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Did you finish your project, did you use the original encoder or did you change it?

i will try that tomorow
thanks

I don't think you will get much help without a description
of your Modbus hardware and software setup.

electricity is back here ... last slave is your EP box ... check the config but there is no SDOs setup .. I think you will have to create some over the SDO object and then translate them -> object 0x8000:01 .. 17 

but it's also legitimate if you don't want others to use it, why look for loopholes?

There is now an alternative

Maybe there is an eeprom setup and you will have to overwrite something in the eeprom .. because I can not see any SDOs in the startup list out of SM configuration... From the dmesg you are still tring write SM managers what not exist for them... 

My setup before the translator was ... Active configuration, unplug the TC3 master plug lcec master.. ethercat pdos ... And just rewrite active config then I have exporting the SDO config and everything works everytime..

You are using the TC2 instead TC3 .. there should be problem of crashing because I did the translation over TC3 withe 20other slaves CoE or SoE and it works well... Use just TC3, it is better and it is free... Did drag and drop file to the console? Because you have to insert full path ... I am in the heavy storm right now and I can not check your stuff ... 

github.com/synapticon/siitool

# 3. Execution of this software or parts of it exclusively takes place on hardware
produced by Synapticon GmbH.

of course you could just use it, no one will be able to prove it,
but since I'm trying to integrate EtherCat into RIO,
I can't use it so easily in my project.

Before looking further into this, There seem to be
no hal connections that set the spindle directions.

That is, there are these net statements:

net Y73-SPFWD <= spindle.0.forward
net Y74-SPREV <= spindle.0.reverse

But signals Y73-SPFWD and Y73-SPFWD are not connected
anywhere else in the hal file. Normally I would expect
these to connect to some direction control output bits.

How is direction controlled on your VFD?

@scotta, I just tested the 3.1.4 unfortunately it's still the same no change. Spindle dips to nearly zero while in CSS

I tried a bunch of stuff, this are the results:

1. I tried to set the corresponding PDO assignments via EtherCAT-Configurator once again. It changed the PDO assignment but after a power-cycle the settings were gone.

2. I tried to set the PDO assignment via a InitCMD-XML file. The InitCMDs do not change anything unfortunately. A "ethercat rescan" didn't help either, it just caused more errors in dmesg (output attached)

3. Your linked your software "convertorSdos.exe", i wasn't able to use it properly, it errored out with a "Unhandled exception. System.NullReferenceException: Object reference not set to an instance of an object. at Program.Main()" and crashed entirely. I started it with the "Beckhoff_EP5101-0011_config.xml" in the same folder, typed in "c -i" and gave it the absolute path to the before mentioned XML file - what did i do wrong?

Thanks for answering. When i run this code from examples its do. G21 G54 G18
F400

O100 SUB
G0 X10 Z0
O101 REPEAT [3]
G1 X[#<_x>-5] Z[#<_Z>+3]
G1 X[#<_x>-5]

O101 ENDREPEAT
O100 ENDSUB

O101 SUB
G72 Q100 X1 Z1 D0.5 I1 R0.3
G70 Q100 X1 Z1 D0.5 P3
O101 ENDSUB

O101 CALL

M2
When from this code i delete G72 line G70 working fine . But when i change G72 to G71 Linuxcnc freezing . Can someone direct me to right path. How to run G71 .
.

if you: 

1. Disconnect the encoder

2. Change the index input to TTL mode
(W1 left)

3. With LinuxCNC running and halshows "Watch" tab showing
    hm2_7i96s.0.encoder.00.input-index, does the state of
    hm2_7i96s.0.encoder.00.input-index change when you ground
    the IDX+ input (TB2 pin 13)?

My wiring is good. I followed the MESA7i96s documentation. I think everything is correct.
I've tested 5 RS-422 encoders with phase A+,A-,B+,B-,Z+,Z-. Or maybe my MESA board isn't working properly. I don't know how to get out of it

Good point I forgot to mention the specs
Current is 3A. Resistance is 1.3 Ohm
Holding torque 3 Nm
I run them with a 36v power supply.

O guess that about no voltage specification is a good point you don’t know what transistors are in there.