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cmorley
cmorley

30 Jun 2025 03:16 - 30 Jun 2025 03:16

Replied by cmorley on topic [qt_dragon_hd] auto tool probe and gcode display issue

[qt_dragon_hd] auto tool probe and gcode display issue

Category: Qtvcp

yes select from the configuration pop up window:
sim/qtdragon/qtdragon_tool_probe/qtdragon_auto_tool_probe

A simulated configuration will run with a small window with a label and a button.
You turn on and home the machine like normal - all movements are simulated.
Run a program that has a tool change and use the button to simulate the probe.
The label will say 'probe' when you need to press the button, (in fact twice)
Then we can see if the remap subroutine is stuck showing.

PCW

30 Jun 2025 02:52

Replied by PCW on topic Servo Driver Plasma Retrofit

Servo Driver Plasma Retrofit

Category: Plasmac

Yes, the THCAD2 replaces both the THCAD5 and THCAD10

And yes, you can use the 2 spare encoders for THCADs.

(if you needed more encoders, firmware that puts 2 or 3
'A' only encoders on one 7I97T 8 pin encoder connector
is possible)

kn612
kn612

30 Jun 2025 02:31

Replied by kn612 on topic Servo Driver Plasma Retrofit

Servo Driver Plasma Retrofit

Category: Plasmac

Thank you

I will refer to hypertherms controller manual on the drive enables.

It looks like the thcad2 has replaced the thcad5 and thcad10? Its been a few years since I've messed with this stuff. My 7i96s table just works with zero maintenance.

Since there are 6 encoder interfaces on a 7i97t can I use the 2 left over for thc and ohmic?

PedPEx
PedPEx

29 Jun 2025 22:21 - 30 Jun 2025 09:32

Replied by PedPEx on topic Problems switching PDO assignments (EP5101-0011)

Problems switching PDO assignments (EP5101-0011)

Category: EtherCAT

Hello endian

I'm sorry for answering a little bit late, i was busy studying for my upcoming exams. I hope you are doing well and everything is good after the storm you mentioned?

I tried the config from the 23rd and had syntax issues with the InitCMD section. As far as i can tell, you removed it in the version you updated on the 25th. Without the InitCMDs, the encoder inputs indeed change over to their 32bit counter PDO, unfortunately they get stuck in a PREOP error state.
While starting the machine, it also threw error about the "<pdoEntry idx="0" bitLen="4" halPin="Control--194" halType="s32">" part, i just removed that part, because it's not used (gap), according to Beckhoffs docs.

Do you know a solution to the "Slave does not support changing the PDO mapping!" problem, when the slave supports it for sure?
And thank you for your help so far

