Search Results (Searched for: halpin)
- miro199315
- miro199315
13 Nov 2025 05:56 - 13 Nov 2025 05:58
Replied by miro199315 on topic Configuration Schnider electric ILA2 Servo
Configuration Schnider electric ILA2 Servo
Category: EtherCAT
Thanks a lot for looking into this and taking the time to check my issue. I really appreciate the help and suggestions.
Below I’m attaching the XML configuration and system logs for reference.
[/code]
[/code]
Below I’m attaching the XML configuration and system logs for reference.
[35409.201585] EtherCAT: Requesting master 0...
[35409.201588] EtherCAT: Successfully requested master 0.
[35409.201704] EtherCAT 0: Domain0: Logical address 0x00000000, 46 byte, expected working counter 3.
[35409.201706] EtherCAT 0: Datagram domain0-0-main: Logical offset 0x00000000, 46 byte, type LRW.
[35409.201717] EtherCAT 0: Master thread exited.
[35409.201718] EtherCAT 0: Stopping EoE thread.
[35409.201726] EtherCAT 0: EoE thread exited.
[35409.201726] EtherCAT 0: Starting EoE thread.
[35409.201750] EtherCAT 0: Starting EtherCAT-OP thread.
[35409.201765] EtherCAT WARNING 0: 12 datagrams TIMED OUT!
[35409.331702] EtherCAT WARNING 0-1: Other mailbox protocol response for eoe0s1.
[35409.331956] EtherCAT ERROR 0-1: Reception of CoE download response failed: No response.
[35409.331959] EtherCAT WARNING 0-1: Failed to map PDO entry 0x0000:00 (8 bit) to position 6.
[35409.331961] EtherCAT WARNING 0-1: Currently mapped PDO entries: (none). Entries to map: 0x6040:00/16 0x6060:00/8 0x607A:00/32 0x60FF:00/32 0x0000:00/8 0x0000:00/8 0x0000:00/8 0x0000:00/8 0x0000:00/8 0x0000:00/8 0x0000:00/8 0x0000:00/8 0x0000:00/8 0x0000:00/8 0x0000:00/8
[35409.331973] EtherCAT WARNING 0-1: Failed to configure mapping of PDO 0x1600.
[35409.355684] EtherCAT ERROR 0-1: Mailbox error response received - Unknown error reply code 0x0000.
[35409.355688] EtherCAT WARNING 0-1: Invalid mailbox response for eoe0s1.
[35409.375692] EtherCAT WARNING 0-1: Other mailbox protocol response for eoe0s1.
[35409.375948] EtherCAT ERROR 0-1: Reception of CoE download response failed: No response.
[35409.375951] EtherCAT WARNING 0-1: Failed to map PDO entry 0x0000:00 (8 bit) to position 11.
[35409.375953] EtherCAT WARNING 0-1: Currently mapped PDO entries: (none). Entries to map: 0x6041:00/16 0x6061:00/8 0x6064:00/32 0x606C:00/32 0x6077:00/16 0x0000:00/8 0x0000:00/8 0x0000:00/8 0x0000:00/8 0x0000:00/8 0x0000:00/8 0x0000:00/8 0x0000:00/8 0x0000:00/8 0x0000:00/8 0x0000:00/8
[35409.375965] EtherCAT WARNING 0-1: Failed to configure mapping of PDO 0x1A00.
[35409.389044] EtherCAT ERROR 0-1: Failed to set SAFEOP state, slave refused state change (PREOP + ERROR).
[35409.390043] EtherCAT ERROR 0-1: AL status message 0x001E: "Invalid input configuration".
[35409.392045] EtherCAT 0-1: Acknowledged state PREOP.
[35409.403540] EtherCAT 0: Slave states on main device: PREOP, OP.
linuxcnc@linuxcnc:~$
[code]<?xml version="1.0" ?>
<masters>
<master idx="0" appTimePeriod="1000000" refClockSyncCycles="1">
<slave idx="1" type="generic" vid="0800005a" pid="000022db" configPdos="true">
<!-- Distributed Clocks -->
<dcConf assignActivate="300" sync0Cycle="1000000" sync0Shift="0" />
<!-- SyncManagers -->
<syncManager idx="2" dir="out">
<pdo idx="1600">
<pdoEntry idx="6040" subIdx="0" bitLen="16" halPin="cia-controlword" halType="u32" />
<pdoEntry idx="6060" subIdx="0" bitLen="8" halPin="opmode" halType="s32" />
<pdoEntry idx="607A" subIdx="0" bitLen="32" halPin="target-position" halType="s32" />
<pdoEntry idx="60FF" subIdx="0" bitLen="32" halPin="target-velocity" halType="s32" />
</pdo>
</syncManager>
<syncManager idx="3" dir="in">
<pdo idx="1A00">
<pdoEntry idx="6041" subIdx="0" bitLen="16" halPin="cia-statusword" halType="u32" />
<pdoEntry idx="6061" subIdx="0" bitLen="8" halPin="opmode-display" halType="s32" />
<pdoEntry idx="6064" subIdx="0" bitLen="32" halPin="actual-position" halType="s32" />
<pdoEntry idx="606C" subIdx="0" bitLen="32" halPin="actual-velocity" halType="s32" />
<pdoEntry idx="6077" subIdx="0" bitLen="16" halPin="actual-torque" halType="s32" />
</pdo>
</syncManager>
</slave>
</master>
</masters>[/code]
[code] - conman
- conman
02 Nov 2025 19:03
Replied by conman on topic Help with Inovance IS620N Servo Drive - Stays in PREOP
Help with Inovance IS620N Servo Drive - Stays in PREOP
Category: EtherCAT
Hello, thank you for that, I added it but still the same result.
<masters>
<master idx="0" appTimePeriod="1000000" refClockSyncCycles="1">
<slave idx="0" type="generic" name="IS620N_ECAT_v2.6.8" vid="0x00100000" pid="0x000C0108" configPdos="true">
<dcConf assignActivate="300" sync0Cycle="*1" sync0Shift="0"/>
<syncManager idx="2" dir="out">
<pdo idx="1701">
<pdoEntry idx="6040" subIdx="00" bitLen="16" halPin="cia-controlword" halType="u32"/>
<pdoEntry idx="6060" subIdx="00" bitLen="8" halPin="OperationMode" halType="s32"/>
<pdoEntry idx="607A" subIdx="00" bitLen="32" halPin="TargetPosition" halType="s32"/>
<pdoEntry idx="60FF" subIdx="00" bitLen="32" halPin="TargetVelocity" halType="s32"/>
</pdo>
</syncManager>
<syncManager idx="3" dir="in">
<pdo idx="1b01">
<pdoEntry idx="6041" subIdx="00" bitLen="16" halPin="cia-statusword" halType="u32"/>
<pdoEntry idx="6064" subIdx="00" bitLen="32" halPin="ActualPosition" halType="s32"/>
<pdoEntry idx="6061" subIdx="00" bitLen="8" halPin="ActualOperationMode" halType="s32"/>
<pdoEntry idx="606C" subIdx="00" bitLen="32" halPin="ActualVelocity" halType="s32"/>
<pdoEntry idx="6077" subIdx="00" bitLen="32" halPin="ActualTorque" halType="s32"/>
</pdo>
</syncManager>
</slave>
</master>
</masters>
<masters>
<master idx="0" appTimePeriod="1000000" refClockSyncCycles="1">
<slave idx="0" type="generic" name="IS620N_ECAT_v2.6.8" vid="0x00100000" pid="0x000C0108" configPdos="true">
<dcConf assignActivate="300" sync0Cycle="*1" sync0Shift="0"/>
<syncManager idx="2" dir="out">
<pdo idx="1701">
<pdoEntry idx="6040" subIdx="00" bitLen="16" halPin="cia-controlword" halType="u32"/>
<pdoEntry idx="6060" subIdx="00" bitLen="8" halPin="OperationMode" halType="s32"/>
<pdoEntry idx="607A" subIdx="00" bitLen="32" halPin="TargetPosition" halType="s32"/>
<pdoEntry idx="60FF" subIdx="00" bitLen="32" halPin="TargetVelocity" halType="s32"/>
</pdo>
</syncManager>
<syncManager idx="3" dir="in">
<pdo idx="1b01">
<pdoEntry idx="6041" subIdx="00" bitLen="16" halPin="cia-statusword" halType="u32"/>
<pdoEntry idx="6064" subIdx="00" bitLen="32" halPin="ActualPosition" halType="s32"/>
<pdoEntry idx="6061" subIdx="00" bitLen="8" halPin="ActualOperationMode" halType="s32"/>
<pdoEntry idx="606C" subIdx="00" bitLen="32" halPin="ActualVelocity" halType="s32"/>
<pdoEntry idx="6077" subIdx="00" bitLen="32" halPin="ActualTorque" halType="s32"/>
</pdo>
</syncManager>
</slave>
</master>
</masters>
- Hakan
- Hakan
29 Oct 2025 10:47
Replied by Hakan on topic Long initialization of Ethercat on servo drive SV660N
Long initialization of Ethercat on servo drive SV660N
Category: EtherCAT
Or is it that you don't have the "target-velocity" pdo? Just delete it. Same with "actual-velocity" and "actual-torque". Nice to have, not needed.
Minimal
Minimal
<syncManager idx="2" dir="out">
<pdo idx="1600">
<pdoEntry idx="6040" subIdx="00" bitLen="16" halPin="cia-controlword" halType="u32"/>
<pdoEntry idx="6060" subIdx="00" bitLen="8" halPin="opmode" halType="s32"/>
<pdoEntry idx="607A" subIdx="00" bitLen="32" halPin="target-position" halType="s32"/>
</pdo>
</syncManager>
<syncManager idx="3" dir="in">
<pdo idx="1a00">
<pdoEntry idx="6041" subIdx="00" bitLen="16" halPin="cia-statusword" halType="u32"/>
<pdoEntry idx="6061" subIdx="00" bitLen="8" halPin="opmode-display" halType="s32"/>
<pdoEntry idx="6064" subIdx="00" bitLen="32" halPin="actual-position" halType="s32"/>
</pdo>
</syncManager>- lorenzing
- lorenzing
17 Oct 2025 13:00
Festo CMMT-ST was created by lorenzing
Festo CMMT-ST
Category: EtherCAT
Good morning, I'm trying to build an XYYZZ gantry with two motors on the Y and Z axes. To do this, I've used 5 CMMT-ST drives with absolute encoder servomotors. I have some doubts about the homing procedure. At the moment I can see the drives, but I haven't managed to move them yet. Before causing any damage, I wanted to get your opinion on the configuration files, since this is my first time using LinuxCNC.
ethercat.ini
ethercat.hal
ethercat-conf.xml
I hope this can eventually help other people who want to use these drives.
Many thanks to all for your help.
