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Component Pins:
Owner   Type  Dir         Value  Name
    29  s32   OUT          2540  motion-command-handler.time
    29  s32   OUT         34125  motion-controller.time
    29  float IN              1  motion.adaptive-feed
    29  float IN              0  motion.analog-in-00
    29  float IN              0  motion.analog-in-01
    29  float IN              0  motion.analog-in-02
    29  float IN              0  motion.analog-in-03
    29  float OUT             0  motion.analog-out-00
    29  float OUT             0  motion.analog-out-01
    29  float OUT             0  motion.analog-out-02
    29  float OUT             0  motion.analog-out-03
    29  bit   OUT         FALSE  motion.coord-error
    29  bit   OUT         FALSE  motion.coord-mode
    29  float OUT             0  motion.current-vel
    29  bit   IN          FALSE  motion.digital-in-00
    29  bit   IN          FALSE  motion.digital-in-01
    29  bit   IN          FALSE  motion.digital-in-02
    29  bit   IN          FALSE  motion.digital-in-03
    29  bit   OUT         FALSE  motion.digital-out-00
    29  bit   OUT         FALSE  motion.digital-out-01
    29  bit   OUT         FALSE  motion.digital-out-02
    29  bit   OUT         FALSE  motion.digital-out-03
    29  float OUT             0  motion.distance-to-go
    29  bit   IN           TRUE  motion.enable
    29  bit   OUT         FALSE  motion.eoffset-active
    29  bit   OUT         FALSE  motion.eoffset-limited
    29  bit   IN          FALSE  motion.feed-hold
    29  float OUT             0  motion.feed-inches-per-minute
    29  float OUT             0  motion.feed-inches-per-second
    29  bit   IN          FALSE  motion.feed-inhibit
    29  float OUT             0  motion.feed-mm-per-minute
    29  float OUT             0  motion.feed-mm-per-second
    29  float OUT             0  motion.feed-upm
    29  bit   IN          FALSE  motion.homing-inhibit
    29  bit   OUT          TRUE  motion.in-position
    29  bit   OUT         FALSE  motion.is-all-homed
    29  bit   IN          FALSE  motion.jog-inhibit
    29  bit   OUT         FALSE  motion.jog-is-active
    29  bit   IN          FALSE  motion.jog-stop
    29  bit   IN          FALSE  motion.jog-stop-immediate
    29  bit   OUT         FALSE  motion.motion-enabled
    29  s32   OUT             0  motion.motion-type
    29  bit   OUT         FALSE  motion.on-soft-limit
    29  bit   IN          FALSE  motion.probe-input
    29  s32   OUT             0  motion.program-line
    29  float OUT             0  motion.requested-vel
    29  u32   OUT    0x002CA523  motion.servo.last-period
    29  bit   OUT         FALSE  motion.teleop-mode
    29  float OUT             0  motion.tooloffset.a
    29  float OUT             0  motion.tooloffset.b
    29  float OUT             0  motion.tooloffset.c
    29  float OUT             0  motion.tooloffset.u
    29  float OUT             0  motion.tooloffset.v
    29  float OUT             0  motion.tooloffset.w
    29  float OUT             0  motion.tooloffset.x
    29  float OUT             0  motion.tooloffset.y
    29  float OUT             0  motion.tooloffset.z
    29  bit   OUT         FALSE  motion.tp-reverse

 
I have an issue, after running LinuxCNC Raspberry Pi Ethercat with  Rtelligent ECT60 closed loop stepper controller i will gat about roughly half of hour or sometimes less  EtherCAT ERROR 0-0: AL status message 0x001A: "Synchronization error".  I have narrowed down problem that it occurs when raspberry pi ethernet goes down for a moment and then back up.Then the narrowing down part, I have tried with Raspberry Pi5 and couple of Raspberry Pi 4, I have used own build Rt-preempt kernel and all Linuxcnc/Ethercat from sources and now I have downloaded ready made LinuxCNC 2.9.4 Raspberry Pi image for rpi4 and rpi5. I have followed installation instructions from "Ethercat installation from repositories - how to step by step". I have tried with two separate controller boxes that are having Rtelligent ECT60 boards with two CNC machines and test configuration with just raspberry pi, controller and stepper motors. I have used multiple brand new ethernet cables, tried multiple Raspberry Pi power supplies including original one.  I have tried to disable all other possible services like ntpd NetworknaMager touching interface. I can say that I have changed every component in system. Ethercat is direct cable connection from Raspberry Pi to ETC60.

Good ideas what to try next or even workaround ideas.  When searching "macb 1f00100000.ethernet eth0: Link is Down" for rpi5 or similar for rpi4 i got lot of matching posts from raspberry pi forums. Just not help, there is similar theories about reason, bad ethernet cable, bad power supply, bad ethernet switch. I have tried with multiple cables , mutiple power supplies and I don't have switch but direct ethercat.