dmesg output (grep EtherCAT) before starting the machine config

[code][    4.847665] EtherCAT: Master driver 1.6.0 1.6.0.gcafd367-1+1.1
[    4.848045] EtherCAT: 1 master waiting for devices.
[    4.865248] ec_generic: EtherCAT master generic Ethernet device module 1.6.0 1.6.0.gcafd367-1+1.1
[    4.865257] EtherCAT: Accepting B4:96:91:95:02:70 as main device for master 0.
[    4.896651] EtherCAT 0: Starting EtherCAT-IDLE thread.
[    7.436557] EtherCAT 0: Link state of ecm0 changed to UP.
[    7.445248] EtherCAT 0: 3 slave(s) responding on main device.
[    7.445250] EtherCAT 0: Slave states on main device: PREOP.
[    7.445535] EtherCAT 0: Scanning bus.
[    8.826355] EtherCAT 0: Bus scanning completed in 1380 ms.
[    8.826357] EtherCAT 0: Using slave 0 as DC reference clock.
[   11.980063] EtherCAT WARNING 0-0: SDO information error response while fetching SDO entry 0x1802:07!
[   11.980066] EtherCAT ERROR 0-0: SDO abort message 0x06090011: "Subindex does not exist".
[   11.983003] EtherCAT WARNING 0-0: SDO information error response while fetching SDO entry 0x1802:09!
[   11.983004] EtherCAT ERROR 0-0: SDO abort message 0x06090011: "Subindex does not exist".
[   11.997457] EtherCAT WARNING 0-0: SDO information error response while fetching SDO entry 0x1803:07!
[   11.997458] EtherCAT ERROR 0-0: SDO abort message 0x06090011: "Subindex does not exist".
[   12.000886] EtherCAT WARNING 0-0: SDO information error response while fetching SDO entry 0x1803:09!
[   12.000887] EtherCAT ERROR 0-0: SDO abort message 0x06090011: "Subindex does not exist".
[   12.015341] EtherCAT WARNING 0-0: SDO information error response while fetching SDO entry 0x1804:07!
[   12.015342] EtherCAT ERROR 0-0: SDO abort message 0x06090011: "Subindex does not exist".
[   12.018526] EtherCAT WARNING 0-0: SDO information error response while fetching SDO entry 0x1804:09!
[   12.018527] EtherCAT ERROR 0-0: SDO abort message 0x06090011: "Subindex does not exist".
[   12.033225] EtherCAT WARNING 0-0: SDO information error response while fetching SDO entry 0x1805:07!
[   12.033226] EtherCAT ERROR 0-0: SDO abort message 0x06090011: "Subindex does not exist".
[   12.036410] EtherCAT WARNING 0-0: SDO information error response while fetching SDO entry 0x1805:09!
[   12.036411] EtherCAT ERROR 0-0: SDO abort message 0x06090011: "Subindex does not exist".
[   12.599207] EtherCAT WARNING 0-1: SDO information error response while fetching SDO entry 0x1802:07!
[   12.599209] EtherCAT ERROR 0-1: SDO abort message 0x06090011: "Subindex does not exist".
[   12.602392] EtherCAT WARNING 0-1: SDO information error response while fetching SDO entry 0x1802:09!
[   12.602393] EtherCAT ERROR 0-1: SDO abort message 0x06090011: "Subindex does not exist".
[   12.617336] EtherCAT WARNING 0-1: SDO information error response while fetching SDO entry 0x1803:07!
[   12.617338] EtherCAT ERROR 0-1: SDO abort message 0x06090011: "Subindex does not exist".
[   12.620521] EtherCAT WARNING 0-1: SDO information error response while fetching SDO entry 0x1803:09!
[   12.620523] EtherCAT ERROR 0-1: SDO abort message 0x06090011: "Subindex does not exist".
[   12.634488] EtherCAT WARNING 0-1: SDO information error response while fetching SDO entry 0x1804:07!
[   12.634489] EtherCAT ERROR 0-1: SDO abort message 0x06090011: "Subindex does not exist".
[   12.637701] EtherCAT WARNING 0-1: SDO information error response while fetching SDO entry 0x1804:09!
[   12.637702] EtherCAT ERROR 0-1: SDO abort message 0x06090011: "Subindex does not exist".
[   12.652639] EtherCAT WARNING 0-1: SDO information error response while fetching SDO entry 0x1805:07!
[   12.652640] EtherCAT ERROR 0-1: SDO abort message 0x06090011: "Subindex does not exist".
[   12.655578] EtherCAT WARNING 0-1: SDO information error response while fetching SDO entry 0x1805:09!
[   12.655579] EtherCAT ERROR 0-1: SDO abort message 0x06090011: "Subindex does not exist".
[   13.214605] EtherCAT WARNING 0-2: SDO information error response while fetching SDO entry 0x1802:07!
[   13.214608] EtherCAT ERROR 0-2: SDO abort message 0x06090011: "Subindex does not exist".
[   13.217545] EtherCAT WARNING 0-2: SDO information error response while fetching SDO entry 0x1802:09!
[   13.217546] EtherCAT ERROR 0-2: SDO abort message 0x06090011: "Subindex does not exist".
[   13.231999] EtherCAT WARNING 0-2: SDO information error response while fetching SDO entry 0x1803:07!
[   13.232000] EtherCAT ERROR 0-2: SDO abort message 0x06090011: "Subindex does not exist".
[   13.235428] EtherCAT WARNING 0-2: SDO information error response while fetching SDO entry 0x1803:09!
[   13.235429] EtherCAT ERROR 0-2: SDO abort message 0x06090011: "Subindex does not exist".
[   13.249395] EtherCAT WARNING 0-2: SDO information error response while fetching SDO entry 0x1804:07!
[   13.249396] EtherCAT ERROR 0-2: SDO abort message 0x06090011: "Subindex does not exist".
[   13.252582] EtherCAT WARNING 0-2: SDO information error response while fetching SDO entry 0x1804:09!
[   13.252583] EtherCAT ERROR 0-2: SDO abort message 0x06090011: "Subindex does not exist".
[   13.267522] EtherCAT WARNING 0-2: SDO information error response while fetching SDO entry 0x1805:07!
[   13.267523] EtherCAT ERROR 0-2: SDO abort message 0x06090011: "Subindex does not exist".
[   13.270952] EtherCAT WARNING 0-2: SDO information error response while fetching SDO entry 0x1805:09!