ethercat.ini
[EMC]
VERSION = 1.1
# Debug level, 0 means no messages. See src/emc/nml_int/emcglb.h for others
#DEBUG = 0x7FFFFFFF
DEBUG = 0
[DISPLAY]
DISPLAY = axis
CYCLE_TIME = 0.1
MAX_LINEAR_VELOCITY = 50.0
DEFAULT_LINEAR_VELOCITY = 10.0
POSITION_OFFSET = RELATIVE
POSITION_FEEDBACK = ACTUAL
[TASK]
TASK = milltask
CYCLE_TIME = 0.01
[EMCMOT]
EMCMOT = motmod
# Timeout for comm to emcmot, in seconds
COMM_TIMEOUT = 1.0
# Servo task period, in nano-seconds
SERVO_PERIOD = 1000000
# section for main IO controller parameters -----------------------------------
[EMCIO]
# Name of IO controller program, e.g., io
EMCIO = io
# cycle time, in seconds
CYCLE_TIME = 0.100
TOOL_TABLE = tool.tbl
[HAL]
HALFILE = ethercat.hal
# Single file that is executed after the GUI has started. Only supported by
# AXIS at this time (only AXIS creates a HAL component of its own)
#POSTGUI_HALFILE = test_postgui.hal
HALUI = halui
[RS274NGC]
PARAMETER_FILE = linuxcnc.var
[TRAJ]
COORDINATES = XYYZZ
LINEAR_UNITS = mm
ANGULAR_UNITS = degree
MAX_LINEAR_VELOCITY = 25.0
DEFAULT_LINEAR_VELOCITY = 2.50
[KINS]
JOINTS = 5
KINEMATICS = trivkins coordinates=XYYZZ kinstype=BOTH
# --- X Axis ---
[AXIS_X]
MAX_VELOCITY = 50.0
MAX_ACCELERATION = 200.0
MIN_LIMIT = -30.0
MAX_LIMIT = 1700.0
[JOINT_0]
TYPE = LINEAR
HOME = 0.0
MAX_VELOCITY = 50.0
MAX_ACCELERATION = 200.0
MIN_LIMIT = -30.0
MAX_LIMIT = 1700.0
FERROR = 1000
MIN_FERROR = 1000
HOME_ABSOLUTE_ENCODER = 2
HOME_SEQUENCE = 0
# --- Y Axis (dual) ---
[AXIS_Y]
MAX_VELOCITY = 50.0
MAX_ACCELERATION = 200.0
MIN_LIMIT = -30.0
MAX_LIMIT = 1700.0
[JOINT_1]
TYPE = LINEAR
HOME = 0.0
FERROR = 1000
MIN_FERROR = 1000
# both Y joints home together
HOME_SEQUENCE = 1
HOME_ABSOLUTE_ENCODER = 2
MAX_VELOCITY = 50.0
MAX_ACCELERATION = 200.0
MIN_LIMIT = -30.0
MAX_LIMIT = 1700.0
[JOINT_2]
TYPE = LINEAR
HOME = 0.0
FERROR = 1000
MIN_FERROR = 1000
# both Y joints home together
HOME_SEQUENCE = 1
HOME_ABSOLUTE_ENCODER = 2
MAX_VELOCITY = 50.0
MAX_ACCELERATION = 200.0
MIN_LIMIT = -30.0
MAX_LIMIT = 1700.0
# --- Z Axis (dual) ---
[AXIS_Z]
MAX_VELOCITY = 50.0
MAX_ACCELERATION = 200.0
MIN_LIMIT = -30.0
MAX_LIMIT = 1700.0
[JOINT_3]
TYPE = LINEAR
HOME = 0.0
MAX_VELOCITY = 50.0
MAX_ACCELERATION = 200.0
MIN_LIMIT = -30.0
MAX_LIMIT = 1700.0
FERROR = 1000
MIN_FERROR = 1000
# both Z joints home together
HOME_SEQUENCE = 2
HOME_ABSOLUTE_ENCODER = 2
[JOINT_4]
TYPE = LINEAR
HOME = 0.0
MAX_VELOCITY = 50.0
MAX_ACCELERATION = 200.0
MIN_LIMIT = -30.0
MAX_LIMIT = 1700.0
FERROR = 1000
MIN_FERROR = 1000
# both Z joints home together
HOME_SEQUENCE = 2
HOME_ABSOLUTE_ENCODER = 2ethercat.hal
# --- load components ---
loadrt [KINS]KINEMATICS
loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=5
# load EtherCAT xml then drivers
loadusr -W lcec_conf ethercat-conf.xml
loadrt lcec
loadrt cia402 count=5
# estop loopback
net estop-loop iocontrol.0.user-enable-out iocontrol.0.emc-enable-in
#machine enabled if no estop loopback
#setp iocontrol.0.emc-enable-in 1
# --- add functions to servo-thread ---
addf lcec.read-all servo-thread
# read from cia402 drivers (one per joint)
addf cia402.0.read-all servo-thread
addf cia402.1.read-all servo-thread
addf cia402.2.read-all servo-thread
addf cia402.3.read-all servo-thread
addf cia402.4.read-all servo-thread
# motion stack
addf motion-command-handler servo-thread
addf motion-controller servo-thread
# writes: cia402 then lcec
addf cia402.0.write-all servo-thread
addf cia402.1.write-all servo-thread
addf cia402.2.write-all servo-thread
addf cia402.3.write-all servo-thread
addf cia402.4.write-all servo-thread
addf lcec.write-all servo-thread
# =========================
# JOINT 0 (X) -> cia402.0 -> lcec.0.4
# =========================
setp cia402.0.csp-mode 1
setp cia402.0.pos-scale 2000 # match SCALE in .ini; negate if direction reversed
# joint signals for motion
net x-pos-cmd joint.0.motor-pos-cmd => cia402.0.pos-cmd
net x-pos-fb joint.0.motor-pos-fb <= cia402.0.pos-fb
net x-enable joint.0.amp-enable-out => cia402.0.enable
net x-amp-fault joint.0.amp-fault-in <= cia402.0.drv-fault
# ethercat to cia402 driver
net x-statusword lcec.0.4.cia-statusword => cia402.0.statusword
net x-opmode-display lcec.0.4.opmode-display => cia402.0.opmode-display
net x-drv-act-pos lcec.0.4.actual-position => cia402.0.drv-actual-position
# cia402 driver to ethercat
net x-controlword cia402.0.controlword => lcec.0.4.cia-controlword
net x-modes-of-operation cia402.0.opmode => lcec.0.4.opmode
net x-drv-target-pos cia402.0.drv-target-position => lcec.0.4.target-position
# homing (optional)
# net x-home-request joint.0.request-custom-homing => cia402.0.home
# net x-homing joint.0.is-custom-homing <= cia402.0.stat-homing
# net x-homed joint.0.custom-homing-finished <= cia402.0.stat-homed
# =========================
# JOINT 1 (Y1) -> cia402.1 -> lcec.0.2
# =========================
setp cia402.1.csp-mode 1
setp cia402.1.pos-scale 2000
#setp cia402.1.abs-encoder 1
net y1-pos-cmd joint.1.motor-pos-cmd => cia402.1.pos-cmd
net y1-pos-fb joint.1.motor-pos-fb <= cia402.1.pos-fb
net y1-enable joint.1.amp-enable-out => cia402.1.enable
net y1-amp-fault joint.1.amp-fault-in <= cia402.1.drv-fault
net y1-statusword lcec.0.2.cia-statusword => cia402.1.statusword
net y1-opmode-display lcec.0.2.opmode-display => cia402.1.opmode-display
net y1-drv-act-pos lcec.0.2.actual-position => cia402.1.drv-actual-position
net y1-controlword cia402.1.controlword => lcec.0.2.cia-controlword
net y1-modes-of-operation cia402.1.opmode => lcec.0.2.opmode
net y1-drv-target-pos cia402.1.drv-target-position => lcec.0.2.target-position
# =========================
# JOINT 2 (Y2) -> cia402.2 -> lcec.0.3
# =========================
setp cia402.2.csp-mode 1
setp cia402.2.pos-scale 2000
#setp cia402.2.abs-encoder 1
net y2-pos-cmd joint.2.motor-pos-cmd => cia402.2.pos-cmd
net y2-pos-fb joint.2.motor-pos-fb <= cia402.2.pos-fb
net y2-enable joint.2.amp-enable-out => cia402.2.enable
net y2-amp-fault joint.2.amp-fault-in <= cia402.2.drv-fault
net y2-statusword lcec.0.3.cia-statusword => cia402.2.statusword
net y2-opmode-display lcec.0.3.opmode-display => cia402.2.opmode-display
net y2-drv-act-pos lcec.0.3.actual-position => cia402.2.drv-actual-position
net y2-controlword cia402.2.controlword => lcec.0.3.cia-controlword
net y2-modes-of-operation cia402.2.opmode => lcec.0.3.opmode
net y2-drv-target-pos cia402.2.drv-target-position => lcec.0.3.target-position
# =========================
# JOINT 3 (Z1) -> cia402.3 -> lcec.0.0
# =========================
setp cia402.3.csp-mode 1
setp cia402.3.pos-scale 2000
#setp cia402.3.abs-encoder 1
net z1-pos-cmd joint.3.motor-pos-cmd => cia402.3.pos-cmd
net z1-pos-fb joint.3.motor-pos-fb <= cia402.3.pos-fb
net z1-enable joint.3.amp-enable-out => cia402.3.enable
net z1-amp-fault joint.3.amp-fault-in <= cia402.3.drv-fault
net z1-statusword lcec.0.0.cia-statusword => cia402.3.statusword
net z1-opmode-display lcec.0.0.opmode-display => cia402.3.opmode-display
net z1-drv-act-pos lcec.0.0.actual-position => cia402.3.drv-actual-position
net z1-controlword cia402.3.controlword => lcec.0.0.cia-controlword
net z1-modes-of-operation cia402.3.opmode => lcec.0.0.opmode
net z1-drv-target-pos cia402.3.drv-target-position => lcec.0.0.target-position
# =========================
# JOINT 4 (Z2) -> cia402.4 -> lcec.0.1
# =========================
setp cia402.4.csp-mode 1
setp cia402.4.pos-scale 2000
#setp cia402.4.abs-encoder 1
net z2-pos-cmd joint.4.motor-pos-cmd => cia402.4.pos-cmd
net z2-pos-fb joint.4.motor-pos-fb <= cia402.4.pos-fb
net z2-enable joint.4.amp-enable-out => cia402.4.enable
net z2-amp-fault joint.4.amp-fault-in <= cia402.4.drv-fault
net z2-statusword lcec.0.1.cia-statusword => cia402.4.statusword
net z2-opmode-display lcec.0.1.opmode-display => cia402.4.opmode-display
net z2-drv-act-pos lcec.0.1.actual-position => cia402.4.drv-actual-position
net z2-controlword cia402.4.controlword => lcec.0.1.cia-controlword
net z2-modes-of-operation cia402.4.opmode => lcec.0.1.opmode
net z2-drv-target-pos cia402.4.drv-target-position => lcec.0.1.target-position
# End of HALethercat-conf.xml
<masters>
<master idx="0" appTimePeriod="1000000" refClockSyncCycles="1">
<!-- Joint Z1 -->
<slave idx="0" type="generic" vid="0000001D" pid="007b5a25" configPdos="true">
<dcConf assignActivate="300" sync0Cycle="*1" sync0Shift="0"/>
<syncManager idx="2" dir="out">
<pdo idx="1600">
<pdoEntry idx="6040" subIdx="00" bitLen="16" halPin="cia-controlword" halType="u32"/>
<pdoEntry idx="6060" subIdx="00" bitLen="8" halPin="opmode" halType="s32"/>
<pdoEntry idx="607A" subIdx="00" bitLen="32" halPin="target-position" halType="s32"/>
</pdo>
</syncManager>
<syncManager idx="3" dir="in">
<pdo idx="1a00">
<pdoEntry idx="6041" subIdx="00" bitLen="16" halPin="cia-statusword" halType="u32"/>
<pdoEntry idx="6061" subIdx="00" bitLen="8" halPin="opmode-display" halType="s32"/>
<pdoEntry idx="6064" subIdx="00" bitLen="32" halPin="actual-position" halType="s32"/>
<pdoEntry idx="606C" subIdx="00" bitLen="32" halPin="actual-velocity" halType="s32"/>
<pdoEntry idx="6077" subIdx="00" bitLen="32" halPin="actual-torque" halType="s32"/>
</pdo>
</syncManager>
</slave>
<!-- Joint Z2 -->
<slave idx="1" type="generic" vid="0000001D" pid="007b5a25" configPdos="true">
<dcConf assignActivate="300" sync0Cycle="*1" sync0Shift="0"/>
<syncManager idx="2" dir="out">
<pdo idx="1600">
<pdoEntry idx="6040" subIdx="00" bitLen="16" halPin="cia-controlword" halType="u32"/>
<pdoEntry idx="6060" subIdx="00" bitLen="8" halPin="opmode" halType="s32"/>
<pdoEntry idx="607A" subIdx="00" bitLen="32" halPin="target-position" halType="s32"/>
</pdo>
</syncManager>
<syncManager idx="3" dir="in">
<pdo idx="1a00">
<pdoEntry idx="6041" subIdx="00" bitLen="16" halPin="cia-statusword" halType="u32"/>
<pdoEntry idx="6061" subIdx="00" bitLen="8" halPin="opmode-display" halType="s32"/>
<pdoEntry idx="6064" subIdx="00" bitLen="32" halPin="actual-position" halType="s32"/>
<pdoEntry idx="606C" subIdx="00" bitLen="32" halPin="actual-velocity" halType="s32"/>
<pdoEntry idx="6077" subIdx="00" bitLen="32" halPin="actual-torque" halType="s32"/>
</pdo>
</syncManager>
</slave>
<!-- Joint Y1 -->
<slave idx="2" type="generic" vid="0000001D" pid="007b5a25" configPdos="true">
<dcConf assignActivate="300" sync0Cycle="*1" sync0Shift="0"/>
<syncManager idx="2" dir="out">
<pdo idx="1600">
<pdoEntry idx="6040" subIdx="00" bitLen="16" halPin="cia-controlword" halType="u32"/>
<pdoEntry idx="6060" subIdx="00" bitLen="8" halPin="opmode" halType="s32"/>
<pdoEntry idx="607A" subIdx="00" bitLen="32" halPin="target-position" halType="s32"/>
</pdo>
</syncManager>
<syncManager idx="3" dir="in">
<pdo idx="1a00">
<pdoEntry idx="6041" subIdx="00" bitLen="16" halPin="cia-statusword" halType="u32"/>
<pdoEntry idx="6061" subIdx="00" bitLen="8" halPin="opmode-display" halType="s32"/>
<pdoEntry idx="6064" subIdx="00" bitLen="32" halPin="actual-position" halType="s32"/>
<pdoEntry idx="606C" subIdx="00" bitLen="32" halPin="actual-velocity" halType="s32"/>
<pdoEntry idx="6077" subIdx="00" bitLen="32" halPin="actual-torque" halType="s32"/>
</pdo>
</syncManager>
</slave>
<!-- Joint Y2 -->
<slave idx="3" type="generic" vid="0000001D" pid="007b5a25" configPdos="true">
<dcConf assignActivate="300" sync0Cycle="*1" sync0Shift="0"/>
<syncManager idx="2" dir="out">
<pdo idx="1600">
<pdoEntry idx="6040" subIdx="00" bitLen="16" halPin="cia-controlword" halType="u32"/>
<pdoEntry idx="6060" subIdx="00" bitLen="8" halPin="opmode" halType="s32"/>
<pdoEntry idx="607A" subIdx="00" bitLen="32" halPin="target-position" halType="s32"/>
</pdo>
</syncManager>
<syncManager idx="3" dir="in">
<pdo idx="1a00">
<pdoEntry idx="6041" subIdx="00" bitLen="16" halPin="cia-statusword" halType="u32"/>
<pdoEntry idx="6061" subIdx="00" bitLen="8" halPin="opmode-display" halType="s32"/>
<pdoEntry idx="6064" subIdx="00" bitLen="32" halPin="actual-position" halType="s32"/>
<pdoEntry idx="606C" subIdx="00" bitLen="32" halPin="actual-velocity" halType="s32"/>
<pdoEntry idx="6077" subIdx="00" bitLen="32" halPin="actual-torque" halType="s32"/>
</pdo>
</syncManager>
</slave>
<!-- Joint X -->
<slave idx="4" type="generic" vid="0000001D" pid="007b5a25" configPdos="true">
<dcConf assignActivate="300" sync0Cycle="*1" sync0Shift="0"/>
<syncManager idx="2" dir="out">
<pdo idx="1600">
<pdoEntry idx="6040" subIdx="00" bitLen="16" halPin="cia-controlword" halType="u32"/>
<pdoEntry idx="6060" subIdx="00" bitLen="8" halPin="opmode" halType="s32"/>
<pdoEntry idx="607A" subIdx="00" bitLen="32" halPin="target-position" halType="s32"/>
</pdo>
</syncManager>
<syncManager idx="3" dir="in">
<pdo idx="1a00">
<pdoEntry idx="6041" subIdx="00" bitLen="16" halPin="cia-statusword" halType="u32"/>
<pdoEntry idx="6061" subIdx="00" bitLen="8" halPin="opmode-display" halType="s32"/>
<pdoEntry idx="6064" subIdx="00" bitLen="32" halPin="actual-position" halType="s32"/>
<pdoEntry idx="606C" subIdx="00" bitLen="32" halPin="actual-velocity" halType="s32"/>
<pdoEntry idx="6077" subIdx="00" bitLen="32" halPin="actual-torque" halType="s32"/>
</pdo>
</syncManager>
</slave>
</master>
</masters>I hope this can eventually help other people who want to use these drives.