I least assume that issue is not in Ethercat configuration or Rpi RT-Preempt kernel because all of these are now standard from repo.
 ​​​​​​​

Hakan wrote:

A lot of pins starting with spindle.0 should be created. Check in halshow.

Those were already there as I said before. no change. They are read only though so I don't know how they get used to turn the spindle on and off.

Thanks

@unknown reflecting on this, I executed

and encountered the error. I did not (as you indicated) execute 

on a fresh installation right after login. So, that is maybe the difference. You are likely entirely correct that executing apt get remove right after login on first install will fix the issue. That said, I suspect most folks are going to come across the error only after trying to do an apt get upgrade, so my note is aimed at those folks, who when searching might come across this discussion.

A lot of pins starting with spindle.0 should be created. Check in halshow.

That looks perfectly fine.
 What's the problem when this is called inside your hal file?
Let's try that. Add the line
show all
after the
loadrt cia402pv names=cia402pv.Spindle
line. It should show many more pins, also the cia402pv pins.

Right now, the 6i25 manual states "These is a small speed advantage and some additional 6I25 features available if the card is runs as a native 6I25. To do this, a 6I25 bitfile must be loaded in the 6I25's EEPROM, and the local PCI clock set to 66MHz." The manual does not say that the 6i25 bitfile is not available, and in fact implies the opposite.

What do you think of the idea of relaying to whomever writes the documentation at Mesa Electronics a suggestion to update the documentation for the 6i25 to make this it clear that there is no 6i25 bitfile available and that someone should always use the 5i25 bit files for the 6i25?

Yes, because the FPGA cards have pullup resistors on all I/O pins to +5V
Simple grounding a I/O pin will work for input signaling

For outputs, because of the pullups, the initial state of all I/O pins will be high
so its best to use active low outputs (and best to the the 7I75s 5V output)

So for say driving a SSR or OPTO:

7I75 5V --> SSR+ or OPTO Anode
7I75 I/O --> SSR- or OPTO Cathode

In HAL you need to set the is_output and usually
invert_output parameters for GPIO pins used as outputs.

As an update this will no longer be an issue with Trixie, as the live build process blacklists the raspi-firmware from being installed.
And just be 100% clear the source of this issue was the live-build utility prior to Debian Trixie.
Unless new Bookworm ISOs are released built with the live-build utility built from the Trixie source it will forever be an issue.
Having delved into this issue and built new ISOs using the live-build that comes with Trixie ( and repackaging and installing on bookworm ) I can say this issue is fixed. It took a bit of delving into the various scripts that do the hard lifting to find the issue.
It could of been fixed a couple of ways, the above mentioned modification to the preseed file on the ISO, but the raspi- firmware would have still been present on a live session, or individually picking the firmware to install, unfortunately I do not think the cause of the issue was fully understood.
From Trixie on this is fixed.

Habe mir eine MESA 7i75 gekauft und bin unsicher bezüglich Beschaltung.
Als Eingang muss ich nur den IO  Port mit dem nebenliegenden GND verbinden durch z.B. einen Taster oder Schalter?
Als Ausgang gehe ich mit den 5V auf z.b. ein Relais und dann auf den IO Port? 

Danke
Harald
 

cnc@raspberrypi:~$ % halrun
halcmd: loadrt cia402pv names=cia402pv.Spindle
Note: Using POSIX realtime
halcmd: show all
bash: fg: %: no such job
bash: halcmd:: command not found
bash: Note:: command not found
bash: halcmd:: command not found
cnc@raspberrypi:~$ halrun
halcmd: loadrt cia402pv names=cia402pv.Spindle
Note: Using POSIX realtime
halcmd: show all
Loaded HAL Components:
ID Type Name PID State
4 RT cia402pv ready
2 User halcmd2602 2602 ready

