topology?
Do you have EMC problems?

[70592.094690] EtherCAT ERROR 0-0: AL status message 0x001A: “Synchronization error”.