Many thanks to all for your help.
- ShemJ
03 Oct 2025 16:06 - 03 Oct 2025 16:15
EL8 - Rehoming axis goes max speed ignores machine and driver limits was created by ShemJ
EL8 - Rehoming axis goes max speed ignores machine and driver limits
Category: EtherCAT
I have EL8 drivers and I have an issue that gave me a serious startle.
I am using internal homing (-4) which is working exactly as expected. However, if I rehome all (axis) or Ref any axis or rehome (Probe basic), the drive shoots back to the homing position at what I believe is top speed for the servo. This ignores both the machine limits and the limits I have set in the parameters (POE.31-36).
I have set homing limits on the driver, but also control them via HAL. As a stopgap, I also tried adding a max velocity parameter (bold), but it errors out. I tried adding a max velocity pin. I am not sure how to limit the speed of the drive using motion control yet. Any takers?
<pdoEntry idx="6098" subIdx="00" bitLen="8" halPin="home-mode" halType="s32"/>
<pdoEntry idx="6099" subIdx="01" bitLen="32" halPin="home-hi-speed" halType="u32"/>
<pdoEntry idx="6099" subIdx="02" bitLen="32" halPin="home-lo-speed" halType="u32"/>
<pdoEntry idx="609A" subIdx="00" bitLen="32" halPin="home-acc" halType="u32"/>
<pdoEntry idx="6080" subIdx="00" bitLen="32" halPin="max-velocity" halType="u32"/>
and in HAL
I am using internal homing (-4) which is working exactly as expected. However, if I rehome all (axis) or Ref any axis or rehome (Probe basic), the drive shoots back to the homing position at what I believe is top speed for the servo. This ignores both the machine limits and the limits I have set in the parameters (POE.31-36).
I have set homing limits on the driver, but also control them via HAL. As a stopgap, I also tried adding a max velocity parameter (bold), but it errors out. I tried adding a max velocity pin. I am not sure how to limit the speed of the drive using motion control yet. Any takers?
<pdoEntry idx="6098" subIdx="00" bitLen="8" halPin="home-mode" halType="s32"/>
<pdoEntry idx="6099" subIdx="01" bitLen="32" halPin="home-hi-speed" halType="u32"/>
<pdoEntry idx="6099" subIdx="02" bitLen="32" halPin="home-lo-speed" halType="u32"/>
<pdoEntry idx="609A" subIdx="00" bitLen="32" halPin="home-acc" halType="u32"/>
<pdoEntry idx="6080" subIdx="00" bitLen="32" halPin="max-velocity" halType="u32"/>
and in HAL
#limit max velocity in rev/min
setp lcec.0.0.max-velocity 1000
This is a safety risk for now. I'd like to get around this issue if possible.
Good god, this HTML editor is horrific.- peterpan
- peterpan
25 Sep 2025 18:23
Replied by peterpan on topic Trouble with Cia402 drive configuration
Trouble with Cia402 drive configuration
Category: EtherCAT
After adding the rest of the pdo entries on pg 9 and 10 the drive still stays in PREOP
The dmesg:
<masters>
<master idx="0" appTimePeriod="1000000" refClockSyncCycles="5">
<slave idx="0" type="EK1100" />
<slave idx="1" type="EL1008" />
<slave idx="2" type="EL2008" />
<slave idx="3" type="generic" vid="0x00000c96" pid="0x00000001" configPdos="true">
<dcConf assignActivate="300" sync0Cycle="*1" sync0Shift="700000" />
<syncManager idx="2" dir="out">
<pdo idx="1600">
<pdoEntry idx="6040" subIdx="00" bitLen="16" halPin="cia-controlword" halType="u32" />
<pdoEntry idx="6060" subIdx="00" bitLen="8" halPin="opmode" halType="s32" />
<pdoEntry idx="6071" subIdx="00" bitLen="16" halPin="target-torque" halType="s32" />
<pdoEntry idx="607A" subIdx="00" bitLen="32" halPin="target-position" halType="s32" />
<pdoEntry idx="60FE" subIdx="00" bitLen="32" halPin="digital-outputs" halType="u32" />
<pdoEntry idx="60FF" subIdx="00" bitLen="32" halPin="target-velocity" halType="s32" />
</pdo>
</syncManager>
<syncManager idx="3" dir="in">
<pdo idx="1a00">
<pdoEntry idx="603F" subIdx="00" bitLen="16" halPin="error-code" halType="u32" />
<pdoEntry idx="6041" subIdx="00" bitLen="16" halPin="cia-statusword" halType="u32" />
<pdoEntry idx="6061" subIdx="00" bitLen="8" halPin="opmode-display" halType="s32" />
<pdoEntry idx="6064" subIdx="00" bitLen="32" halPin="actual-position" halType="s32" />
<pdoEntry idx="606C" subIdx="00" bitLen="32" halPin="actual-velocity" halType="s32" />
<pdoEntry idx="6077" subIdx="00" bitLen="32" halPin="actual-torque" halType="s32" />
<pdoEntry idx="60F4" subIdx="00" bitLen="32" halPin="follow-error" halType="s32" />
<pdoEntry idx="60FD" subIdx="00" bitLen="32" halPin="digital-inputs" halType="u32" />
</pdo>
</syncManager>
</slave>
</master>
</masters>The dmesg:
[100592.236726] EtherCAT DEBUG 0-3: 9936 ns difference after 400 ms.
[100592.236728] EtherCAT DEBUG 0-3: ref_time=812139542737448000
[100592.236729] EtherCAT DEBUG 0-3: app_time=812139546509016167
[100592.236730] EtherCAT DEBUG 0-3: start_time=812139546609016167
[100592.236731] EtherCAT DEBUG 0-3: cycle=1000000
[100592.236732] EtherCAT DEBUG 0-3: shift_time=700000
[100592.236733] EtherCAT DEBUG 0-3: remainder=568167
[100592.236734] EtherCAT DEBUG 0-3: start=812139546610148000
[100592.236735] EtherCAT DEBUG 0-3: Setting DC cyclic operation start time to 812139546610148000.
[100592.238726] EtherCAT DEBUG 0-3: Setting DC AssignActivate to 0x0300.
[100592.241726] EtherCAT ERROR 0-3: Failed to set SAFEOP state, slave refused state change (PREOP + ERROR).
[100592.242726] EtherCAT ERROR 0-3: AL status message 0x001E: "Invalid input configuration".
[100592.244725] EtherCAT 0-3: Acknowledged state PREOP.
[100592.465795] EtherCAT WARNING 0: 1 datagram UNMATCHED!
[100592.489802] EtherCAT WARNING: Datagram 0000000070b69bf8 (master-fsm) was SKIPPED 1 time.- farmer_mike
- farmer_mike
14 Sep 2025 04:59
Replied by farmer_mike on topic Getting (hopefully) close to an Rtelligent build
Getting (hopefully) close to an Rtelligent build
Category: EtherCAT
I halved the SDO values one more time and the servos are nice and quiet now. I will have to look at the HAL Oscilloscope to see how the tune is, but for now the tune is quiet and on scale.
Here are the files below. I used an ECT60 paired with a precision planetary gearbox for the Z axis of my milling machine. The X and Y axis are controlled by RS750E drives with a slight belt reduction.
Emergency stop button is wired into the ECT60 on input number 6. From the input of the ECT60, I mapped the E stop over to the HALUI emergency stop. Without the HALUI mapping, the drives would start back up as soon as the physical E stop was released. The limit switches and homing switches for the Z axis were straight forward.
Limit switches and homing switches for the RS750E drives were a little more complicated. I converted the drive input tags from s32 to u32 then bit sliced the u32 to break out the switches. I bet all the slicing could have been done in the XML file, but I could not figure that out.
When I first started the project, my plan was to run everything off of a laptop. I have since switched to a raspberry pi 4.
I still have a bit of work to do, but I want to thank everyone for their help so far.
Here are the files below. I used an ECT60 paired with a precision planetary gearbox for the Z axis of my milling machine. The X and Y axis are controlled by RS750E drives with a slight belt reduction.
Emergency stop button is wired into the ECT60 on input number 6. From the input of the ECT60, I mapped the E stop over to the HALUI emergency stop. Without the HALUI mapping, the drives would start back up as soon as the physical E stop was released. The limit switches and homing switches for the Z axis were straight forward.
Limit switches and homing switches for the RS750E drives were a little more complicated. I converted the drive input tags from s32 to u32 then bit sliced the u32 to break out the switches. I bet all the slicing could have been done in the XML file, but I could not figure that out.
When I first started the project, my plan was to run everything off of a laptop. I have since switched to a raspberry pi 4.
I still have a bit of work to do, but I want to thank everyone for their help so far.
