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22 Sep 2025 19:13

Replied by JT on topic FlexGui -Touch off

FlexGui -Touch off

Category: Other User Interfaces

MaHa wrote:
I had time for some investigation. When touchof before running a gcode, (self.gui_path) in the file touchoff.py leads to /usr/lib/libflexgui. but after running a gcode (self.gui_path) contains /home/miller/linuxcnc/configs.

Toolchange popup is affected also the same way.

Thanks for investigating this, this is a big help. I'll get this fixed ASAP.

JT

peterpan
peterpan

22 Sep 2025 18:21 - 22 Sep 2025 18:34

Replied by peterpan on topic Trouble with Cia402 drive configuration

Trouble with Cia402 drive configuration

Category: EtherCAT

dmesg:

[  321.982900] macb 1f00100000.ethernet eth0: Link is Up - 100Mbps/Full - flow control off
[  321.984924] EtherCAT 0: Link state of ecm0 changed to UP.
[  321.992919] EtherCAT 0: 3 slave(s) responding on main device. Re-scanning on next possibility.
[  321.992922] EtherCAT 0: Slave states on main device: INIT.
[  321.992925] EtherCAT 0: Re-scanning now.
[  321.993087] EtherCAT 0: Scanning bus.
[  322.263441] EtherCAT 0: Bus scanning completed in 268 ms.
[  322.263445] EtherCAT 0: Using slave 0 as DC reference clock.
[  322.300887] EtherCAT 0: Slave states on main device: PREOP.
[  325.484594] EtherCAT 0: 4 slave(s) responding on main device. Re-scanning on next possibility.
[  325.484598] EtherCAT 0: Slave states on main device: INIT, PREOP.
[  325.484600] EtherCAT 0: Re-scanning now.
[  325.484777] EtherCAT 0: Scanning bus.
[  326.024428] EtherCAT 0: Bus scanning completed in 536 ms.
[  326.024433] EtherCAT 0: Using slave 0 as DC reference clock.
[  326.028554] EtherCAT 0: Slave states on main device: PREOP.
[  327.733588] EtherCAT: Requesting master 0...
[  327.733594] EtherCAT: Successfully requested master 0.
[  327.733858] EtherCAT 0: Domain0: Logical address 0x00000000, 28 byte, expected working counter 6.
[  327.733860] EtherCAT 0:   Datagram domain0-0-main: Logical offset 0x00000000, 28 byte, type LRW.
[  327.733877] EtherCAT 0: Master thread exited.
[  327.733879] EtherCAT 0: Starting EtherCAT-OP thread.
[  328.066961] EtherCAT ERROR 0-3: Failed to set SAFEOP state, slave refused state change (PREOP + ERROR).
[  328.068961] EtherCAT ERROR 0-3: AL status message 0x001E: "Invalid input configuration".
[  328.070960] EtherCAT 0-3: Acknowledged state PREOP.
[  328.076386] EtherCAT 0: Slave states on main device: PREOP, OP.
[  331.671725] EtherCAT WARNING 0-3: SDO information error response while fetching SDO entry 0x1C32:07!
[  331.671732] EtherCAT ERROR 0-3: SDO abort message 0x06090011: "Subindex does not exist".
[  331.675725] EtherCAT WARNING 0-3: SDO information error response while fetching SDO entry 0x1C32:08!
[  331.675727] EtherCAT ERROR 0-3: SDO abort message 0x06090011: "Subindex does not exist".
[  331.681724] EtherCAT WARNING 0-3: SDO information error response while fetching SDO entry 0x1C32:0A!
[  331.681727] EtherCAT ERROR 0-3: SDO abort message 0x06090011: "Subindex does not exist".
[  331.684725] EtherCAT WARNING 0-3: SDO information error response while fetching SDO entry 0x1C32:0B!
[  331.684726] EtherCAT ERROR 0-3: SDO abort message 0x06090011: "Subindex does not exist".
[  331.690724] EtherCAT WARNING 0-3: SDO information error response while fetching SDO entry 0x1C32:0D!
[  331.690726] EtherCAT ERROR 0-3: SDO abort message 0x06090011: "Subindex does not exist".
[  331.693724] EtherCAT WARNING 0-3: SDO information error response while fetching SDO entry 0x1C32:0E!
[  331.693726] EtherCAT ERROR 0-3: SDO abort message 0x06090011: "Subindex does not exist".
[  331.696725] EtherCAT WARNING 0-3: SDO information error response while fetching SDO entry 0x1C32:0F!
[  331.696726] EtherCAT ERROR 0-3: SDO abort message 0x06090011: "Subindex does not exist".
[  331.699724] EtherCAT WARNING 0-3: SDO information error response while fetching SDO entry 0x1C32:10!
[  331.699726] EtherCAT ERROR 0-3: SDO abort message 0x06090011: "Subindex does not exist".
[  331.702725] EtherCAT WARNING 0-3: SDO information error response while fetching SDO entry 0x1C32:11!
[  331.702727] EtherCAT ERROR 0-3: SDO abort message 0x06090011: "Subindex does not exist".
[  331.705724] EtherCAT WARNING 0-3: SDO information error response while fetching SDO entry 0x1C32:12!
[  331.705726] EtherCAT ERROR 0-3: SDO abort message 0x06090011: "Subindex does not exist".
[  331.708724] EtherCAT WARNING 0-3: SDO information error response while fetching SDO entry 0x1C32:13!
