IndraDrive + LinuxCNC – PDO configuration problems

Hi everyone,
I’ve recently been trying to set up a IndraDrive from Bosch Rexroth with LinuxCNC, and I’ve run into some difficulties.
After quite a bit of research here on the forum, I’ve narrowed it down to two possible causes:

1. The IndraDrive supports EoE in addition to CoE. Could EoE be interfering with PDO configuration? Is there a recommended way to disable EoE on the drive? I’m using the latest LinuxCNC version and followed the EtherCAT tutorial from the forum.
2. I’ve seen that some people define initcmds in the Ethercat-conf.xml, and I believe those may include PDO configuration. What would be the best approach here? In my XML I already have configPDOs="true", so I assumed initcmds wouldn’t be necessary.

I can configure the PDOs exactly as I want using IO Engineering (Bosch’s equivalent to TwinCAT), but once I switch back to LinuxCNC, the PDOs are either missing or appear randomly most of the time. They are dynamically allocated from what I understand.

Any guidance would be greatly appreciated. Thanks!

Have a look in syslog "sudo dmesg" and if you find the word EoE that is a problem.
Typically that interferes with the linuxcnc lcec component, which can not handle EoE.

There is a way to read out the eeprom content from the drive, flip a bit and write the eeprom content back.
However, it is much better to compile the ethercat master yourself with eoe disabled.
It has been recommended before in the forum, please search (I don't have it readily available).

See how far that takes you. 

Which kind of IndraDrive do you use?

some of them are SoE ... And it has have to startup IDNs 

If you need EoE for something else at ethercat you can edit eeprom at drive... but I can recommend you to reisntall ethercat master with eoe disabling... it way easier path...

Following the procedure by Hakan on this topic to disable EoE: forum.linuxcnc.org/ethercat/58080-ver-2-...e-when-disabling-eoe
I was able to put it to work and I can finally jog it. Now I will continue with further configurations.
Also I wasn't aware of "sudo dmesg" but there is a lot of relevant information there.

To clear an "amplifier fault" (drive error) I can do it using the halshow and then via cia402.0.fault-reset but I read somewhere that the fault should also be cleareable when clicking the enable/power on button. It works but only sometimes if I keep pressing the button it will clear the error and the time after that allow to power on. Should the enable button clear the error reliably? Maybe there is something wrong with my setup. Probably latency issues as I'm using a RPI4...

Also, with ethercat there is no way to use the UI emergency button, correct?