###########################################################
#
# CIA 402 example snippet Hal
#
###########################################################
###########################################################
# Setup
###########################################################
loadrt [KINS]KINEMATICS
loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS
loadusr -W lcec_conf ethercat-conf.xml
#loadusr -W /home/cnc/linuxcnc/configs/linuxcnc-cia402-single/python_control.py
loadrt lcec
loadrt cia402 count=3
loadrt pid names=0-pid,1-pid,2-pid
loadrt bitslice count=6 personality=32,32,32,32,32,32
addf bitslice.0 servo-thread
addf bitslice.1 servo-thread
addf bitslice.2 servo-thread
addf bitslice.3 servo-thread
addf bitslice.4 servo-thread
addf bitslice.5 servo-thread
loadrt conv_s32_u32 count=6
addf conv-s32-u32.0 servo-thread
addf conv-s32-u32.1 servo-thread
addf conv-s32-u32.2 servo-thread
addf conv-s32-u32.3 servo-thread
addf conv-s32-u32.4 servo-thread
addf conv-s32-u32.5 servo-thread
###########################################################
# Functions servo-thread
###########################################################
addf lcec.read-all servo-thread
addf cia402.0.read-all servo-thread
addf cia402.1.read-all servo-thread
addf cia402.2.read-all servo-thread
addf motion-command-handler servo-thread
addf motion-controller servo-thread
addf 0-pid.do-pid-calcs servo-thread
addf 1-pid.do-pid-calcs servo-thread
addf 2-pid.do-pid-calcs servo-thread
addf cia402.0.write-all servo-thread
addf cia402.1.write-all servo-thread
addf cia402.2.write-all servo-thread
addf lcec.write-all servo-thread
#########################################
#nets
#########################################
net emc-enable => iocontrol.0.emc-enable-in
sets emc-enable 1
#config
#
# Joint 0
#
setp cia402.0.csp-mode 1
setp cia402.0.pos-scale 786432
#from servo(ethercat) to cia402
net 0-statusword lcec.0.0.cia-statusword => cia402.0.statusword
net 0-opmode-display lcec.0.0.opmode-display => cia402.0.opmode-display
net 0-drv-act-pos lcec.0.0.actual-position => cia402.0.drv-actual-position
net 0-drv-act-velo lcec.0.0.actual-velocity => cia402.0.drv-actual-velocity
#from motion to cia
net 0-enable <= joint.0.amp-enable-out => cia402.0.enable
net 0-amp-fault => joint.0.amp-fault-in <= cia402.0.drv-fault
net 0-pos-cmd <= joint.0.motor-pos-cmd => cia402.0.pos-cmd
net 0-pos-fb => joint.0.motor-pos-fb <= cia402.0.pos-fb
#from cia402 to servo(ethercat)
net 0-controlword cia402.0.controlword => lcec.0.0.cia-controlword
net 0-modes-of-operation cia402.0.opmode => lcec.0.0.opmode
net 0-drv-target-pos cia402.0.drv-target-position => lcec.0.0.target-position
net 0-drv-target-velo cia402.0.drv-target-velocity => lcec.0.0.target-velocity
net my-out-0 conv-s32-u32.0.in <= lcec.0.0.digitalinputs
net my-in-0 conv-s32-u32.0.out => bitslice.0.in
net my-bit-0 bitslice.0.out-00 joint.0.neg-lim-sw-in
net my-out-0 conv-s32-u32.1.in <= lcec.0.0.digitalinputs
net my-in-1 conv-s32-u32.1.out => bitslice.1.in
net my-bit-1 bitslice.1.out-01 joint.0.pos-lim-sw-in
net my-out-0 conv-s32-u32.2.in <= lcec.0.0.digitalinputs
net my-in-2 conv-s32-u32.2.out => bitslice.2.in
net my-bit-2 bitslice.2.out-02 joint.0.home-sw-in
#
# Joint 1
#
setp cia402.1.csp-mode 1
setp cia402.1.pos-scale -786432
#from servo(ethercat) to cia402
net 1-statusword lcec.0.1.cia-statusword => cia402.1.statusword
net 1-opmode-display lcec.0.1.opmode-display => cia402.1.opmode-display
net 1-drv-act-pos lcec.0.1.actual-position => cia402.1.drv-actual-position
net 1-drv-act-velo lcec.0.1.actual-velocity => cia402.1.drv-actual-velocity
#from cia402 to servo(ethercat)
net 1-controlword cia402.1.controlword => lcec.0.1.cia-controlword
net 1-modes-of-operation cia402.1.opmode => lcec.0.1.opmode
net 1-drv-target-pos cia402.1.drv-target-position => lcec.0.1.target-position
net 1-drv-target-velo cia402.1.drv-target-velocity => lcec.0.1.target-velocity
#from motion to cia
net 1-enable <= joint.1.amp-enable-out => cia402.1.enable
net 1-amp-fault => joint.1.amp-fault-in <= cia402.1.drv-fault
net 1-pos-cmd <= joint.1.motor-pos-cmd => cia402.1.pos-cmd
net 1-pos-fb => joint.1.motor-pos-fb <= cia402.1.pos-fb
net my-out-1 conv-s32-u32.3.in <= lcec.0.1.digitalinputs
net my-in-3 conv-s32-u32.3.out => bitslice.3.in
net my-bit-3 bitslice.3.out-00 joint.1.pos-lim-sw-in
net my-out-1 conv-s32-u32.4.in <= lcec.0.1.digitalinputs
net my-in-4 conv-s32-u32.4.out => bitslice.4.in
net my-bit-4 bitslice.4.out-01 joint.1.neg-lim-sw-in
net my-out-1 conv-s32-u32.5.in <= lcec.0.1.digitalinputs
net my-in-5 conv-s32-u32.5.out => bitslice.5.in
net my-bit-5 bitslice.5.out-02 joint.1.home-sw-in
#
# Joint 2
#
setp cia402.2.csp-mode 1
setp cia402.2.pos-scale 96000
#from servo(ethercat) to cia402
net 2-statusword lcec.0.2.cia-statusword => cia402.2.statusword
net 2-opmode-display lcec.0.2.opmode-display => cia402.2.opmode-display
net 2-drv-act-pos lcec.0.2.actual-position => cia402.2.drv-actual-position
net 2-drv-act-velo lcec.0.2.actual-velocity => cia402.2.drv-actual-velocity
#from cia402 to servo(ethercat)
net 2-controlword cia402.2.controlword => lcec.0.2.cia-controlword
net 2-modes-of-operation cia402.2.opmode => lcec.0.2.opmode
net 2-drv-target-pos cia402.2.drv-target-position => lcec.0.2.target-position
net 2-drv-target-velo cia402.2.drv-target-velocity => lcec.0.2.target-velocity
#from motion to cia
net 2-enable <= joint.2.amp-enable-out => cia402.2.enable
net 2-amp-fault => joint.2.amp-fault-in <= cia402.2.drv-fault
net 2-pos-cmd <= joint.2.motor-pos-cmd => cia402.2.pos-cmd
net 2-pos-fb => joint.2.motor-pos-fb <= cia402.2.pos-fb
net 2-CCW-limit lcec.0.2.in-3 => joint.2.neg-lim-sw-in
net 2-CW-limit lcec.0.2.in-4 => joint.2.pos-lim-sw-in
net 2-in-home lcec.0.2.in-5 => joint.2.home-sw-in
net 2-in-6 lcec.0.2.in-6 => halui.estop.activate
#net spindle_speed spindle.0.speed-out => python_control.rpm_in# This config file was created 2020-08-14 17:19:37.621705 by the update_ini script
# The original config files may be found in the /home/demo/linuxcnc/configs/et-3ax/et_3ax_CIA402.old directory
[EMC]
# The version string for this INI file.
VERSION = 1.1
MACHINE = EtherCAT Machine
DEBUG = 1
[DISPLAY]
DISPLAY = axis
EDITOR = gedit
#PYVCP = pyvcp_panel.xml
# places the pyvcp panel at the bottom of the Axis window
PYVCP_POSITION = RIGHT
# Cycle time, in seconds, that display will sleep between polls
CYCLE_TIME = 0.100
# Path to help file
HELP_FILE = doc/help.txt
# Initial display setting for position, RELATIVE or MACHINE
POSITION_OFFSET = RELATIVE
POSITION_FEEDBACK = ACTUAL
MAX_FEED_OVERRIDE = 1
# Prefix to be used
PROGRAM_PREFIX = /home/demo/linuxcnc/nc_files
INTRO_GRAPHIC = linuxcnc.gif
INTRO_TIME = 0
INCREMENTS = 1in .5in .25in .125in .0625in .025in .05in
#INCREMENTS = 5mm 1mm .5mm .1mm .05mm .01mm .005mm
[FILTER]
PROGRAM_EXTENSION = .png,.gif,.jpg Greyscale Depth Image
PROGRAM_EXTENSION = .py Python Script
png = image-to-gcode
gif = image-to-gcode
jpg = image-to-gcode
py = python
nc = /usr/bin/axis
[RS274NGC]
PARAMETER_FILE = linuxcnc.var
[EMCMOT]
EMCMOT = motmod
COMM_TIMEOUT = 1.0
BASE_PERIOD = 0
SERVO_PERIOD = 1000000
[TASK]
TASK = milltask
CYCLE_TIME = 0.005
[HAL]
HALFILE = cia402.hal
#SHUTDOWN = shutdown.hal
HALUI = halui
[HALUI]
[TRAJ]
HOME = 16 12 7
COORDINATES = XYZ
LINEAR_UNITS = in
ANGULAR_UNITS = deg
DEFAULT_LINEAR_VELOCITY = .25
MAX_LINEAR_VELOCITY = .5
MIN_LINEAR_VELOCITY = .01
DEFAULT_ANGULAR_VELOCITY = 360
MAX_ANGULAR_VELOCITY = 720
POSITION_FILE = position.txt
[EMCIO]
# Name of IO controller program, e.g., iov2 has tool changer stuff
EMCIO = iov2
CYCLE_TIME = 0.100
# tool table file
TOOL_TABLE = cia402.tbl
TOOL_CHANGE_POSITION = 0 0 50.8
#RANDOM_TOOLCHANGER = 1
[KINS]
JOINTS = 3
KINEMATICS = trivkins kinstype=both coordinates=xyz
[AXIS_X]
MIN_LIMIT = 0.1
MAX_LIMIT = 17.9
MAX_VELOCITY = .5
MAX_ACCELERATION = 10
BACKLASH = 0.0000
[JOINT_0]
TYPE = LINEAR
MAX_VELOCITY = .5
MAX_ACCELERATION = 10
# The values below should be 25% larger than MAX_VELOCITY and MAX_ACCELERATION
# If using BACKLASH compensation STEPGEN_MAXACCEL should be 100% larger.
# is this applicable for ethercat????
#STEPGEN_MAXVEL = 1.25
#STEPGEN_MAXACCEL = 1.25
SCALE = 1
FERROR = 200
MIN_FERROR = 50
MIN_LIMIT = 0
MAX_LIMIT = 18
HOME = 16
HOME_OFFSET = 16
HOME_SEQUENCE = 0
HOME_SEARCH_VEL = -.125
HOME_LATCH_VEL = -.125
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = NO
[AXIS_Y]
MIN_LIMIT = 0.1
MAX_LIMIT = 12.9
MAX_VELOCITY = .5
MAX_ACCELERATION = 10
BACKLASH = 0.0000
[JOINT_1]
TYPE = LINEAR
MAX_VELOCITY = .5
MAX_ACCELERATION = 10
# The values below should be 25% larger than MAX_VELOCITY and MAX_ACCELERATION
# If using BACKLASH compensation STEPGEN_MAXACCEL should be 100% larger.
# is this applicable for ethercat????
#STEPGEN_MAXVEL = 1.25
#STEPGEN_MAXACCEL = 1.25
STEP_SCALE = 1
FERROR = 2
MIN_FERROR = 20
MIN_LIMIT = 0
MAX_LIMIT = 13
HOME = 12
HOME_OFFSET = 12
HOME_SEQUENCE = 1
HOME_SEARCH_VEL = .125
HOME_LATCH_VEL = .125
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = NO
[JOINT_2]