[   13.270953] EtherCAT ERROR 0-2: SDO abort message 0x06090011: "Subindex does not exist".
[   22.277621] EtherCAT 0: Link state of ecm0 changed to DOWN.
[   22.285341] EtherCAT ERROR 0-1: Failed to receive AL state datagram: Datagram error.
[   22.293693] EtherCAT 0: 0 slave(s) responding on main device.
[   29.050914] EtherCAT 0: Link state of ecm0 changed to UP.
[   29.058887] EtherCAT 0: 3 slave(s) responding on main device.
[   29.058892] EtherCAT 0: Slave states on main device: INIT.
[   29.059186] EtherCAT 0: Scanning bus.
[   30.450244] EtherCAT 0: Bus scanning completed in 1388 ms.
[   30.450247] EtherCAT 0: Using slave 0 as DC reference clock.
[   30.455189] EtherCAT 0: Slave states on main device: PREOP.
[   33.606315] EtherCAT WARNING 0-0: SDO information error response while fetching SDO entry 0x1802:07!
[   33.606319] EtherCAT ERROR 0-0: SDO abort message 0x06090011: "Subindex does not exist".
[   33.609254] EtherCAT WARNING 0-0: SDO information error response while fetching SDO entry 0x1802:09!
[   33.609256] EtherCAT ERROR 0-0: SDO abort message 0x06090011: "Subindex does not exist".
[   33.623685] EtherCAT WARNING 0-0: SDO information error response while fetching SDO entry 0x1803:07!
[   33.623686] EtherCAT ERROR 0-0: SDO abort message 0x06090011: "Subindex does not exist".
[   33.626894] EtherCAT WARNING 0-0: SDO information error response while fetching SDO entry 0x1803:09!
[   33.626895] EtherCAT ERROR 0-0: SDO abort message 0x06090011: "Subindex does not exist".
[   33.641844] EtherCAT WARNING 0-0: SDO information error response while fetching SDO entry 0x1804:07!
[   33.641845] EtherCAT ERROR 0-0: SDO abort message 0x06090011: "Subindex does not exist".
[   33.645513] EtherCAT WARNING 0-0: SDO information error response while fetching SDO entry 0x1804:09!
[   33.645514] EtherCAT ERROR 0-0: SDO abort message 0x06090011: "Subindex does not exist".
[   33.659944] EtherCAT WARNING 0-0: SDO information error response while fetching SDO entry 0x1805:07!
[   33.659945] EtherCAT ERROR 0-0: SDO abort message 0x06090011: "Subindex does not exist".
[   33.662908] EtherCAT WARNING 0-0: SDO information error response while fetching SDO entry 0x1805:09!
[   33.662909] EtherCAT ERROR 0-0: SDO abort message 0x06090011: "Subindex does not exist".
[   34.220767] EtherCAT WARNING 0-1: SDO information error response while fetching SDO entry 0x1802:07!
[   34.220770] EtherCAT ERROR 0-1: SDO abort message 0x06090011: "Subindex does not exist".
[   34.223707] EtherCAT WARNING 0-1: SDO information error response while fetching SDO entry 0x1802:09!
[   34.223709] EtherCAT ERROR 0-1: SDO abort message 0x06090011: "Subindex does not exist".
[   34.238408] EtherCAT WARNING 0-1: SDO information error response while fetching SDO entry 0x1803:07!
[   34.238410] EtherCAT ERROR 0-1: SDO abort message 0x06090011: "Subindex does not exist".
[   34.241346] EtherCAT WARNING 0-1: SDO information error response while fetching SDO entry 0x1803:09!
[   34.241347] EtherCAT ERROR 0-1: SDO abort message 0x06090011: "Subindex does not exist".
[   34.256045] EtherCAT WARNING 0-1: SDO information error response while fetching SDO entry 0x1804:07!
[   34.256047] EtherCAT ERROR 0-1: SDO abort message 0x06090011: "Subindex does not exist".
[   34.258985] EtherCAT WARNING 0-1: SDO information error response while fetching SDO entry 0x1804:09!
[   34.258986] EtherCAT ERROR 0-1: SDO abort message 0x06090011: "Subindex does not exist".
[   34.273194] EtherCAT WARNING 0-1: SDO information error response while fetching SDO entry 0x1805:07!
[   34.273196] EtherCAT ERROR 0-1: SDO abort message 0x06090011: "Subindex does not exist".
[   34.276135] EtherCAT WARNING 0-1: SDO information error response while fetching SDO entry 0x1805:09!
[   34.276136] EtherCAT ERROR 0-1: SDO abort message 0x06090011: "Subindex does not exist".
[   34.838011] EtherCAT WARNING 0-2: SDO information error response while fetching SDO entry 0x1802:07!
[   34.838014] EtherCAT ERROR 0-2: SDO abort message 0x06090011: "Subindex does not exist".
[   34.841463] EtherCAT WARNING 0-2: SDO information error response while fetching SDO entry 0x1802:09!
[   34.841465] EtherCAT ERROR 0-2: SDO abort message 0x06090011: "Subindex does not exist".
[   34.855647] EtherCAT WARNING 0-2: SDO information error response while fetching SDO entry 0x1803:07!
[   34.855648] EtherCAT ERROR 0-2: SDO abort message 0x06090011: "Subindex does not exist".
[   34.858587] EtherCAT WARNING 0-2: SDO information error response while fetching SDO entry 0x1803:09!
[   34.858588] EtherCAT ERROR 0-2: SDO abort message 0x06090011: "Subindex does not exist".
[   34.873043] EtherCAT WARNING 0-2: SDO information error response while fetching SDO entry 0x1804:07!
[   34.873045] EtherCAT ERROR 0-2: SDO abort message 0x06090011: "Subindex does not exist".
[   34.876006] EtherCAT WARNING 0-2: SDO information error response while fetching SDO entry 0x1804:09!
[   34.876007] EtherCAT ERROR 0-2: SDO abort message 0x06090011: "Subindex does not exist".
[   34.890459] EtherCAT WARNING 0-2: SDO information error response while fetching SDO entry 0x1805:07!
[   34.890461] EtherCAT ERROR 0-2: SDO abort message 0x06090011: "Subindex does not exist".
[   34.893645] EtherCAT WARNING 0-2: SDO information error response while fetching SDO entry 0x1805:09!
[   34.893646] EtherCAT ERROR 0-2: SDO abort message 0x06090011: "Subindex does not exist".

