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[HAL]
TWOPASS=ON
HALFILE = ecat_gantry.hal

loadusr -W lcec_conf ethercat-conf.xml
loadrt lcec

<!--cnc-bg Config -->
<masters>
  <master idx="0" appTimePeriod="1000000" refClockSyncCycles="1">
      
       <!-- AKD X Axis (beam) -->
   <slave idx="0" type="generic" vid="0000006A" pid="00414b44" configPdos="true">
      <!-- Clear SM PDOs -->
      <sdoConfig idx="1C12" subIdx="00">
        <sdoDataRaw data="00"/>
      </sdoConfig>
      <!-- Clear SM PDOs -->
      <sdoConfig idx="1C13" subIdx="00">
        <sdoDataRaw data="00"/>
      </sdoConfig>
      
      <!-- Clear RX PDO1 -->
      <sdoConfig idx="1A00" subIdx="00">
        <sdoDataRaw data="00"/>
      </sdoConfig>
      <!-- Map status word to RX-PDO1 -->
      <!--  0x6041 0010 -->
      <sdoConfig idx="1A00" subIdx="01">
        <sdoDataRaw data="10 00 41 60"/>
      </sdoConfig>
      <!-- Map position feedback to RX-PDO1 -->
      <!-- 0x6064 0020 -->
      <sdoConfig idx="1A00" subIdx="02">
        <sdoDataRaw data="20 00 64 60"/>
      </sdoConfig>
      <!-- Set RX-PDO1 count to 2 -->
      <sdoConfig idx="1A00" subIdx="00">
        <sdoDataRaw data="02"/>
      </sdoConfig>

jim@cnc:~$ ethercat slaves
0  6:0  PREOP   E  AKD EtherCAT Drive (CoE)
1  6:1  SAFEOP  E  AKD2G Dual Axis FS3 EtherCAT Drive (CoE)
2  1:0  PREOP   E  AKD EtherCAT Drive (CoE)

jim@cnc:~$ sudo dmesg | grep EtherCAT
[sudo] password for jim: 
[    4.545203] EtherCAT: Master driver 1.6.2 1.6.2.g285cdf0-1+12.2
[    4.545268] EtherCAT: 1 master waiting for devices.
[    4.572786] ec_generic: EtherCAT master generic Ethernet device module 1.6.2 1.6.2.g285cdf0-1+12.2
[    4.572795] EtherCAT: Accepting 00:1B:21:5A:44:37 as main device for master 0.
[    4.588476] EtherCAT 0: Starting EtherCAT-IDLE thread.
[    4.588497] EtherCAT 0: Link state of ecm0 changed to UP.
[    5.192449] EtherCAT 0: Link state of ecm0 changed to DOWN.
[    5.240474] EtherCAT 0: Link state of ecm0 changed to UP.
[    5.264455] EtherCAT 0: 3 slave(s) responding on main device.
[    5.264458] EtherCAT 0: Slave states on main device: PREOP, SAFEOP + ERROR.
[    5.265859] EtherCAT 0: Scanning bus.
[    5.878393] EtherCAT WARNING 0-1: Slave has state error bit set (SAFEOP + ERROR)!
[    7.657131] EtherCAT ERROR 0-1: Timeout after 1000 ms while waiting for SDO 0x1c12:0 upload response.
[    7.657134] EtherCAT ERROR 0-1: Failed to read number of assigned PDOs for SM2.
[    8.657645] EtherCAT ERROR 0-1: Timeout after 1000 ms while waiting for SDO 0x1c13:0 upload response.
[    8.657647] EtherCAT ERROR 0-1: Failed to read number of assigned PDOs for SM3.
[    9.267846] EtherCAT 0: Bus scanning completed in 4000 ms.
[    9.267848] EtherCAT 0: Using slave 0 as DC reference clock.
[    9.267851] EtherCAT 0: Starting EoE thread.
[    9.307336] EtherCAT ERROR 0-0: Failed to set SAFEOP state, slave refused state change (PREOP + ERROR).
[    9.308655] EtherCAT ERROR 0-0: AL status message 0x001D: "Invalid output configuration".
[    9.310093] EtherCAT 0-0: Acknowledged state PREOP.
[    9.316500] EtherCAT ERROR 0-1: AL status message 0x001B: "Sync manager watchdog".
[    9.320634] EtherCAT 0-1: Acknowledged state SAFEOP.
[    9.372708] EtherCAT ERROR 0-2: Failed to set SAFEOP state, slave refused state change (PREOP + ERROR).
[    9.374026] EtherCAT ERROR 0-2: AL status message 0x001D: "Invalid output configuration".
[    9.375463] EtherCAT 0-2: Acknowledged state PREOP.
[    9.397756] EtherCAT ERROR 0-1: AL status message 0x001B: "Sync manager watchdog".
[    9.403141] EtherCAT 0-1: Acknowledged state SAFEOP.
[    9.469755] EtherCAT ERROR 0-1: AL status message 0x001B: "Sync manager watchdog".
[    9.473818] EtherCAT 0-1: Acknowledged state SAFEOP.

[55800.087042] EtherCAT WARNING 0-1: SDO information error response while fetching SDO entry 0x1C32:0E!
[55800.087045] EtherCAT ERROR 0-1: SDO abort message 0x06090011: "Subindex does not exist".
[55800.089891] EtherCAT WARNING 0-1: SDO information error response while fetching SDO entry 0x1C32:0F!
[55800.089893] EtherCAT ERROR 0-1: SDO abort message 0x06090011: "Subindex does not exist".
[55800.092737] EtherCAT WARNING 0-1: SDO information error response while fetching SDO entry 0x1C32:10!
[55800.092738] EtherCAT ERROR 0-1: SDO abort message 0x06090011: "Subindex does not exist".
[55800.096957] EtherCAT WARNING 0-1: SDO information error response while fetching SDO entry 0x1C32:11!
[55800.096958] EtherCAT ERROR 0-1: SDO abort message 0x06090011: "Subindex does not exist".
[55800.101182] EtherCAT WARNING 0-1: SDO information error response while fetching SDO entry 0x1C32:12!
[55800.101183] EtherCAT ERROR 0-1: SDO abort message 0x06090011: "Subindex does not exist".

cnc@cnc:~$ ls -1 /sys/class/net/ | grep -v lo | xargs -I{} bash -c 'echo -n {} :" " ; basename `readlink -f /sys/class/net/{}/device/driver`'
enp2s0 : r8168
cnc@cnc:~$