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Hi, I'm trying to put together some Beckhoff IO module with ethercat.
I followed the examples and instructions i found on this forum but I can't get my EK1100 to go into OP mode.
I know my ethercat setup is good because I managed to get a servo drive working through ethercat.
Here's some outputs:

And my config:

ethercat-test.hal
ethercat-conf.xml
When I run
halrun -I -kf ethercat-test.hal
and then open halshow I can see all the pins but the devices stay in PREOP mode. I can write to the output pins but nothing changes on the drive. The RUN led blinks on the EK1100 confirming that it's in PREOP mode.

This is dmesg output:
Am I doing something wrong?

It appears G10 L2 and G10 L20 assume machine is actually Homed physically, and no amount of data entry can change that.

I don't understand what you are doing. Without homing the machine first there is really no point in setting offsets.

Hello everyone,

I have a strange problem with LinuxCNC on a machine that has been configured for a long time and was working perfectly.

Until a few days ago, everything was working fine. Then I modified my Python Touchy GUI file (adding dynamic multi-language translation using `set_label` on some buttons), and from that moment the problem appeared:

> "joint 0 following error" immediately after clicking "Start".

The problem still remains even if I completely delete all the translation modifications (`LABELS` and `on_combo_language_changed`);


Code I had added:

LABELS = {
    "en": {
        "title": "Industry 4.0 Monitoring",
        "total_time": "Total machine work time:",
        "current_job": "Current job time:",
        "next_greaser": "Next greaser in:",
        "time_monitoring": "<b>Time Monitoring</b>",
        "email_section": "<b>Email Notification Management</b>",
        "history_section": "<b>Job History</b>",
        "email": "Email:",
        "add": "Add",
        "remove": "Remove",
        "close_door": "Close Door",
        "open_door": "Open Door",
        "machine_on": "Machine On",
        "machine_off": "Machine Off",
        "home_all": "Home All",
        "pause": "Pause",
        "start": "Start",
        "feed_fast": "Fast",
        "feed_slow": "Slow",
        "feed_override": "Feed Override"
    },
    "it": {
        "title": "Monitoraggio Industria 4.0",
        "total_time": "Tempo totale macchina:",
        "current_job": "Tempo job corrente:",
        "next_greaser": "Prossima lubrificazione in:",
        "time_monitoring": "<b>Monitoraggio Tempo</b>",
        "email_section": "<b>Gestione Notifiche Email</b>",
        "history_section": "<b>Storico Lavorazioni</b>",
        "email": "Email:",
        "add": "Aggiungi",
        "remove": "Rimuovi",
        "close_door": "Chiudi Porta",
        "open_door": "Apri Porta",
        "machine_on": "Macchina On",
        "machine_off": "Macchina Off",
        "home_all": "Home Tutti",
        "pause": "Pausa",
        "start": "Avvio",
        "feed_fast": "Veloce",
        "feed_slow": "Lento",
        "feed_override": "Regolazione Avanzamento"
    }
}

def on_combo_language_changed(self, combo):
    lang = combo.get_active_id() or "en"
    texts = LABELS.get(lang, LABELS["en"])

    # Main Industry 4.0 labels
    self.builder.get_object("title_industria40").set_markup(f"<span size='xx-large' weight='bold'>{texts}</span>")
    self.builder.get_object("label_tempo_totale").set_text(texts["total_time"])
    self.builder.get_object("label_tempo_job_corrente").set_text(texts["current_job"])
    self.builder.get_object("label_tempo_prossimo_greaser").set_text(texts["next_greaser"])
    self.builder.get_object("frame_label_tempo").set_markup(texts["time_monitoring"])
    self.builder.get_object("frame_label_email").set_markup(texts["email_section"])
    self.builder.get_object("frame_label_lavorazioni").set_markup(texts["history_section"])
    self.builder.get_object("label_email").set_text(texts["email"])
    self.builder.get_object("button_add_email").set_label(texts["add"])
    self.builder.get_object("button_remove_email").set_label(texts["remove"])

    # Startup tab buttons
    self.builder.get_object("estop_reset").set_label(texts["close_door"])
    self.builder.get_object("estop").set_label(texts["open_door"])
    self.builder.get_object("machine_on").set_label(texts["machine_on"])
    self.builder.get_object("machine_off").set_label(texts["machine_off"])
    self.builder.get_object("home_all").set_label(texts["home_all"])
    self.builder.get_object("cycle_pausee").set_label(texts["pause"])
    self.builder.get_object("cycle_startt").set_label(texts["start"])
    self.builder.get_object("feed_override_plus").set_label(texts["feed_fast"])
    self.builder.get_object("feed_override_minus").set_label(texts["feed_slow"])

    # Feed Override label, keeping the percentage value
    current_text = self.builder.get_object("feed_override_label").get_text()
    percentage_part = current_text.split(":")[1] if ":" in current_text else " 100%"
    self.builder.get_object("feed_override_label").set_text(f"{texts}: {percentage_part}")

 

@cakeslob , I had a look at your hal file again and copied your spindle stuff exactly just changed for my pins etc and it's still the same. So I think that rules out a hal file problem. I don't think it's the vfd because I can change the speed manually by pressing the + and - manually in the  Axis GUI and it responses quick with no dips when changing speeds.