TYPE = LINEAR
MAX_VELOCITY = .5
MAX_ACCELERATION = 10
# The values below should be 25% larger than MAX_VELOCITY and MAX_ACCELERATION
# If using BACKLASH compensation STEPGEN_MAXACCEL should be 100% larger.
# is this applicable for ethercat????
STEPGEN_MAXVEL = 1.25
STEPGEN_MAXACCEL = 1.25
STEP_SCALE = 1
FERROR = 200
MIN_FERROR = 20
MIN_LIMIT = 3.4
MAX_LIMIT = 8.1
HOME = 7
HOME_OFFSET = 7
HOME_SEQUENCE = 2
HOME_SEARCH_VEL = .125
HOME_LATCH_VEL = .125
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = NO
[AXIS_Z]
MIN_LIMIT = 3.5
MAX_LIMIT = 8
MAX_VELOCITY = .5
MAX_ACCELERATION = 10
BACKLASH = 0.0000
<masters>
<master idx="0" appTimePeriod="1000000" refClockSyncCycles="5">
<slave idx="0" type="generic" vid="00000A88" pid="0a880013" configPdos="true">
<!-- Joint 0 -->
<sdoConfig idx="2009" subIdx="1"><sdoDataRaw data ="00 32"/></sdoConfig> <!-- position p gain default is 1000 -->
<sdoConfig idx="2009" subIdx="2"><sdoDataRaw data ="00 08"/></sdoConfig> <!-- velocity p gain default is 256 -->
<sdoConfig idx="2009" subIdx="3"><sdoDataRaw data ="00 01"/></sdoConfig> <!-- position i gain default is 200 -->
<syncManager idx="0" dir="out"> </syncManager>
<syncManager idx="1" dir="out"> </syncManager>
<syncManager idx="2" dir="out">
<pdo idx="1600">
<pdoEntry idx="6040" subIdx="00" bitLen="16" halPin="cia-controlword" halType="u32"/>
<pdoEntry idx="607a" subIdx="00" bitLen="32" halPin="target-position" halType="s32"/>
<pdoEntry idx="60b8" subIdx="00" bitLen="16" halPin="touchprobefunction0" halType="bit"/>
</pdo>
<pdo idx="1601">
<pdoEntry idx="6081" subIdx="00" bitLen="32" halPin="profile-velocity" halType="u32"/>
<pdoEntry idx="6083" subIdx="00" bitLen="32" halPin="target-accel" halType="u32"/>
<pdoEntry idx="6084" subIdx="00" bitLen="32" halPin="target-decel" halType="u32"/>
<pdoEntry idx="6060" subIdx="00" bitLen="8" halPin="opmode" halType="s32"/>
</pdo>
<pdo idx="1602">
<pdoEntry idx="60ff" subIdx="00" bitLen="32" halPin="target-velocity" halType="s32"/>
</pdo>
</syncManager>
<syncManager idx="3" dir="in">
<pdo idx="1a00">
<pdoEntry idx="603f" subIdx="00" bitLen="16" halPin="errorcode" halType="bit"/>
<pdoEntry idx="6041" subIdx="00" bitLen="16" halPin="cia-statusword" halType="u32"/>
<pdoEntry idx="6061" subIdx="00" bitLen="8" halPin="opmode-display" halType="s32"/>
<pdoEntry idx="6064" subIdx="00" bitLen="32" halPin="actual-position" halType="s32"/>
<pdoEntry idx="60b9" subIdx="00" bitLen="16" halPin="touchprobestat" halType="bit"/>
<pdoEntry idx="60ba" subIdx="00" bitLen="32" halPin="touchprobe1pos" halType="s32"/>
<pdoEntry idx="60fd" subIdx="00" bitLen="32" halPin="digitalinputs" halType="s32"/>
</pdo>
<pdo idx="1a01">
<pdoEntry idx="606c" subIdx="00" bitLen="32" halPin="actual-velocity" halType="s32"/>
</pdo>
</syncManager>
<dcConf assignActivate="300" sync0Cycle="1000000"/>
</slave>
<slave idx="1" type="generic" vid="00000A88" pid="0a880013" configPdos="true">
<!-- Joint 1 -->
<sdoConfig idx="2009" subIdx="1"><sdoDataRaw data ="00 32"/></sdoConfig> <!-- position p gain default is 1000 -->
<sdoConfig idx="2009" subIdx="2"><sdoDataRaw data ="00 08"/></sdoConfig> <!-- velocity p gain default is 256 -->
<sdoConfig idx="2009" subIdx="3"><sdoDataRaw data ="00 01"/></sdoConfig> <!-- position i gain default is 200 -->
<syncManager idx="0" dir="out"> </syncManager>
<syncManager idx="1" dir="out"> </syncManager>
<syncManager idx="2" dir="out">
<pdo idx="1600">
<pdoEntry idx="6040" subIdx="00" bitLen="16" halPin="cia-controlword" halType="u32"/>
<pdoEntry idx="607a" subIdx="00" bitLen="32" halPin="target-position" halType="s32"/>
<pdoEntry idx="60b8" subIdx="00" bitLen="16" halPin="touchprobefunction0" halType="bit"/>
</pdo>
<pdo idx="1601">
<pdoEntry idx="6081" subIdx="00" bitLen="32" halPin="profile-velocity" halType="u32"/>
<pdoEntry idx="6083" subIdx="00" bitLen="32" halPin="target-accel" halType="u32"/>
<pdoEntry idx="6084" subIdx="00" bitLen="32" halPin="target-decel" halType="u32"/>
<pdoEntry idx="6060" subIdx="00" bitLen="8" halPin="opmode" halType="s32"/>
</pdo>
<pdo idx="1602">
<pdoEntry idx="60ff" subIdx="00" bitLen="32" halPin="target-velocity" halType="s32"/>
</pdo>
</syncManager>
<syncManager idx="3" dir="in">
<pdo idx="1a00">
<pdoEntry idx="603f" subIdx="00" bitLen="16" halPin="errorcode" halType="bit"/>
<pdoEntry idx="6041" subIdx="00" bitLen="16" halPin="cia-statusword" halType="u32"/>
<pdoEntry idx="6061" subIdx="00" bitLen="8" halPin="opmode-display" halType="s32"/>
<pdoEntry idx="6064" subIdx="00" bitLen="32" halPin="actual-position" halType="s32"/>
<pdoEntry idx="60b9" subIdx="00" bitLen="16" halPin="touchprobestat" halType="bit"/>
<pdoEntry idx="60ba" subIdx="00" bitLen="32" halPin="touchprobe1pos" halType="s32"/>
<pdoEntry idx="60fd" subIdx="00" bitLen="32" halPin="digitalinputs" halType="s32"/>
</pdo>
<pdo idx="1a01">
<pdoEntry idx="606c" subIdx="00" bitLen="32" halPin="actual-velocity" halType="s32"/>
</pdo>
</syncManager>
<dcConf assignActivate="300" sync0Cycle="1000000"/>
</slave>
<!-- Joint 2 -->
<slave idx="2" type="generic" vid="00000a88" pid="0a880002" configPdos="true">
<dcConf assignActivate="300" sync0Cycle="*1" sync0Shift="0"/>
<sdoConfig idx="2000" subIdx="0"><sdoDataRaw data ="88 13"/></sdoConfig> <!-- Max motor current (5.0) -->
<sdoConfig idx="2007" subIdx="3"><sdoDataRaw data ="01"/></sdoConfig> <!-- Input 3 - CCW Limit -->
<sdoConfig idx="2007" subIdx="4"><sdoDataRaw data ="02"/></sdoConfig> <!-- Input 4 - CW Limit -->
<sdoConfig idx="2007" subIdx="5"><sdoDataRaw data ="03"/></sdoConfig> <!-- Input 5 - Home Function -->
<sdoConfig idx="2007" subIdx="6"><sdoDataRaw data ="05"/></sdoConfig> <!-- Input 6 - Emergency Stop -->
<sdoConfig idx="2011" subIdx="0"><sdoDataRaw data ="01 00"/></sdoConfig> <!-- Closed loop -->
<sdoConfig idx="6098" subIdx="0"><sdoDataRaw data ="11 00"/></sdoConfig> <!-- Home mode 17 -->
<sdoConfig idx="607C" subIdx="0"><sdoDataRaw data ="00 00"/></sdoConfig> <!-- Home offset 0 -->
<sdoConfig idx="609A" subIdx="0"><sdoDataRaw data ="F4 01"/></sdoConfig> <!-- Home accelleration 500 -->
<sdoConfig idx="6099" subIdx="01"><sdoDataRaw data ="C4 09"/></sdoConfig> <!-- Home fast speed 2500-->
<sdoConfig idx="6099" subIdx="02"><sdoDataRaw data ="F4 01"/></sdoConfig> <!-- Home slow speed 500 -->
<syncManager idx="2" dir="out">
<pdo idx="1600">
<pdoEntry idx="6040" subIdx="00" bitLen="16" halPin="cia-controlword" halType="u32"/>
<pdoEntry idx="6060" subIdx="00" bitLen="8" halPin="opmode" halType="s32"/>
<!-- Target Position -->
<pdoEntry idx="607A" subIdx="00" bitLen="32" halPin="target-position" halType="s32"/>
<!-- Target Velocity -->
<pdoEntry idx="60FF" subIdx="00" bitLen="32" halPin="target-velocity" halType="s32"/>
<!-- Digtial Outputs (manufacturer's extension ECT86/ECT60)-->
<pdoEntry idx="204A" subIdx="0" bitLen="16" halType="complex">
<complexEntry bitLen="1" halPin="out-1" halType="bit"/>
<complexEntry bitLen="1" halPin="out-2" halType="bit"/>
<complexEntry bitLen="14"/>
</pdoEntry>
</pdo>
</syncManager>
<syncManager idx="3" dir="in">
<pdo idx="1a00">
<pdoEntry idx="6041" subIdx="00" bitLen="16" halPin="cia-statusword" halType="u32"/>
<pdoEntry idx="6061" subIdx="00" bitLen="8" halPin="opmode-display" halType="s32"/>
<pdoEntry idx="6064" subIdx="00" bitLen="32" halPin="actual-position" halType="s32"/>
<pdoEntry idx="606C" subIdx="00" bitLen="32" halPin="actual-velocity" halType="s32"/>
<pdoEntry idx="6077" subIdx="00" bitLen="32" halPin="actual-torque" halType="s32"/>
<!-- Digtial_inputs (cia402 compatible) -->
<pdoEntry idx="60FD" subIdx="0" bitLen="32" halType="complex">
<complexEntry bitLen="1" halPin="CW-limit" halType="bit"/>
<complexEntry bitLen="1" halPin="CCW-limit" halType="bit"/>
<complexEntry bitLen="1" halPin="in-home" halType="bit"/>
<complexEntry bitLen="13"/>
<complexEntry bitLen="1" halPin="in-1" halType="bit"/>
<complexEntry bitLen="1" halPin="in-2" halType="bit"/>
<complexEntry bitLen="1" halPin="in-3" halType="bit"/>
<complexEntry bitLen="1" halPin="in-4" halType="bit"/>
<complexEntry bitLen="1" halPin="in-5" halType="bit"/>
<complexEntry bitLen="1" halPin="in-6" halType="bit"/>
<complexEntry bitLen="10"/>
</pdoEntry>
</pdo>
</syncManager>
</slave>
</master>
</masters>
- farmer_mike
- farmer_mike
12 Sep 2025 13:35 - 13 Sep 2025 01:36
Replied by farmer_mike on topic Getting (hopefully) close to an Rtelligent build
Getting (hopefully) close to an Rtelligent build
Category: EtherCAT
I have made some big progress lately. I have the limit switches and homing switches working. I also have the E stop working.
My issue is the RS750E AC servos shake quite a bit. Without the drive belts installed, the servos will sit and shake after completing a move. With the drive belts on, the system moves in the correct direction, but does so in a shaky manner.
My hypothesis is too much integral gain. I believe the problem is because I started with the stepper motor examples. Maybe there are some PID gains inside the drive that I need to configure.
I think what I need are the drive gains set with the SDO parameters inside the XML file.
Thanks for all the help
[/code]
[/code]
[/code]
My issue is the RS750E AC servos shake quite a bit. Without the drive belts installed, the servos will sit and shake after completing a move. With the drive belts on, the system moves in the correct direction, but does so in a shaky manner.
My hypothesis is too much integral gain. I believe the problem is because I started with the stepper motor examples. Maybe there are some PID gains inside the drive that I need to configure.
I think what I need are the drive gains set with the SDO parameters inside the XML file.