[/code]

[code]dmesg output (grep EtherCAT) that was added after starting the machine config
[code][  190.676872] EtherCAT: Requesting master 0...
[  190.676875] EtherCAT: Successfully requested master 0.
[  190.677525] EtherCAT 0: Domain0: Logical address 0x00000000, 45 byte, expected working counter 9.
[  190.677527] EtherCAT 0:   Datagram domain0-0-main: Logical offset 0x00000000, 45 byte, type LRW.
[  190.677538] EtherCAT 0: Master thread exited.
[  190.677539] EtherCAT 0: Starting EtherCAT-OP thread.
[  190.677584] EtherCAT WARNING 0: 2 datagrams TIMED OUT!
[  190.677586] EtherCAT WARNING 0: 2 datagrams UNMATCHED!
[  190.798114] EtherCAT WARNING 0-0: Slave does not support changing the PDO mapping!
[  190.798116] EtherCAT WARNING 0-0: Currently mapped PDO entries: 0x7000:01/1 0x7000:02/1 0x7000:03/1 0x7000:04/1 0x0000:00/4 0x0000:00/8 0x7000:11/32. Entries to map: 0x7000:01/1 0x7000:02/1 0x7000:03/1 0x7000:04/1 0x7000:11/32
[  190.876116] EtherCAT WARNING 0-0: Slave does not support changing the PDO mapping!
[  190.876119] EtherCAT WARNING 0-0: Currently mapped PDO entries: 0x6000:01/1 0x6000:02/1 0x6000:03/1 0x6000:04/1 0x6000:05/1 0x6000:06/1 0x6000:07/1 0x6000:08/1 0x6000:09/1 0x6000:0A/1 0x6000:0B/1 0x6000:0C/1 0x6000:0D/1 0x1C32:20/1 0x1801:07/1 0x1801:09/1 0x6000:11/32 0x6000:12/32. Entries to map: 0x6000:01/1 0x6000:02/1 0x6000:03/1 0x6000:04/1 0x6000:05/1 0x6000:06/1 0x6000:07/1 0x6000:08/1 0x6000:09/1 0x6000:10/1 0x6000:11/1 0x6000:12/1 0x6000:13/1 0x1C32:32/1 0x1801:07/1 0x1801:09/1 0x6000:17/32 0x6000:18/32
[  195.888053] EtherCAT WARNING 0-0: Slave did not sync after 5000 ms.
[  195.892053] EtherCAT ERROR 0-0: Failed to set SAFEOP state, slave refused state change (PREOP + ERROR).
[  195.893053] EtherCAT ERROR 0-0: AL status message 0x001D: "Invalid output configuration".
[  195.895052] EtherCAT 0-0: Acknowledged state PREOP.
[  195.942054] EtherCAT WARNING 0-1: Slave does not support changing the PDO mapping!
[  195.942057] EtherCAT WARNING 0-1: Currently mapped PDO entries: 0x7000:01/1 0x7000:02/1 0x7000:03/1 0x7000:04/1 0x0000:00/4 0x0000:00/8 0x7000:11/32. Entries to map: 0x7000:01/1 0x7000:02/1 0x7000:03/1 0x7000:04/1 0x7000:11/32
[  196.011052] EtherCAT WARNING 0-1: Slave does not support changing the PDO mapping!
[  196.011054] EtherCAT WARNING 0-1: Currently mapped PDO entries: 0x6000:01/1 0x6000:02/1 0x6000:03/1 0x6000:04/1 0x6000:05/1 0x6000:06/1 0x6000:07/1 0x6000:08/1 0x6000:09/1 0x6000:0A/1 0x6000:0B/1 0x6000:0C/1 0x6000:0D/1 0x1C32:20/1 0x1801:07/1 0x1801:09/1 0x6000:11/32 0x6000:12/32. Entries to map: 0x6000:01/1 0x6000:02/1 0x6000:03/1 0x6000:04/1 0x6000:05/1 0x6000:06/1 0x6000:07/1 0x6000:08/1 0x6000:09/1 0x6000:10/1 0x6000:11/1 0x6000:12/1 0x6000:13/1 0x1C32:32/1 0x1801:07/1 0x1801:09/1 0x6000:17/32 0x6000:18/32
[  196.030052] EtherCAT ERROR 0-1: Failed to set SAFEOP state, slave refused state change (PREOP + ERROR).
[  196.031052] EtherCAT ERROR 0-1: AL status message 0x001D: "Invalid output configuration".
[  196.033050] EtherCAT 0-1: Acknowledged state PREOP.
[  196.080051] EtherCAT WARNING 0-2: Slave does not support changing the PDO mapping!
[  196.080053] EtherCAT WARNING 0-2: Currently mapped PDO entries: 0x7000:01/1 0x7000:02/1 0x7000:03/1 0x7000:04/1 0x0000:00/4 0x0000:00/8 0x7000:11/32. Entries to map: 0x7000:01/1 0x7000:02/1 0x7000:03/1 0x7000:04/1 0x7000:11/32
[  196.148050] EtherCAT WARNING 0-2: Slave does not support changing the PDO mapping!
[  196.148052] EtherCAT WARNING 0-2: Currently mapped PDO entries: 0x6000:01/1 0x6000:02/1 0x6000:03/1 0x6000:04/1 0x6000:05/1 0x6000:06/1 0x6000:07/1 0x6000:08/1 0x6000:09/1 0x6000:0A/1 0x6000:0B/1 0x6000:0C/1 0x6000:0D/1 0x1C32:20/1 0x1801:07/1 0x1801:09/1 0x6000:11/32 0x6000:12/32. Entries to map: 0x6000:01/1 0x6000:02/1 0x6000:03/1 0x6000:04/1 0x6000:05/1 0x6000:06/1 0x6000:07/1 0x6000:08/1 0x6000:09/1 0x6000:10/1 0x6000:11/1 0x6000:12/1 0x6000:13/1 0x1C32:32/1 0x1801:07/1 0x1801:09/1 0x6000:17/32 0x6000:18/32
[  198.251024] EtherCAT ERROR 0-2: Failed to set SAFEOP state, slave refused state change (PREOP + ERROR).
[  198.252024] EtherCAT ERROR 0-2: AL status message 0x001D: "Invalid output configuration".
[  198.254024] EtherCAT 0-2: Acknowledged state PREOP.