Component Pins:
Owner Type Dir Value Name
4 float IN 0 cia402pv.Spindle.acceleration
4 u32 OUT 0x00000000 cia402pv.Spindle.controlword
4 float IN 0 cia402pv.Spindle.deceleration
4 s32 OUT 0 cia402pv.Spindle.drv-acceleration
4 s32 IN 0 cia402pv.Spindle.drv-actual-position
4 s32 IN 0 cia402pv.Spindle.drv-actual-velocity
4 s32 OUT 0 cia402pv.Spindle.drv-deceleration
4 bit OUT FALSE cia402pv.Spindle.drv-fault
4 s32 OUT 0 cia402pv.Spindle.drv-quickstop-deceleration
4 s32 OUT 0 cia402pv.Spindle.drv-target-position
4 s32 OUT 0 cia402pv.Spindle.drv-target-velocity
4 bit IN FALSE cia402pv.Spindle.enable
4 bit IN FALSE cia402pv.Spindle.fault-reset
4 bit I/O FALSE cia402pv.Spindle.home
4 s32 OUT 0 cia402pv.Spindle.opmode
4 bit OUT FALSE cia402pv.Spindle.opmode-cyclic-position
4 bit OUT FALSE cia402pv.Spindle.opmode-cyclic-velocity
4 s32 IN 0 cia402pv.Spindle.opmode-display
4 bit OUT FALSE cia402pv.Spindle.opmode-homing
4 bit OUT FALSE cia402pv.Spindle.opmode-no-mode
4 bit OUT FALSE cia402pv.Spindle.opmode-profile-velocity
4 float IN 0 cia402pv.Spindle.pos-cmd
4 float OUT 0 cia402pv.Spindle.pos-fb
4 float IN 0 cia402pv.Spindle.quickstop-acceleration
4 s32 OUT 0 cia402pv.Spindle.read-all.time
4 bit IN FALSE cia402pv.Spindle.run
4 bit OUT FALSE cia402pv.Spindle.stat-at-speed
4 bit OUT FALSE cia402pv.Spindle.stat-fault
4 bit OUT FALSE cia402pv.Spindle.stat-homed
4 bit OUT FALSE cia402pv.Spindle.stat-homing
4 bit OUT FALSE cia402pv.Spindle.stat-op-enabled
4 bit OUT FALSE cia402pv.Spindle.stat-quick-stop
4 bit OUT FALSE cia402pv.Spindle.stat-quick-stop-valid
4 bit OUT FALSE cia402pv.Spindle.stat-remote
4 bit OUT FALSE cia402pv.Spindle.stat-switched-on
4 bit OUT FALSE cia402pv.Spindle.stat-switchon-disabled
4 bit OUT FALSE cia402pv.Spindle.stat-switchon-ready
4 bit OUT FALSE cia402pv.Spindle.stat-target-reached
4 bit OUT FALSE cia402pv.Spindle.stat-voltage-enabled
4 bit OUT FALSE cia402pv.Spindle.stat-warning
4 bit OUT FALSE cia402pv.Spindle.stat-zero-speed
4 u32 IN 0x00000000 cia402pv.Spindle.statusword
4 float IN 0 cia402pv.Spindle.velocity-cmd
4 float OUT 0 cia402pv.Spindle.velocity-fb
4 s32 OUT 0 cia402pv.Spindle.write-all.time

Pin Aliases:
Alias Original Name

Signals:
Type Value Name (linked to)

Parameters:
Owner Type Dir Value Name
4 bit RW TRUE cia402pv.Spindle.auto-fault-reset
4 bit RW TRUE cia402pv.Spindle.csp-mode
4 float RW 1 cia402pv.Spindle.pos-scale
4 bit RW FALSE cia402pv.Spindle.pv-mode
4 s32 RW 0 cia402pv.Spindle.read-all.tmax
4 bit RO FALSE cia402pv.Spindle.read-all.tmax-increased
4 float RW 1 cia402pv.Spindle.velo-scale
4 s32 RW 0 cia402pv.Spindle.write-all.tmax
4 bit RO FALSE cia402pv.Spindle.write-all.tmax-increased

Parameter Aliases:
Alias Original Name

Exported Functions:
Owner CodeAddr Arg FP Users Name
00004 7fff005c2a20 7fff005f0120 YES 0 cia402pv.Spindle.read-all
00004 7fff005c1e04 7fff005f0120 YES 0 cia402pv.Spindle.write-all

Realtime Threads:
Period FP Name ( Time, Max-Time )

halcmd: Note: Using POSIX realtime
cnc@raspberrypi:~$

The easiest way is to use pncconfs  "Discovery" option

You need to select "Show Advanced Option Pages"
on the first pncconf page for the discovery option
to be available.

added. no error but also no apparent change?
What is expected to happen here?

thanks!

If you are using the DIR+ and STEP+ do not connect the DIR- nor the STEP- to ground. When using the - signals do not connect the + to 5v.
When I installed my VFD the wiring diagram included an AC line reactor, which I duly installed.
Generally the shielding is only connected at one end, this is to prevent ground loops.

Personally I wouldn't supply any voltage than 3.3v to the input of an RPi. If 5v signal was required I would either using a 74lvc245 or an opto isolator, with the opto isolator being the preferred choice, and despite what some schematics suggest do not connect the grounds and do use seperate power sources for each side of the opto, otherwise you are not getting any isolation.
Any grounds should be connected to a single point, aka star, once again to prevent ground loops.
Make sure to use quality power supplies, Meanwell from a reliable supplier, are a good choice.
Simple things such as using bootlace ferrules is good practice instead of bare wires into screw terminals. When using crimp connectors do not solder the joint, the solder will which up the wire and any movement will cause the wire to break. A proper crimp will cold weld the wire and crimp connector. This is the same thing that happens when wire wrapping, ask NASA about the effectiveness of a quality wire wrapped connection .

It's like cia402pv isn't loaded.
Try a new thing. The halrun utility, load the cia402pv component manually.This hopefully should work and produce a long list of pins and functions.