Thanks for all the help
###########################################################
#
# CIA 402 example snippet Hal
#
###########################################################
###########################################################
# Setup
###########################################################
loadrt [KINS]KINEMATICS
loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS
loadusr -W lcec_conf ethercat-conf.xml
#loadusr -W /home/cnc/linuxcnc/configs/linuxcnc-cia402-single/python_control.py
loadrt lcec
loadrt cia402 count=3
loadrt pid names=0-pid,1-pid,2-pid
loadrt bitslice count=6 personality=32,32,32,32,32,32
addf bitslice.0 servo-thread
addf bitslice.1 servo-thread
addf bitslice.2 servo-thread
addf bitslice.3 servo-thread
addf bitslice.4 servo-thread
addf bitslice.5 servo-thread
loadrt conv_s32_u32 count=6
addf conv-s32-u32.0 servo-thread
addf conv-s32-u32.1 servo-thread
addf conv-s32-u32.2 servo-thread
addf conv-s32-u32.3 servo-thread
addf conv-s32-u32.4 servo-thread
addf conv-s32-u32.5 servo-thread
###########################################################
# Functions servo-thread
###########################################################
addf lcec.read-all servo-thread
addf cia402.0.read-all servo-thread
addf cia402.1.read-all servo-thread
addf cia402.2.read-all servo-thread
addf motion-command-handler servo-thread
addf motion-controller servo-thread
addf 0-pid.do-pid-calcs servo-thread
addf 1-pid.do-pid-calcs servo-thread
addf 2-pid.do-pid-calcs servo-thread
addf cia402.0.write-all servo-thread
addf cia402.1.write-all servo-thread
addf cia402.2.write-all servo-thread
addf lcec.write-all servo-thread
#########################################
#nets
#########################################
net emc-enable => iocontrol.0.emc-enable-in
sets emc-enable 1
#config
#
# Joint 0
#
setp cia402.0.csp-mode 1
setp cia402.0.pos-scale 786432
#from servo(ethercat) to cia402
net 0-statusword lcec.0.0.cia-statusword => cia402.0.statusword
net 0-opmode-display lcec.0.0.opmode-display => cia402.0.opmode-display
net 0-drv-act-pos lcec.0.0.actual-position => cia402.0.drv-actual-position
net 0-drv-act-velo lcec.0.0.actual-velocity => cia402.0.drv-actual-velocity
#from motion to cia
net 0-enable <= joint.0.amp-enable-out => cia402.0.enable
net 0-amp-fault => joint.0.amp-fault-in <= cia402.0.drv-fault
net 0-pos-cmd <= joint.0.motor-pos-cmd => cia402.0.pos-cmd
net 0-pos-fb => joint.0.motor-pos-fb <= cia402.0.pos-fb
#from cia402 to servo(ethercat)
net 0-controlword cia402.0.controlword => lcec.0.0.cia-controlword
net 0-modes-of-operation cia402.0.opmode => lcec.0.0.opmode
net 0-drv-target-pos cia402.0.drv-target-position => lcec.0.0.target-position
net 0-drv-target-velo cia402.0.drv-target-velocity => lcec.0.0.target-velocity
net my-out-0 conv-s32-u32.0.in <= lcec.0.0.digitalinputs
net my-in-0 conv-s32-u32.0.out => bitslice.0.in
net my-bit-0 bitslice.0.out-00 joint.0.neg-lim-sw-in
net my-out-0 conv-s32-u32.1.in <= lcec.0.0.digitalinputs
net my-in-1 conv-s32-u32.1.out => bitslice.1.in
net my-bit-1 bitslice.1.out-01 joint.0.pos-lim-sw-in
net my-out-0 conv-s32-u32.2.in <= lcec.0.0.digitalinputs
net my-in-2 conv-s32-u32.2.out => bitslice.2.in
net my-bit-2 bitslice.2.out-02 joint.0.home-sw-in
#
# Joint 1
#
setp cia402.1.csp-mode 1
setp cia402.1.pos-scale -786432
#from servo(ethercat) to cia402
net 1-statusword lcec.0.1.cia-statusword => cia402.1.statusword
net 1-opmode-display lcec.0.1.opmode-display => cia402.1.opmode-display
net 1-drv-act-pos lcec.0.1.actual-position => cia402.1.drv-actual-position
net 1-drv-act-velo lcec.0.1.actual-velocity => cia402.1.drv-actual-velocity
#from cia402 to servo(ethercat)
net 1-controlword cia402.1.controlword => lcec.0.1.cia-controlword
net 1-modes-of-operation cia402.1.opmode => lcec.0.1.opmode
net 1-drv-target-pos cia402.1.drv-target-position => lcec.0.1.target-position
net 1-drv-target-velo cia402.1.drv-target-velocity => lcec.0.1.target-velocity
#from motion to cia
net 1-enable <= joint.1.amp-enable-out => cia402.1.enable
net 1-amp-fault => joint.1.amp-fault-in <= cia402.1.drv-fault
net 1-pos-cmd <= joint.1.motor-pos-cmd => cia402.1.pos-cmd
net 1-pos-fb => joint.1.motor-pos-fb <= cia402.1.pos-fb
net my-out-1 conv-s32-u32.3.in <= lcec.0.1.digitalinputs
net my-in-3 conv-s32-u32.3.out => bitslice.3.in
net my-bit-3 bitslice.3.out-00 joint.1.pos-lim-sw-in
net my-out-1 conv-s32-u32.4.in <= lcec.0.1.digitalinputs
net my-in-4 conv-s32-u32.4.out => bitslice.4.in
net my-bit-4 bitslice.4.out-01 joint.1.neg-lim-sw-in
net my-out-1 conv-s32-u32.5.in <= lcec.0.1.digitalinputs
net my-in-5 conv-s32-u32.5.out => bitslice.5.in
net my-bit-5 bitslice.5.out-02 joint.1.home-sw-in
#
# Joint 2
#
setp cia402.2.csp-mode 1
setp cia402.2.pos-scale 96000
#from servo(ethercat) to cia402
net 2-statusword lcec.0.2.cia-statusword => cia402.2.statusword
net 2-opmode-display lcec.0.2.opmode-display => cia402.2.opmode-display
net 2-drv-act-pos lcec.0.2.actual-position => cia402.2.drv-actual-position
net 2-drv-act-velo lcec.0.2.actual-velocity => cia402.2.drv-actual-velocity
#from cia402 to servo(ethercat)
net 2-controlword cia402.2.controlword => lcec.0.2.cia-controlword
net 2-modes-of-operation cia402.2.opmode => lcec.0.2.opmode
net 2-drv-target-pos cia402.2.drv-target-position => lcec.0.2.target-position
net 2-drv-target-velo cia402.2.drv-target-velocity => lcec.0.2.target-velocity
#from motion to cia
net 2-enable <= joint.2.amp-enable-out => cia402.2.enable
net 2-amp-fault => joint.2.amp-fault-in <= cia402.2.drv-fault
net 2-pos-cmd <= joint.2.motor-pos-cmd => cia402.2.pos-cmd
net 2-pos-fb => joint.2.motor-pos-fb <= cia402.2.pos-fb
net 2-CCW-limit lcec.0.2.in-3 => joint.2.neg-lim-sw-in
net 2-CW-limit lcec.0.2.in-4 => joint.2.pos-lim-sw-in
net 2-in-home lcec.0.2.in-5 => joint.2.home-sw-in
net 2-in-6 lcec.0.2.in-6 => halui.estop.activate
#net spindle_speed spindle.0.speed-out => python_control.rpm_in
[code]# This config file was created 2020-08-14 17:19:37.621705 by the update_ini script
# The original config files may be found in the /home/demo/linuxcnc/configs/et-3ax/et_3ax_CIA402.old directory
[EMC]
# The version string for this INI file.
VERSION = 1.1
MACHINE = EtherCAT Machine
DEBUG = 1
[DISPLAY]
DISPLAY = axis
EDITOR = gedit
#PYVCP = pyvcp_panel.xml
# places the pyvcp panel at the bottom of the Axis window
PYVCP_POSITION = RIGHT
# Cycle time, in seconds, that display will sleep between polls
CYCLE_TIME = 0.100
# Path to help file
HELP_FILE = doc/help.txt
# Initial display setting for position, RELATIVE or MACHINE
POSITION_OFFSET = RELATIVE
POSITION_FEEDBACK = ACTUAL
MAX_FEED_OVERRIDE = 1
# Prefix to be used
PROGRAM_PREFIX = /home/demo/linuxcnc/nc_files
INTRO_GRAPHIC = linuxcnc.gif
INTRO_TIME = 0
INCREMENTS = 1in .5in .25in .125in .0625in .025in .05in
#INCREMENTS = 5mm 1mm .5mm .1mm .05mm .01mm .005mm
[FILTER]
PROGRAM_EXTENSION = .png,.gif,.jpg Greyscale Depth Image
PROGRAM_EXTENSION = .py Python Script
png = image-to-gcode
gif = image-to-gcode
jpg = image-to-gcode
py = python
nc = /usr/bin/axis
[RS274NGC]
PARAMETER_FILE = linuxcnc.var
[EMCMOT]
EMCMOT = motmod
COMM_TIMEOUT = 1.0
BASE_PERIOD = 0
SERVO_PERIOD = 1000000
[TASK]
TASK = milltask
CYCLE_TIME = 0.005
[HAL]
HALFILE = cia402.hal
#SHUTDOWN = shutdown.hal
HALUI = halui
[HALUI]
[TRAJ]
HOME = 16 12 7
COORDINATES = XYZ
LINEAR_UNITS = in
ANGULAR_UNITS = deg
DEFAULT_LINEAR_VELOCITY = .25
MAX_LINEAR_VELOCITY = .5
MIN_LINEAR_VELOCITY = .01
DEFAULT_ANGULAR_VELOCITY = 360
MAX_ANGULAR_VELOCITY = 720
POSITION_FILE = position.txt
[EMCIO]
# Name of IO controller program, e.g., iov2 has tool changer stuff
EMCIO = iov2
CYCLE_TIME = 0.100
# tool table file
TOOL_TABLE = cia402.tbl
TOOL_CHANGE_POSITION = 0 0 50.8
#RANDOM_TOOLCHANGER = 1
[KINS]
JOINTS = 3
KINEMATICS = trivkins kinstype=both coordinates=xyz
[AXIS_X]
MIN_LIMIT = 0.1
MAX_LIMIT = 17.9
MAX_VELOCITY = .5
MAX_ACCELERATION = 10
BACKLASH = 0.0000
[JOINT_0]
TYPE = LINEAR
MAX_VELOCITY = .5
MAX_ACCELERATION = 10
DEADBAND = 0.01
P=1
I=0
D=0
# The values below should be 25% larger than MAX_VELOCITY and MAX_ACCELERATION
# If using BACKLASH compensation STEPGEN_MAXACCEL should be 100% larger.
# is this applicable for ethercat????
#STEPGEN_MAXVEL = 1.25
#STEPGEN_MAXACCEL = 1.25
SCALE = 1
FERROR = 200
MIN_FERROR = 50
MIN_LIMIT = 0
MAX_LIMIT = 18
HOME = 16
HOME_OFFSET = 16
HOME_SEQUENCE = 0
HOME_SEARCH_VEL = -.125
HOME_LATCH_VEL = -.125
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = NO
[AXIS_Y]
MIN_LIMIT = 0.1
MAX_LIMIT = 12.9
MAX_VELOCITY = .5
MAX_ACCELERATION = 10
BACKLASH = 0.0000
[JOINT_1]
TYPE = LINEAR
MAX_VELOCITY = .5
MAX_ACCELERATION = 10
DEADBAND = 0.01
P=1
I=0
D=0
# The values below should be 25% larger than MAX_VELOCITY and MAX_ACCELERATION
# If using BACKLASH compensation STEPGEN_MAXACCEL should be 100% larger.
# is this applicable for ethercat????
#STEPGEN_MAXVEL = 1.25
#STEPGEN_MAXACCEL = 1.25
STEP_SCALE = 1
FERROR = 2
MIN_FERROR = 20
MIN_LIMIT = 0
MAX_LIMIT = 13
HOME = 12
HOME_OFFSET = 12
HOME_SEQUENCE = 1
HOME_SEARCH_VEL = .125
HOME_LATCH_VEL = .125
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = NO
[JOINT_2]
TYPE = LINEAR
MAX_VELOCITY = .5
MAX_ACCELERATION = 10
# The values below should be 25% larger than MAX_VELOCITY and MAX_ACCELERATION
# If using BACKLASH compensation STEPGEN_MAXACCEL should be 100% larger.
# is this applicable for ethercat????
STEPGEN_MAXVEL = 1.25
STEPGEN_MAXACCEL = 1.25
STEP_SCALE = 1
FERROR = 200
MIN_FERROR = 20
MIN_LIMIT = 3.4
MAX_LIMIT = 8.1
HOME = 7
HOME_OFFSET = 7
HOME_SEQUENCE = 2
HOME_SEARCH_VEL = .125
HOME_LATCH_VEL = .125
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = NO
[AXIS_Z]
MIN_LIMIT = 3.5
MAX_LIMIT = 8
MAX_VELOCITY = .5
MAX_ACCELERATION = 10
BACKLASH = 0.0000[/code]
[code][code]<masters>
<master idx="0" appTimePeriod="1000000" refClockSyncCycles="1">
<slave idx="0" type="generic" vid="00000A88" pid="0a880013" configPdos="true">
<!-- Joint 0 -->
<syncManager idx="0" dir="out"> </syncManager>
<syncManager idx="1" dir="out"> </syncManager>
<syncManager idx="2" dir="out">
<pdo idx="1600">
<pdoEntry idx="6040" subIdx="00" bitLen="16" halPin="cia-controlword" halType="u32"/>
<pdoEntry idx="607a" subIdx="00" bitLen="32" halPin="target-position" halType="s32"/>
<pdoEntry idx="60b8" subIdx="00" bitLen="16" halPin="touchprobefunction0" halType="bit"/>
</pdo>
<pdo idx="1601">
<pdoEntry idx="6081" subIdx="00" bitLen="32" halPin="profile-velocity" halType="u32"/>
<pdoEntry idx="6083" subIdx="00" bitLen="32" halPin="target-accel" halType="u32"/>
<pdoEntry idx="6084" subIdx="00" bitLen="32" halPin="target-decel" halType="u32"/>
<pdoEntry idx="6060" subIdx="00" bitLen="8" halPin="opmode" halType="s32"/>
</pdo>
<pdo idx="1602">
<pdoEntry idx="60ff" subIdx="00" bitLen="32" halPin="target-velocity" halType="s32"/>
</pdo>
</syncManager>
<syncManager idx="3" dir="in">
<pdo idx="1a00">
<pdoEntry idx="603f" subIdx="00" bitLen="16" halPin="errorcode" halType="bit"/>
<pdoEntry idx="6041" subIdx="00" bitLen="16" halPin="cia-statusword" halType="u32"/>