[/code]
[/code]

[code][code]ethercat-conf machine config
[code]<masters>
    <master idx="0" appTimePeriod="1000000" refClockSyncCycles="1000" name="m0">
    <!-- EP5101 - Incr. Encoder Input -->
        <slave idx="0" type="generic" vid="0x00000002" pid="0x13ED4052" name="EP5101-0" configPdos="true">
            <!-- IMPORTANT: sometime (sync1Cycle = n * sync0Cycle) sync1Cycle must be appTimePeriod - sync0Cycle) -->
            <!-- Check your DC config...generated is from impoted .xml but assignActivate is hard coded ... it should be different -->
            <dcConf assignActivate="1000" sync0Cycle="1000000" sync0Shift="0" sync1Cycle="0" sync1Shift="0"/>
            <sdoConfig idx="1C12" subIdx="complete">
                <sdoDataRaw data="01000116"/>
            </sdoConfig>
            <sdoConfig idx="1C13" subIdx="complete">
                <sdoDataRaw data="0100011A"/>
            </sdoConfig>
            <syncManager idx="0" dir="out"/>
            <syncManager idx="1" dir="in"/>
            <syncManager idx="2" dir="out">
            <pdo idx="1601">
                    <!-- Enable latch C -->
                    <pdoEntry idx="7000" subIdx="01" bitLen="1" halPin="enable-latch-C" halType="bit"/>
                    <!-- Enable latch extern on positive edge -->
                    <pdoEntry idx="7000" subIdx="02" bitLen="1" halPin="ena-latch-ext-on-pos_edge" halType="bit"/>
                    <!-- Set counter -->
                    <pdoEntry idx="7000" subIdx="03" bitLen="1" halPin="set-counter" halType="bit"/>
                    <!-- Enable latch extern on negative edge -->
                    <pdoEntry idx="7000" subIdx="04" bitLen="1" halPin="ena-latch-ext-on-neg_edge" halType="bit"/>
                    <!-- Set counter value -->
                    <pdoEntry idx="7000" subIdx="11" bitLen="32" halPin="set-counter_value" halType="u32"/>
            </pdo>
            </syncManager>
            <syncManager idx="3" dir="in">
                <pdo idx="1A01">
                <pdoEntry idx="6000" subIdx="01" bitLen="1" halPin="Status-Latch-C-197" halType="bit">
                </pdoEntry>
                <pdoEntry idx="6000" subIdx="02" bitLen="1" halPin="Status-Latch-e-198" halType="bit">
                </pdoEntry>
                <pdoEntry idx="6000" subIdx="03" bitLen="1" halPin="Status-Set-cou-199" halType="bit">
                <!-- ENC STATUS-Status- -Set-cou-199 -->
                </pdoEntry>
                <pdoEntry idx="6000" subIdx="04" bitLen="1" halPin="Status-Counter-200" halType="bit">
                <!-- ENC STATUS-Status- -Counter-200 -->
                </pdoEntry>
                <pdoEntry idx="6000" subIdx="05" bitLen="1" halPin="Status-Counter-201" halType="bit">
                <!-- ENC STATUS-Status- -Counter-201 -->
                </pdoEntry>
                <pdoEntry idx="6000" subIdx="06" bitLen="1" halPin="Status-Status-202" halType="bit">
                <!-- ENC STATUS-Status- -Status- -202 -->
                </pdoEntry>
                <pdoEntry idx="6000" subIdx="07" bitLen="1" halPin="Status-Open-ci-203" halType="bit">
                <!-- ENC STATUS-Status- -Open-ci-203 -->
                </pdoEntry>
                <pdoEntry idx="6000" subIdx="08" bitLen="1" halPin="Status-Extrapo-204" halType="bit">
                <!-- ENC STATUS-Status- -Extrapo-204 -->
                </pdoEntry>
                <pdoEntry idx="6000" subIdx="09" bitLen="1" halPin="Status-Status-205" halType="bit">
                <!-- ENC STATUS-Status- -Status- -205 -->
                </pdoEntry>
                <pdoEntry idx="6000" subIdx="10" bitLen="1" halPin="Status-Status-206" halType="bit">
                <!-- ENC STATUS-Status- -Status- -206 -->
                </pdoEntry>
                <pdoEntry idx="6000" subIdx="11" bitLen="1" halPin="Status-Status-207" halType="bit">
                <!-- ENC STATUS-Status- -Status- -207 -->
                </pdoEntry>
                <pdoEntry idx="6000" subIdx="12" bitLen="1" halPin="Status-Status-208" halType="bit">
                <!-- ENC STATUS-Status- -Status- -208 -->
                </pdoEntry>
                <pdoEntry idx="6000" subIdx="13" bitLen="1" halPin="Status-Status-209" halType="bit">
                <!-- ENC STATUS-Status- -Status- -209 -->
                </pdoEntry>
                <pdoEntry idx="1C32" subIdx="32" bitLen="1" halPin="Status-Sync-er-210" halType="bit">
                <!-- ENC STATUS-Status- -Sync-er-210 -->
                </pdoEntry>
                <pdoEntry idx="1801" subIdx="07" bitLen="1" halPin="Status-TxPDO-S-211" halType="bit">
                <!-- ENC STATUS-Status- -TxPDO-S-211 -->
                </pdoEntry>
                <pdoEntry idx="1801" subIdx="09" bitLen="1" halPin="Status-TxPDO-T-212" halType="bit">
                <!-- ENC STATUS-Status- -TxPDO-T-212 -->
                </pdoEntry>
                <pdoEntry idx="6000" subIdx="17" bitLen="32" halPin="Counter-value-213" halType="s32">
                <!-- ENC STATUS-Counter-value-213 -->
                </pdoEntry>
                <pdoEntry idx="6000" subIdx="18" bitLen="32" halPin="Latch-value-214" halType="s32">
