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What error?

Here is the full file

loadrt mux2 names=mux2_x,mux2_y,mux2_z
addf mux2_x servo-thread
addf mux2_y servo-thread
addf mux2_z servo-thread

loadrt wcomp names=plus_x_trigger,minus_x_trigger,plus_y_trigger,minus_y_trigger,plus_z_trigger,minus_z_trigger
addf plus_x_trigger servo-thread
addf minus_x_trigger servo-thread
addf plus_y_trigger servo-thread
addf minus_y_trigger servo-thread
addf plus_z_trigger servo-thread
addf minus_z_trigger servo-thread

# this is the deadzone for each axis to stop drift, also can make bigger to stop x/y axis moves easier without one triggering the other
setp plus_x_trigger.max 0.15
setp minus_x_trigger.min -0.15
setp plus_y_trigger.max 0.15
setp minus_y_trigger.min -0.15
setp plus_z_trigger.max 0.15
setp minus_z_trigger.min -0.15

loadrt lut5 names=jog_x_enable,jog_y_enable,jog_z_enable
addf jog_x_enable servo-thread
setp jog_x_enable.function 0x80
addf jog_y_enable servo-thread
setp jog_y_enable.function 0x80
addf jog_z_enable servo-thread
setp jog_z_enable.function 0x80

loadrt or2 names=or-x-jog,or-y-jog,or-z-jog
addf or-x-jog servo-thread
addf or-y-jog servo-thread
addf or-z-jog servo-thread

loadrt scale names=scale.x,scale.y,scale.z
addf scale.x servo-thread
addf scale.y servo-thread
addf scale.z servo-thread

# mine were 0-4.8v. Assuming a range of -1 to +1. 2/4.8=.416 z was way off balance and cannot see how to adjust so do it in sw
setp scale.x.offset -1.00
setp scale.x.gain .416
setp scale.y.offset -1.00
setp scale.y.gain .416
setp scale.z.offset -0.80
setp scale.z.gain .416

net x-scale <= hm2_7i76e.0.7i76.0.0.analogin0 => scale.x.in
net y-scale <= hm2_7i76e.0.7i76.0.0.analogin1 => scale.y.in
net z-scale <= hm2_7i76e.0.7i76.0.0.analogin2 => scale.z.in

# the mux is used to select 0 or the current value and is implementing the deadband. Cannot let the analog value through otherwise in interferes with jogging from ui
net gate-x-scale <= scale.x.out => plus_x_trigger.in minus_x_trigger.in mux2_x.in1
net gate-y-scale <= scale.y.out => plus_y_trigger.in minus_y_trigger.in mux2_y.in1
net gate-z-scale <= scale.z.out => plus_z_trigger.in minus_z_trigger.in mux2_z.in1

# may not be needed anymore
net x-is-homed <= halui.joint.0.is-homed => jog_x_enable.in-1
net y-is-homed <= halui.joint.1.is-homed => jog_y_enable.in-1
net z-is-homed <= halui.joint.2.is-homed => jog_z_enable.in-1

# only allow jogging if in the jog menu linuxcnc/gmoccapy seemed to complain in any other state
net machine-is-injog <= halui.mode.is-manual => jog_x_enable.in-0 jog_y_enable.in-0 jog_z_enable.in-0

# fixed for all axis multiplied from .15 to 1 from scale above. Change scale is difference needed for each axis
setp halui.axis.jog-speed 600
setp halui.joint.jog-speed 600

# wcomp is used here as deadband. Controls relevant jog plus or minus
net enable-x-jog-plus <= plus_x_trigger.over => halui.axis.x.plus or-x-jog.in0
net enable-x-jog-minus <= minus_x_trigger.under => halui.axis.x.minus or-x-jog.in1
net enable-y-jog-plus <= plus_y_trigger.over => halui.axis.y.plus or-y-jog.in0
net enable-y-jog-minus <= minus_y_trigger.under => halui.axis.y.minus or-y-jog.in1
net enable-z-jog-plus <= plus_z_trigger.over => halui.axis.z.plus or-z-jog.in0
net enable-z-jog-minus <= minus_z_trigger.under => halui.axis.z.minus or-z-jog.in1

# if all 3 conditions are met i.e. not in deadband, is homed and is manual then select mux and route analog value to axis
net jog-x-either <= or-x-jog.out => jog_x_enable.in-2
net enable-x-mux <= jog_x_enable.out => mux2_x.sel
net jog-x-speed <= mux2_x.out => halui.axis.x.analog

net jog-y-either <= or-y-jog.out => jog_y_enable.in-2
net enable-y-mux <= jog_y_enable.out => mux2_y.sel
net jog-y-speed <= mux2_y.out => halui.axis.y.analog

net jog-z-either <= or-z-jog.out => jog_z_enable.in-2
net enable-z-mux <= jog_z_enable.out => mux2_z.sel
net jog-z-speed <= mux2_z.out => halui.axis.z.analog

Thanks for your reply. Problem is, I want to be able to use a virtual keyboard, and onboard just does not work. Could it have something to do with the window manager? Others seem to be available in the boot menu, but when I try them they come up with an error. This is a fresh install.