<pdoEntry idx="6061" subIdx="00" bitLen="8" halPin="opmode-display" halType="s32"/>
<pdoEntry idx="6064" subIdx="00" bitLen="32" halPin="actual-position" halType="s32"/>
<pdoEntry idx="60b9" subIdx="00" bitLen="16" halPin="touchprobestat" halType="bit"/>
<pdoEntry idx="60ba" subIdx="00" bitLen="32" halPin="touchprobe1pos" halType="s32"/>
<pdoEntry idx="60fd" subIdx="00" bitLen="32" halPin="digitalinputs" halType="s32"/>
</pdo>
<pdo idx="1a01">
<pdoEntry idx="606c" subIdx="00" bitLen="32" halPin="actual-velocity" halType="s32"/>
</pdo>
</syncManager>
<dcConf assignActivate="300" sync0Cycle="1000000"/>
</slave>
<slave idx="1" type="generic" vid="00000A88" pid="0a880013" configPdos="true">
<!-- Joint 1 -->
<syncManager idx="0" dir="out"> </syncManager>
<syncManager idx="1" dir="out"> </syncManager>
<syncManager idx="2" dir="out">
<pdo idx="1600">
<pdoEntry idx="6040" subIdx="00" bitLen="16" halPin="cia-controlword" halType="u32"/>
<pdoEntry idx="607a" subIdx="00" bitLen="32" halPin="target-position" halType="s32"/>
<pdoEntry idx="60b8" subIdx="00" bitLen="16" halPin="touchprobefunction0" halType="bit"/>
</pdo>
<pdo idx="1601">
<pdoEntry idx="6081" subIdx="00" bitLen="32" halPin="profile-velocity" halType="u32"/>
<pdoEntry idx="6083" subIdx="00" bitLen="32" halPin="target-accel" halType="u32"/>
<pdoEntry idx="6084" subIdx="00" bitLen="32" halPin="target-decel" halType="u32"/>
<pdoEntry idx="6060" subIdx="00" bitLen="8" halPin="opmode" halType="s32"/>
</pdo>
<pdo idx="1602">
<pdoEntry idx="60ff" subIdx="00" bitLen="32" halPin="target-velocity" halType="s32"/>
</pdo>
</syncManager>
<syncManager idx="3" dir="in">
<pdo idx="1a00">
<pdoEntry idx="603f" subIdx="00" bitLen="16" halPin="errorcode" halType="bit"/>
<pdoEntry idx="6041" subIdx="00" bitLen="16" halPin="cia-statusword" halType="u32"/>
<pdoEntry idx="6061" subIdx="00" bitLen="8" halPin="opmode-display" halType="s32"/>
<pdoEntry idx="6064" subIdx="00" bitLen="32" halPin="actual-position" halType="s32"/>
<pdoEntry idx="60b9" subIdx="00" bitLen="16" halPin="touchprobestat" halType="bit"/>
<pdoEntry idx="60ba" subIdx="00" bitLen="32" halPin="touchprobe1pos" halType="s32"/>
<pdoEntry idx="60fd" subIdx="00" bitLen="32" halPin="digitalinputs" halType="s32"/>
</pdo>
<pdo idx="1a01">
<pdoEntry idx="606c" subIdx="00" bitLen="32" halPin="actual-velocity" halType="s32"/>
</pdo>
</syncManager>
<dcConf assignActivate="300" sync0Cycle="1000000"/>
</slave>
<!-- Joint 2 -->
<slave idx="2" type="generic" vid="00000a88" pid="0a880002" configPdos="true">
<dcConf assignActivate="300" sync0Cycle="*1" sync0Shift="0"/>
<sdoConfig idx="2000" subIdx="0"><sdoDataRaw data ="88 13"/></sdoConfig> <!-- Max motor current (5.0) -->
<sdoConfig idx="2007" subIdx="3"><sdoDataRaw data ="01"/></sdoConfig> <!-- Input 3 - CCW Limit -->
<sdoConfig idx="2007" subIdx="4"><sdoDataRaw data ="02"/></sdoConfig> <!-- Input 4 - CW Limit -->
<sdoConfig idx="2007" subIdx="5"><sdoDataRaw data ="03"/></sdoConfig> <!-- Input 5 - Home Function -->
<sdoConfig idx="2007" subIdx="6"><sdoDataRaw data ="05"/></sdoConfig> <!-- Input 6 - Emergency Stop -->
<sdoConfig idx="2011" subIdx="0"><sdoDataRaw data ="01 00"/></sdoConfig> <!-- Closed loop -->
<sdoConfig idx="6098" subIdx="0"><sdoDataRaw data ="11 00"/></sdoConfig> <!-- Home mode 17 -->
<sdoConfig idx="607C" subIdx="0"><sdoDataRaw data ="00 00"/></sdoConfig> <!-- Home offset 0 -->
<sdoConfig idx="609A" subIdx="0"><sdoDataRaw data ="F4 01"/></sdoConfig> <!-- Home accelleration 500 -->
<sdoConfig idx="6099" subIdx="01"><sdoDataRaw data ="C4 09"/></sdoConfig> <!-- Home fast speed 2500-->
<sdoConfig idx="6099" subIdx="02"><sdoDataRaw data ="F4 01"/></sdoConfig> <!-- Home slow speed 500 -->
<syncManager idx="2" dir="out">
<pdo idx="1600">
<pdoEntry idx="6040" subIdx="00" bitLen="16" halPin="cia-controlword" halType="u32"/>
<pdoEntry idx="6060" subIdx="00" bitLen="8" halPin="opmode" halType="s32"/>
<!-- Target Position -->
<pdoEntry idx="607A" subIdx="00" bitLen="32" halPin="target-position" halType="s32"/>
<!-- Target Velocity -->
<pdoEntry idx="60FF" subIdx="00" bitLen="32" halPin="target-velocity" halType="s32"/>
<!-- Digtial Outputs (manufacturer's extension ECT86/ECT60)-->
<pdoEntry idx="204A" subIdx="0" bitLen="16" halType="complex">
<complexEntry bitLen="1" halPin="out-1" halType="bit"/>
<complexEntry bitLen="1" halPin="out-2" halType="bit"/>
<complexEntry bitLen="14"/>
</pdoEntry>
</pdo>
</syncManager>
<syncManager idx="3" dir="in">
<pdo idx="1a00">
<pdoEntry idx="6041" subIdx="00" bitLen="16" halPin="cia-statusword" halType="u32"/>
<pdoEntry idx="6061" subIdx="00" bitLen="8" halPin="opmode-display" halType="s32"/>
<pdoEntry idx="6064" subIdx="00" bitLen="32" halPin="actual-position" halType="s32"/>
<pdoEntry idx="606C" subIdx="00" bitLen="32" halPin="actual-velocity" halType="s32"/>
<pdoEntry idx="6077" subIdx="00" bitLen="32" halPin="actual-torque" halType="s32"/>
<!-- Digtial_inputs (cia402 compatible) -->
<pdoEntry idx="60FD" subIdx="0" bitLen="32" halType="complex">
<complexEntry bitLen="1" halPin="CW-limit" halType="bit"/>
<complexEntry bitLen="1" halPin="CCW-limit" halType="bit"/>
<complexEntry bitLen="1" halPin="in-home" halType="bit"/>
<complexEntry bitLen="13"/>
<complexEntry bitLen="1" halPin="in-1" halType="bit"/>
<complexEntry bitLen="1" halPin="in-2" halType="bit"/>
<complexEntry bitLen="1" halPin="in-3" halType="bit"/>
<complexEntry bitLen="1" halPin="in-4" halType="bit"/>
<complexEntry bitLen="1" halPin="in-5" halType="bit"/>
<complexEntry bitLen="1" halPin="in-6" halType="bit"/>
<complexEntry bitLen="10"/>
</pdoEntry>
</pdo>
</syncManager>
</slave>
</master>
</masters>[/code]
- Kuzma30
- Kuzma30
08 Sep 2025 10:24
Replied by Kuzma30 on topic AMSAMOTION IO module
AMSAMOTION IO module
Category: EtherCAT
I change name for IN OUT and add halType="bit"
Now I want run ladder for this module (to make plc program).
I have not motion axies. I get such errors during start
Is it possible run linuxcnc without axies (or with simulated axies)?
<masters>
<master idx="0">
<slave idx="0" type="generic" vid="0x00000b95" pid="0x00001101" name="D1">
<!--EC3A-IO1632-->
<syncManager idx="0" dir="in"/>
<syncManager idx="1" dir="out"/>
<syncManager idx="2" dir="out">
<pdo idx="1600">
<!--DOOutputs process data mapping-->
<pdoEntry idx="7000" subIdx="01" bitLen="16" halPin="EC3A-do" halType="bit"/>
</pdo>
</syncManager>
<syncManager idx="3" dir="in">
<pdo idx="1a00">
<!--DIInputs process data mapping-->
<pdoEntry idx="6000" subIdx="01" bitLen="16" halPin="EC3A-di" halType="bit"/>
</pdo>
</syncManager>
</slave>
</master>
</masters>Now I want run ladder for this module (to make plc program).
cat ec3a.hal ec3a.ini
# Load real-time components
loadrt threads name1=servo-thread period1=1000000 # 1ms servo thread (matches XML appTimePeriod)
# Load EtherCAT driver with config XML
loadusr -W lcec_conf ec3a_io_hal.xml
loadrt lcec
# Load ClassicLadder (nogui mode, loading your project file)
#loadusr -W classicladder --nogui ec3a_ladder.clp
loadrt classicladder_rt
addf classicladder.0.refresh servo-thread
# Connect example I/O pins to ClassicLadder (map %I0-%I3 to inputs, %Q0-%Q3 to outputs)
# Expand to all 16 as needed
#net input-0 classicladder.0.in-00 <= lcec.0.0.EC3A-di.0
#net input-1 classicladder.0.in-01 <= lcec.0.0.EC3A-di.1
#net input-2 classicladder.0.in-02 <= lcec.0.0.EC3A-di.2
#net input-3 classicladder.0.in-03 <= lcec.0.0.EC3A-di.3
#net output-0 classicladder.0.out-00 => lcec.0.0.EC3A-do.0
#net output-1 classicladder.0.out-01 => lcec.0.0.EC3A-do.1
#net output-2 classicladder.0.out-02 => lcec.0.0.EC3A-do.2
#net output-3 classicladder.0.out-03 => lcec.0.0.EC3A-do.3[EMC]
# The version string for this INI file.
VERSION = 1.1
MACHINE = EtherCAT Machine
DEBUG = 1
[DISPLAY]
DISPLAY = axis
EDITOR = gedit
#PYVCP = pyvcp_panel.xml
# places the pyvcp panel at the bottom of the Axis window
PYVCP_POSITION = RIGHT
# Cycle time, in seconds, that display will sleep between polls
CYCLE_TIME = 0.100
# Path to help file
HELP_FILE = doc/help.txt
# Initial display setting for position, RELATIVE or MACHINE
POSITION_OFFSET = RELATIVE
POSITION_FEEDBACK = ACTUAL
MAX_FEED_OVERRIDE = 1.2
# Prefix to be used
PROGRAM_PREFIX = /home/cnc/linuxcnc/nc_files
INTRO_GRAPHIC = linuxcnc.gif
INTRO_TIME = 0
INCREMENTS = 5mm 1mm .5mm .1mm .05mm .01mm .005mm
[FILTER]
PROGRAM_EXTENSION = .png,.gif,.jpg Greyscale Depth Image
PROGRAM_EXTENSION = .py Python Script
png = image-to-gcode
gif = image-to-gcode
jpg = image-to-gcode
py = python
nc = /usr/bin/axis
[RS274NGC]
PARAMETER_FILE = linuxcnc.var
#[EMCMOT]
#EMCMOT = motmod
#COMM_TIMEOUT = 1.0
#BASE_PERIOD = 0
#SERVO_PERIOD = 1000000
[TASK]
TASK = milltask
CYCLE_TIME = 0.005
[HAL]
HALFILE = ec3a.hal
#SHUTDOWN = shutdown.hal
#HALFILE = custom.hal
#POSTGUI_HALFILE = pyvcp_panel.hal
HALUI = halui
#[HALUI]
[KINS]
KINEMATICS = trivkins coordinates=
JOINTS = 0
[TRAJ]
COORDINATES =
LINEAR_UNITS = mm
ANGULAR_UNITS = degree
DEFAULT_LINEAR_VELOCITY = 1.0
MAX_LINEAR_VELOCITY = 1.0I have not motion axies. I get such errors during start
linuxcnc ec3a.ini
LINUXCNC - 2.9.4
Machine configuration directory is '/home/cnc/Завантажене'
Machine configuration file is 'ec3a.ini'
Starting LinuxCNC...
[EMCIO] CYCLE_TIME not found in /home/cnc/Завантажене/ec3a.ini; using default 0.100000
halui: no [TRAJ]COORDINATES specified, enabling all axes
linuxcnc TPMOD=tpmod HOMEMOD=homemod EMCMOT=motmod
Note: Using POSIX realtime
Found file(REL): ./ec3a.hal
creating ladder-state
emcTrajSetJoints failing: joints=0
emcMotionInit: emcTrajInit failed
Missing [TRAJ]COORDINATES
Shutting down and cleaning up LinuxCNC...
USRMOT: ERROR: command timeout
HAL: ERROR: exit called before init
<commandline>:0: waitpid failed milltask inihal
<commandline>:0: milltask exited without becoming ready
Note: Using POSIX realtime
LinuxCNC terminated with an error. You can find more information in the log:
/home/cnc/linuxcnc_debug.txt
and
/home/cnc/linuxcnc_print.txt
as well as in the output of the shell command 'dmesg' and in the terminal
cat /home/cnc/linuxcnc_debug.txt
Can not find -sec TRAJ -var COORDINATES -num 1
3767
3797
Stopping realtime threads
Unloading hal components
cnc@cnc:~/Завантажене$ cat /home/cnc/linuxcnc_print.txt
RUN_IN_PLACE=no
LINUXCNC_DIR=
LINUXCNC_BIN_DIR=/usr/bin
LINUXCNC_TCL_DIR=/usr/lib/tcltk/linuxcnc
LINUXCNC_SCRIPT_DIR=
LINUXCNC_RTLIB_DIR=/usr/lib/linuxcnc/modules
LINUXCNC_CONFIG_DIR=
LINUXCNC_LANG_DIR=/usr/lib/tcltk/linuxcnc/msgs
INIVAR=inivar
HALCMD=halcmd
LINUXCNC_EMCSH=/usr/bin/wish8.6
INIFILE=/home/cnc/Завантажене/ec3a.ini
VERSION=1.1
PARAMETER_FILE=linuxcnc.var
TPMOD=
HOMEMOD=
TASK=milltask
HALUI=halui
DISPLAY=axis
COORDINATES=
KINEMATICS=trivkins coordinates=
Starting LinuxCNC server program: linuxcncsvr
Loading Real Time OS, RTAPI, and HAL_LIB modules
Starting LinuxCNC IO program: io
Starting HAL User Interface program: halui
Starting TASK program: milltask
Starting DISPLAY program: axis
Removing HAL_LIB, RTAPI, and Real Time OS modules
Removing NML shared memory segmentsIs it possible run linuxcnc without axies (or with simulated axies)?