                <!-- ENC STATUS-Latch-value-214 -->
                </pdoEntry>
            </pdo>
            </syncManager>
        </slave>
        <slave idx="1" type="generic" vid="0x00000002" pid="0x13ED4052" name="EP5101-1" configPdos="true">
            <!-- IMPORTANT: sometime (sync1Cycle = n * sync0Cycle) sync1Cycle must be appTimePeriod - sync0Cycle) -->
            <!-- Check your DC config...generated is from impoted .xml but assignActivate is hard coded ... it should be different -->
            <dcConf assignActivate="1000" sync0Cycle="1000000" sync0Shift="0" sync1Cycle="0" sync1Shift="0"/>
            <sdoConfig idx="1C12" subIdx="complete">
                <sdoDataRaw data="01000116"/>
            </sdoConfig>
                <sdoConfig idx="1C13" subIdx="complete">
            <sdoDataRaw data="0100011A"/>
            </sdoConfig>
            <syncManager idx="0" dir="out"/>
            <syncManager idx="1" dir="in"/>
            <syncManager idx="2" dir="out">
            <pdo idx="1601">
                    <!-- Enable latch C -->
                    <pdoEntry idx="7000" subIdx="01" bitLen="1" halPin="enable-latch-C" halType="bit"/>
                    <!-- Enable latch extern on positive edge -->
                    <pdoEntry idx="7000" subIdx="02" bitLen="1" halPin="ena-latch-ext-on-pos_edge" halType="bit"/>
                    <!-- Set counter -->
                    <pdoEntry idx="7000" subIdx="03" bitLen="1" halPin="set-counter" halType="bit"/>
                    <!-- Enable latch extern on negative edge -->
                    <pdoEntry idx="7000" subIdx="04" bitLen="1" halPin="ena-latch-ext-on-neg_edge" halType="bit"/>
                    <!-- Set counter value -->
                    <pdoEntry idx="7000" subIdx="11" bitLen="32" halPin="set-counter_value" halType="u32"/>
            </pdo>
            </syncManager>
            <syncManager idx="3" dir="in">
                <pdo idx="1A01">
                <pdoEntry idx="6000" subIdx="01" bitLen="1" halPin="Status-Latch-C-197" halType="bit">
                </pdoEntry>
                <pdoEntry idx="6000" subIdx="02" bitLen="1" halPin="Status-Latch-e-198" halType="bit">
                </pdoEntry>
                <pdoEntry idx="6000" subIdx="03" bitLen="1" halPin="Status-Set-cou-199" halType="bit">
                <!-- ENC STATUS-Status- -Set-cou-199 -->
                </pdoEntry>
                <pdoEntry idx="6000" subIdx="04" bitLen="1" halPin="Status-Counter-200" halType="bit">
                <!-- ENC STATUS-Status- -Counter-200 -->
                </pdoEntry>
                <pdoEntry idx="6000" subIdx="05" bitLen="1" halPin="Status-Counter-201" halType="bit">
                <!-- ENC STATUS-Status- -Counter-201 -->
                </pdoEntry>
                <pdoEntry idx="6000" subIdx="06" bitLen="1" halPin="Status-Status-202" halType="bit">
                <!-- ENC STATUS-Status- -Status- -202 -->
                </pdoEntry>
                <pdoEntry idx="6000" subIdx="07" bitLen="1" halPin="Status-Open-ci-203" halType="bit">
                <!-- ENC STATUS-Status- -Open-ci-203 -->
                </pdoEntry>
                <pdoEntry idx="6000" subIdx="08" bitLen="1" halPin="Status-Extrapo-204" halType="bit">
                <!-- ENC STATUS-Status- -Extrapo-204 -->
                </pdoEntry>
                <pdoEntry idx="6000" subIdx="09" bitLen="1" halPin="Status-Status-205" halType="bit">
                <!-- ENC STATUS-Status- -Status- -205 -->
                </pdoEntry>
                <pdoEntry idx="6000" subIdx="10" bitLen="1" halPin="Status-Status-206" halType="bit">
                <!-- ENC STATUS-Status- -Status- -206 -->
                </pdoEntry>
                <pdoEntry idx="6000" subIdx="11" bitLen="1" halPin="Status-Status-207" halType="bit">
                <!-- ENC STATUS-Status- -Status- -207 -->
                </pdoEntry>
                <pdoEntry idx="6000" subIdx="12" bitLen="1" halPin="Status-Status-208" halType="bit">
                <!-- ENC STATUS-Status- -Status- -208 -->
                </pdoEntry>
                <pdoEntry idx="6000" subIdx="13" bitLen="1" halPin="Status-Status-209" halType="bit">
                <!-- ENC STATUS-Status- -Status- -209 -->
                </pdoEntry>
                <pdoEntry idx="1C32" subIdx="32" bitLen="1" halPin="Status-Sync-er-210" halType="bit">
                <!-- ENC STATUS-Status- -Sync-er-210 -->
                </pdoEntry>
                <pdoEntry idx="1801" subIdx="07" bitLen="1" halPin="Status-TxPDO-S-211" halType="bit">
                <!-- ENC STATUS-Status- -TxPDO-S-211 -->
                </pdoEntry>
                <pdoEntry idx="1801" subIdx="09" bitLen="1" halPin="Status-TxPDO-T-212" halType="bit">
                <!-- ENC STATUS-Status- -TxPDO-T-212 -->
                </pdoEntry>
                <pdoEntry idx="6000" subIdx="17" bitLen="32" halPin="Counter-value-213" halType="s32">
                <!-- ENC STATUS-Counter-value-213 -->
                </pdoEntry>
                <pdoEntry idx="6000" subIdx="18" bitLen="32" halPin="Latch-value-214" halType="s32">
                <!-- ENC STATUS-Latch-value-214 -->
                </pdoEntry>
            </pdo>