I mentioned before I want to future proof. To claify: its not a what if but a kind of fixed advancement plan:
1. ATC toolchanger
2. 4th possibly 5th axis
3. Alternating size/ tooling.
4. Laser/Mill hybrid 
5. possibly multiple machines of the same build.

I have a small business and depending on how I expand I want this cnc to be able to grow with me. Once I have a system running there will only be minor changes doable as downtime would cost me double.

Forgive me for being extremely new at this.

I understand 'add it to the xml file' in general terms, but as I have no experience or context it's hard for me to determine exactly what/how to add something.

My test xml file has what appears to be variable PDOs: "pdo idx=1600" and pdo idx="1A00"

These appear to be variable PDOs, whatever that means, based on the chart taken from the manual:
 

However, the only place where digital outputs appear to be available is in the Fixed PDO section:
 

Can I add another section in the xml file for fixed PDO's? or do I have to pick one or the other?

Regarding bitslice... am I correct - generally - in that the drive sends a 'word' or string or something to LCNC with address "60FDh", and the value of that word can be interpreted using bitslice as the status of the drive's digital inputs?

If so, using the chart below is the key needed to configure bitslice in to HAL pins?
 
 

Not your drive but this XML shows you how to set the input type using sdoconfig
github.com/rodw-au/linuxcnc-cia402/blob/main/ethercat-conf.xml

You can obtain the PDO corresponding to IO by consulting the servo's manual, and then add it to the ethercat-config.xml file. The "bitslice" component may be required in the hal file.
I have tested it with Leadshine's servo before and it worked normally, but I didn't save the configuration file.

Rookie0 wrote:

connecting only one driver is actually insufficient

Sufficient for whose purpose? Yours or mine?

I'm not trying to get a specific machine working...I'm trying to get the driver's IO controllable via HAL.

I don't understand exactly how the xml file's in/out configuration works and I can't find an example I can use as a template.

It can be done this way, but my approach is to use the IO module separately.
The advantage is that there is no need to connect wires from CN1 of the servo driver, as connecting only one driver is actually insufficient. There are more endpoints on the IO module.

The ethercat A6 use a HDB15 connector on the front for the built-in IO.  Not quite as large as an HDB44, but still need to consider cost of cable and stickout/packaging.  If you plan to use a brake on one (or more) servo, you'll need at least one drive to have the IO cable connected.

OTOH, HDB right-angle cables, extensions, and adapters are much more available less expensive than HDB44's.

Find a DVM and check, that would be the best solution.
-
In Germany's industrial zones you had a choice of:
3X380V
3X480V
and
3X560V
Nice to have choices, not nice when someone brings such a machine here where there is only 3X380 or, if you want to really push it 3X11000V!
Yes, you can buy...well you have to buy a huge transformer (if the existing one lacks capacity), and then you HAVE to sign it over to distribution company, literally. Them being a Turkish company and my people being dumb asses, that is the only choice.

Actually, in Norway the most used distribution system is called an IT net (IT is short for something like Insulated Terra). This system uses 3 phase conductors and no neutral, with a conductor to conductor voltage of 230v, and with no neutral there are no other voltages available. I think this is different from most of Europe where they use a TN net, at least that is what Wikipedia is claiming...

Keep a wireless mouse and keyboard connected to use for configuration purposes but put them on a cupboard until needed.
Use a GUI like QTdragon that is designed to be a fully touch enabled GUI.

The cables are kinda expensive(relative to others), the bulky part will be an issue too. Also played around with the thought of db44 breakout boards, most expensive because I need a cable and a board for 4 servos but it would reduce the wiring headache (~34 bouncing cables per servo)

Im trying to keep everything on a tight budget as the cnc kept growing and now Im at twice the planned budget. Im trying to future proof what I can and keep the system as adjustable as possible. 

 

A6 Ethercat servos are not step-dir compatible; pick one or the other.
Step-dir with Mesa will be easier to configure than Ethercat, but more wiring

What is complicated or expensive about connecting the step-dir drives to Mesa?  Buy a DB44 cable from Stepperonline and connect to Mesa - maybe I'm missing something?

Only headache I know is that the DB44 cable connector is HUGE, and sticks way out when plugged in to the drive.  If you have a tight enclosure you may not be able to shut the door on a standard 8" deep enclosure.

You can buy DB44 right-angle cables (no adapters I can find) to shorten the package a bit, or you can cut a hole in the enclosure door for the cables to stick out.  And 3D print a raised cover for the new hole...