- Leo90
- Leo90
14 Aug 2025 07:48 - 14 Aug 2025 07:52
Replied by Leo90 on topic EL2502 and EL2535 PWM Ethercat BECKHOFF Modules
EL2502 and EL2535 PWM Ethercat BECKHOFF Modules
Category: EtherCAT
So I took some time and created a generic driver for EL2502 that works for me. I can control frequency and duty cycle with two seperate 16bit integers. This has been tested only in one channel but for second channel, PDOs should be 1603 with the same sub indexes as for the first.
SDO index 02 is to set control number from SINT16 to UINT16 and index 07 to change operation mode to frequency AND duty cycle.
I hope this helps you.
SDO index 02 is to set control number from SINT16 to UINT16 and index 07 to change operation mode to frequency AND duty cycle.
I hope this helps you.
<slave idx="4" type="generic" vid="00000002" pid="09c63052" configPdos="true">
<sdoConfig idx="8000" subIdx="02">
<sdoDataRaw data="01"/>
</sdoConfig>
<sdoConfig idx="8000" subIdx="07">
<sdoDataRaw data="01"/>
</sdoConfig>
<syncManager idx="2" dir="out">
<pdo idx="1602">
<pdoEntry idx="1602" subIdx="01" bitLen="16" halPin="Duty-ch1" halType="u32"/>
<pdoEntry idx="1602" subIdx="02" bitLen="16" halPin="PWM-out-ch1" halType="u32"/>
</pdo>
</syncManager>
</slave>
- Hakan
- Hakan
14 Aug 2025 07:14
Replied by Hakan on topic New EtherCAT Slave Devices REAL data to HAL
New EtherCAT Slave Devices REAL data to HAL
Category: EtherCAT
The boards looks nice, is it a hobby or are you going to sell them?
I guess you already know this but just in case, here is how you create individual pins for i/o
I guess you already know this but just in case, here is how you create individual pins for i/o
<pdoEntry idx="6002" subIdx="00" bitLen="8" halType="complex">
<complexEntry bitLen="1" halPin="in-1" halType="bit"/>
<complexEntry bitLen="1" halPin="in-2" halType="bit"/>
<complexEntry bitLen="1" halPin="in-3" halType="bit"/>
and so on- emresensoy
- emresensoy
13 Aug 2025 08:19
New EtherCAT Slave Devices REAL data to HAL was created by emresensoy
New EtherCAT Slave Devices REAL data to HAL
Category: EtherCAT
Hi there,
I made a new ethercat slave device, that you can connect any incremental encoder to ethercat network,
you can watch its video;
Everything is ok with Twincat, I can read A B Z pin situations, encoder puls register (s32), encoder rpm value (real)
But in HAL, I cant get ENC2RPM value correctly, it shows irrelevant numbers,
in xml file there is;
Main question;
what should be the halType for a variable that can read successfully in Twincat (REAL)
Slave devices ethercat xml command output is here;
I made a new ethercat slave device, that you can connect any incremental encoder to ethercat network,
you can watch its video;
Everything is ok with Twincat, I can read A B Z pin situations, encoder puls register (s32), encoder rpm value (real)
But in HAL, I cant get ENC2RPM value correctly, it shows irrelevant numbers,
in xml file there is;
<pdoEntry idx="0006" subIdx="01" bitLen="32" halPin="ENC2RPM" halType="float" />Main question;
what should be the halType for a variable that can read successfully in Twincat (REAL)
Slave devices ethercat xml command output is here;
<!-- Slave 3 -->
<Vendor>
<Id>1640067</Id>
</Vendor>
<Descriptions>
<Devices>
<Device>
<Type ProductCode="#x00000001" RevisionNo="#x00000002">ENCODER INTERFACE</Type>
<Name><![CDATA[ENCODER INTERFACE]]></Name>
<Sm Enable="1" StartAddress="#x1000" ControlByte="#x64" DefaultSize="0" />
<Sm Enable="1" StartAddress="#x1200" ControlByte="#x20" DefaultSize="0" />
<RxPdo Sm="0" Fixed="1" Mandatory="1">
<Index>#x1600</Index>
<Name>Outputs</Name>
<Entry>
<Index>#x0005</Index>
<SubIndex>1</SubIndex>
<BitLen>32</BitLen>
<Name>ENC1_PULS_PER_REV</Name>
<DataType>UINT32</DataType>
</Entry>
<Entry>
<Index>#x0005</Index>
<SubIndex>2</SubIndex>
<BitLen>32</BitLen>
<Name>ENC2_PULS_PER_REV</Name>
<DataType>UINT32</DataType>
</Entry>
</RxPdo>
<TxPdo Sm="1" Fixed="1" Mandatory="1">
<Index>#x1a00</Index>
<Name>Inputs</Name>
<Entry>
<Index>#x0006</Index>
<SubIndex>1</SubIndex>
<BitLen>32</BitLen>
<Name>ENC1RPM</Name>
<DataType>UINT32</DataType>
</Entry>
<Entry>
<Index>#x0006</Index>
<SubIndex>2</SubIndex>
<BitLen>32</BitLen>
<Name>REAL_ENC1_PULSE_PER_REV</Name>
<DataType>UINT32</DataType>
</Entry>
<Entry>
<Index>#x0006</Index>
<SubIndex>3</SubIndex>
<BitLen>32</BitLen>
<Name>ENC2RPM</Name>
<DataType>UINT32</DataType>
</Entry>
<Entry>
<Index>#x0006</Index>
<SubIndex>4</SubIndex>
<BitLen>32</BitLen>
<Name>REAL_ENC2_PULSE_PER_REV</Name>
<DataType>UINT32</DataType>
</Entry>
<Entry>
<Index>#x0006</Index>
<SubIndex>5</SubIndex>
<BitLen>16</BitLen>
<Name>ENC2POSITION</Name>
<DataType>UINT16</DataType>
</Entry>
<Entry>
<Index>#x0006</Index>
<SubIndex>6</SubIndex>
<BitLen>16</BitLen>
<Name>ENC1POSITION</Name>
<DataType>UINT16</DataType>
</Entry>
<Entry>
<Index>#x0006</Index>
<SubIndex>7</SubIndex>
<BitLen>8</BitLen>
<Name>ENC2A</Name>
<DataType>UINT8</DataType>
</Entry>
<Entry>
<Index>#x0006</Index>
<SubIndex>8</SubIndex>
<BitLen>8</BitLen>
<Name>ENC2B</Name>
<DataType>UINT8</DataType>
</Entry>
<Entry>
<Index>#x0006</Index>
<SubIndex>9</SubIndex>
<BitLen>8</BitLen>
<Name>ENC2Z</Name>
<DataType>UINT8</DataType>
</Entry>
<Entry>
<Index>#x0006</Index>
<SubIndex>10</SubIndex>
<BitLen>8</BitLen>
<Name>ENC1A</Name>
<DataType>UINT8</DataType>
</Entry>
<Entry>
<Index>#x0006</Index>
<SubIndex>11</SubIndex>
<BitLen>8</BitLen>
<Name>ENC1Z</Name>
<DataType>UINT8</DataType>
</Entry>
<Entry>
<Index>#x0006</Index>
<SubIndex>12</SubIndex>
<BitLen>8</BitLen>
<Name>ENC1B</Name>
<DataType>UINT8</DataType>
</Entry>
</TxPdo>
</Device>
</Devices>- Hakan
- Hakan
09 Aug 2025 08:13
Replied by Hakan on topic Amplifier Fault ECT60 Closed Loop
Amplifier Fault ECT60 Closed Loop
Category: EtherCAT
I have three ECT60 and never had a problem. That's not any help of course, but I can offer my config.
You don't need to go the detour with sdoconfig to reset to factory default. You can set the SDO directly withand there is an "ethercat upload" that works in a similar way if you want to check individual SDOs.
If you haven't done so, power cycle the drive afterwards reset to factory default.
<masters>
<master idx="0" appTimePeriod="1000000" refClockSyncCycles="5">
<slave idx="0" name="X" type="generic" vid="00000a88" pid="0a880002" configPdos="true">
<dcConf assignActivate="300" sync0Cycle="*1" sync0Shift="0"/>
<sdoConfig idx="2000" subIdx="0"><sdoDataRaw data ="a0 0f"/></sdoConfig> <!-- Max motor current (3.0A=b80b 4.0=a00f 5.0=8813) Rated=4.0A -->
<sdoConfig idx="2003" subIdx="0"><sdoDataRaw data ="64 00"/></sdoConfig> <!-- Standby current percentage (100%) -->
<sdoConfig idx="2011" subIdx="0"><sdoDataRaw data ="01 00"/></sdoConfig> <!-- Closed loop -->
<sdoConfig idx="2023" subIdx="1"><sdoDataRaw data ="a0 0f"/></sdoConfig> <!-- Kp=4000 (def=2000) -->
<syncManager idx="2" dir="out">
<pdo idx="1600">
<pdoEntry idx="6040" subIdx="00" bitLen="16" halPin="cia-controlword" halType="u32"/>
<pdoEntry idx="6060" subIdx="00" bitLen="8" halPin="opmode" halType="s32"/>
<pdoEntry idx="607A" subIdx="00" bitLen="32" halPin="target-position" halType="s32"/>
#<pdoEntry idx="60FF" subIdx="00" bitLen="32" halPin="target-velocity" halType="s32"/>
</pdo>
</syncManager>
<syncManager idx="3" dir="in">
<pdo idx="1a00">
<pdoEntry idx="6041" subIdx="00" bitLen="16" halPin="cia-statusword" halType="u32"/>
<pdoEntry idx="6061" subIdx="00" bitLen="8" halPin="opmode-display" halType="s32"/>
<pdoEntry idx="6064" subIdx="00" bitLen="32" halPin="actual-position" halType="s32"/>
#<pdoEntry idx="606C" subIdx="00" bitLen="32" halPin="actual-velocity" halType="s32"/>
#<pdoEntry idx="6077" subIdx="00" bitLen="32" halPin="actual-torque" halType="s32"/>
</pdo>
</syncManager>
</slave>You don't need to go the detour with sdoconfig to reset to factory default. You can set the SDO directly with
ethercat download 0x1011 1 1If you haven't done so, power cycle the drive afterwards reset to factory default.
- Aleske
- Aleske
03 Aug 2025 18:04 - 03 Aug 2025 18:15
Replied by Aleske on topic Problems with Lichuan Ethercat servo drive
Problems with Lichuan Ethercat servo drive
Category: EtherCAT
Hello,I am in the process of getting 4x Lichuan LC10E drives running in CSP mode. I have also observed the behavior of a large following error in CSP mode, as user Sandro mentioned in his post on 14 Sep 2024. After many hours of trying to run CSP mode without encountering a large following error, I suspect that parameter 6068 "Position window time" is to blame. The default setting is 16 ms, which I interpret as the drive having 16 ms to reach the required position. Together with parameter 6067 "Position window", this allows for a large following error while the drive still believes it is operating correctly.
Unfortunately, I am unable to change these values. Initially, I tried reading them with:"<pdoEntry idx="6068" subIdx="00" bitLen="16" halPin="position-window-time" halType="u32"/>"
But this gives me a changing value in HAL show with strange behavior as I would expect a steady value of 16When I try to write to 6068, I get the following error:
Unfortunately, I am unable to change these values. Initially, I tried reading them with:"<pdoEntry idx="6068" subIdx="00" bitLen="16" halPin="position-window-time" halType="u32"/>"
But this gives me a changing value in HAL show with strange behavior as I would expect a steady value of 16When I try to write to 6068, I get the following error:
LCEC: Slave 0.3: Failed to execute SDO Download (0x6068:0x00, size 2, byte0=1, error -5, abort_code 0000000=)
Maybe this helps someone with more knowledge of EtherCAT achieve accurate positioning in CSP mode.Best regards,
Alex - esmurf
- esmurf
22 Jul 2025 11:46
Replied by esmurf on topic Trying to get my OMC A6 Servos homing
Trying to get my OMC A6 Servos homing
Category: EtherCAT
Try the following:
in hal connect your input pin to PDO 2004 Index 02 or 06 or 0A (pos limit, neg limit, home)
like
net y-limit-ext lcec.0.something.din-2 => lcec.0.X.pos-limit
in ethercat-conf.xml
<pdoEntry idx="2004" subIdx="02" bitLen="16" halPin="pos-limit" halType="u32" />
do not connect anything physically to the servo drives DI inputs.
in hal connect your input pin to PDO 2004 Index 02 or 06 or 0A (pos limit, neg limit, home)
like
net y-limit-ext lcec.0.something.din-2 => lcec.0.X.pos-limit
in ethercat-conf.xml
<pdoEntry idx="2004" subIdx="02" bitLen="16" halPin="pos-limit" halType="u32" />
do not connect anything physically to the servo drives DI inputs.
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