            </syncManager>
        </slave>
        <slave idx="2" type="generic" vid="0x00000002" pid="0x13ED4052" name="EP5101-2" configPdos="true">
            <!-- IMPORTANT: sometime (sync1Cycle = n * sync0Cycle) sync1Cycle must be appTimePeriod - sync0Cycle) -->
            <!-- Check your DC config...generated is from impoted .xml but assignActivate is hard coded ... it should be different -->
            <dcConf assignActivate="1000" sync0Cycle="1000000" sync0Shift="0" sync1Cycle="0" sync1Shift="0"/>
            <sdoConfig idx="1C12" subIdx="complete">
                <sdoDataRaw data="01000116"/>
            </sdoConfig>
                <sdoConfig idx="1C13" subIdx="complete">
            <sdoDataRaw data="0100011A"/>
            </sdoConfig>
            <syncManager idx="0" dir="out"/>
            <syncManager idx="1" dir="in"/>
            <syncManager idx="2" dir="out">
            <pdo idx="1601">
                    <!-- Enable latch C -->
                    <pdoEntry idx="7000" subIdx="01" bitLen="1" halPin="enable-latch-C" halType="bit"/>
                    <!-- Enable latch extern on positive edge -->
                    <pdoEntry idx="7000" subIdx="02" bitLen="1" halPin="ena-latch-ext-on-pos_edge" halType="bit"/>
                    <!-- Set counter -->
                    <pdoEntry idx="7000" subIdx="03" bitLen="1" halPin="set-counter" halType="bit"/>
                    <!-- Enable latch extern on negative edge -->
                    <pdoEntry idx="7000" subIdx="04" bitLen="1" halPin="ena-latch-ext-on-neg_edge" halType="bit"/>
                    <!-- Set counter value -->
                    <pdoEntry idx="7000" subIdx="11" bitLen="32" halPin="set-counter_value" halType="u32"/>
            </pdo>
            </syncManager>
            <syncManager idx="3" dir="in">
                <pdo idx="1A01">
                <pdoEntry idx="6000" subIdx="01" bitLen="1" halPin="Status-Latch-C-197" halType="bit">
                </pdoEntry>
                <pdoEntry idx="6000" subIdx="02" bitLen="1" halPin="Status-Latch-e-198" halType="bit">
                </pdoEntry>
                <pdoEntry idx="6000" subIdx="03" bitLen="1" halPin="Status-Set-cou-199" halType="bit">
                <!-- ENC STATUS-Status- -Set-cou-199 -->
                </pdoEntry>
                <pdoEntry idx="6000" subIdx="04" bitLen="1" halPin="Status-Counter-200" halType="bit">
                <!-- ENC STATUS-Status- -Counter-200 -->
                </pdoEntry>
                <pdoEntry idx="6000" subIdx="05" bitLen="1" halPin="Status-Counter-201" halType="bit">
                <!-- ENC STATUS-Status- -Counter-201 -->
                </pdoEntry>
                <pdoEntry idx="6000" subIdx="06" bitLen="1" halPin="Status-Status-202" halType="bit">
                <!-- ENC STATUS-Status- -Status- -202 -->
                </pdoEntry>
                <pdoEntry idx="6000" subIdx="07" bitLen="1" halPin="Status-Open-ci-203" halType="bit">
                <!-- ENC STATUS-Status- -Open-ci-203 -->
                </pdoEntry>
                <pdoEntry idx="6000" subIdx="08" bitLen="1" halPin="Status-Extrapo-204" halType="bit">
                <!-- ENC STATUS-Status- -Extrapo-204 -->
                </pdoEntry>
                <pdoEntry idx="6000" subIdx="09" bitLen="1" halPin="Status-Status-205" halType="bit">
                <!-- ENC STATUS-Status- -Status- -205 -->
                </pdoEntry>
                <pdoEntry idx="6000" subIdx="10" bitLen="1" halPin="Status-Status-206" halType="bit">
                <!-- ENC STATUS-Status- -Status- -206 -->
                </pdoEntry>
                <pdoEntry idx="6000" subIdx="11" bitLen="1" halPin="Status-Status-207" halType="bit">
                <!-- ENC STATUS-Status- -Status- -207 -->
                </pdoEntry>
                <pdoEntry idx="6000" subIdx="12" bitLen="1" halPin="Status-Status-208" halType="bit">
                <!-- ENC STATUS-Status- -Status- -208 -->
                </pdoEntry>
                <pdoEntry idx="6000" subIdx="13" bitLen="1" halPin="Status-Status-209" halType="bit">
                <!-- ENC STATUS-Status- -Status- -209 -->
                </pdoEntry>
                <pdoEntry idx="1C32" subIdx="32" bitLen="1" halPin="Status-Sync-er-210" halType="bit">
                <!-- ENC STATUS-Status- -Sync-er-210 -->
                </pdoEntry>
                <pdoEntry idx="1801" subIdx="07" bitLen="1" halPin="Status-TxPDO-S-211" halType="bit">
                <!-- ENC STATUS-Status- -TxPDO-S-211 -->
                </pdoEntry>
                <pdoEntry idx="1801" subIdx="09" bitLen="1" halPin="Status-TxPDO-T-212" halType="bit">
                <!-- ENC STATUS-Status- -TxPDO-T-212 -->
                </pdoEntry>
                <pdoEntry idx="6000" subIdx="17" bitLen="32" halPin="Counter-value-213" halType="s32">
                <!-- ENC STATUS-Counter-value-213 -->
                </pdoEntry>
                <pdoEntry idx="6000" subIdx="18" bitLen="32" halPin="Latch-value-214" halType="s32">
                <!-- ENC STATUS-Latch-value-214 -->
                </pdoEntry>
            </pdo>
            </syncManager>
        </slave>
    </master>
</masters>

[/code][/code]
[/code]

[code][code][code]ethercat slaves for now
[code]cnc@CNC-01:~/linuxcnc/configs/Maho400E-LinuxCNC$ ethercat slaves
0  0:0  PREOP  +  EP5101-0011 1K. Inc. Encoder 5V, D-SUB15
1  0:1  PREOP  +  EP5101-0011 1K. Inc. Encoder 5V, D-SUB15
2  0:2  PREOP  +  EP5101-0011 1K. Inc. Encoder 5V, D-SUB15

[/code][/code][/code]
[/code]

PCW

29 Jun 2025 22:17

Replied by PCW on topic Servo Driver Plasma Retrofit

Servo Driver Plasma Retrofit

Category: Plasmac

The basic motion I/O looks relatively straight forward

The A,/A B,/B, Z,/Z signals are encoder signals and go directly to the 7I97T

The Servo-Out pins go to the 7I97T analog out pins and the Servo-Out-Common pins
go the the 7I97T GND pins adjacent to the 7I97T analog out pins.

The drive enables are a bit more puzzling as It hard to tell if they are activated by grounding
or supplying a positive voltage

PCW

29 Jun 2025 21:05

Replied by PCW on topic homing with Phase Z encoder on MESA 7i96s

homing with Phase Z encoder on MESA 7i96s

Category: Advanced Configuration

Homing configuration is in both the hal file (index and home switch handling) and the ini file
(type of homing, directions, speeds etc)

linuxcnc.org/docs/html/config/ini-homing.html

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