[  331.708725] EtherCAT ERROR 0-3: SDO abort message 0x06090011: "Subindex does not exist".
[  331.711724] EtherCAT WARNING 0-3: SDO information error response while fetching SDO entry 0x1C32:14!
[  331.711726] EtherCAT ERROR 0-3: SDO abort message 0x06090011: "Subindex does not exist".
[  331.714724] EtherCAT WARNING 0-3: SDO information error response while fetching SDO entry 0x1C32:15!
[  331.714726] EtherCAT ERROR 0-3: SDO abort message 0x06090011: "Subindex does not exist".
[  331.717724] EtherCAT WARNING 0-3: SDO information error response while fetching SDO entry 0x1C32:16!
[  331.717726] EtherCAT ERROR 0-3: SDO abort message 0x06090011: "Subindex does not exist".
[  331.720724] EtherCAT WARNING 0-3: SDO information error response while fetching SDO entry 0x1C32:17!
[  331.720726] EtherCAT ERROR 0-3: SDO abort message 0x06090011: "Subindex does not exist".
[  331.723724] EtherCAT WARNING 0-3: SDO information error response while fetching SDO entry 0x1C32:18!
[  331.723726] EtherCAT ERROR 0-3: SDO abort message 0x06090011: "Subindex does not exist".
[  331.726724] EtherCAT WARNING 0-3: SDO information error response while fetching SDO entry 0x1C32:19!
[  331.726725] EtherCAT ERROR 0-3: SDO abort message 0x06090011: "Subindex does not exist".
[  331.729724] EtherCAT WARNING 0-3: SDO information error response while fetching SDO entry 0x1C32:1A!
[  331.729726] EtherCAT ERROR 0-3: SDO abort message 0x06090011: "Subindex does not exist".
[  331.732724] EtherCAT WARNING 0-3: SDO information error response while fetching SDO entry 0x1C32:1B!
[  331.732726] EtherCAT ERROR 0-3: SDO abort message 0x06090011: "Subindex does not exist".
[  331.735725] EtherCAT WARNING 0-3: SDO information error response while fetching SDO entry 0x1C32:1C!
[  331.735726] EtherCAT ERROR 0-3: SDO abort message 0x06090011: "Subindex does not exist".
[  331.738724] EtherCAT WARNING 0-3: SDO information error response while fetching SDO entry 0x1C32:1D!
[  331.738725] EtherCAT ERROR 0-3: SDO abort message 0x06090011: "Subindex does not exist".
[  331.741724] EtherCAT WARNING 0-3: SDO information error response while fetching SDO entry 0x1C32:1E!
[  331.741726] EtherCAT ERROR 0-3: SDO abort message 0x06090011: "Subindex does not exist".
[  331.744724] EtherCAT WARNING 0-3: SDO information error response while fetching SDO entry 0x1C32:1F!
[  331.744726] EtherCAT ERROR 0-3: SDO abort message 0x06090011: "Subindex does not exist".
[  331.774724] EtherCAT WARNING 0-3: SDO information error response while fetching SDO entry 0x1C33:07!
[  331.774726] EtherCAT ERROR 0-3: SDO abort message 0x06090011: "Subindex does not exist".
[  331.777724] EtherCAT WARNING 0-3: SDO information error response while fetching SDO entry 0x1C33:08!
[  331.777726] EtherCAT ERROR 0-3: SDO abort message 0x06090011: "Subindex does not exist".
[  331.783724] EtherCAT WARNING 0-3: SDO information error response while fetching SDO entry 0x1C33:0A!
[  331.783726] EtherCAT ERROR 0-3: SDO abort message 0x06090011: "Subindex does not exist".
[  331.786724] EtherCAT WARNING 0-3: SDO information error response while fetching SDO entry 0x1C33:0B!
[  331.786725] EtherCAT ERROR 0-3: SDO abort message 0x06090011: "Subindex does not exist".
[  331.792724] EtherCAT WARNING 0-3: SDO information error response while fetching SDO entry 0x1C33:0D!
[  331.792726] EtherCAT ERROR 0-3: SDO abort message 0x06090011: "Subindex does not exist".
[  331.795725] EtherCAT WARNING 0-3: SDO information error response while fetching SDO entry 0x1C33:0E!
[  331.795726] EtherCAT ERROR 0-3: SDO abort message 0x06090011: "Subindex does not exist".
[  331.798724] EtherCAT WARNING 0-3: SDO information error response while fetching SDO entry 0x1C33:0F!
[  331.798725] EtherCAT ERROR 0-3: SDO abort message 0x06090011: "Subindex does not exist".
[  331.801724] EtherCAT WARNING 0-3: SDO information error response while fetching SDO entry 0x1C33:10!
[  331.801726] EtherCAT ERROR 0-3: SDO abort message 0x06090011: "Subindex does not exist".
[  331.804724] EtherCAT WARNING 0-3: SDO information error response while fetching SDO entry 0x1C33:11!
[  331.804726] EtherCAT ERROR 0-3: SDO abort message 0x06090011: "Subindex does not exist".
[  331.807724] EtherCAT WARNING 0-3: SDO information error response while fetching SDO entry 0x1C33:12!
[  331.807725] EtherCAT ERROR 0-3: SDO abort message 0x06090011: "Subindex does not exist".
[  331.810724] EtherCAT WARNING 0-3: SDO information error response while fetching SDO entry 0x1C33:13!
[  331.810726] EtherCAT ERROR 0-3: SDO abort message 0x06090011: "Subindex does not exist".
[  331.813724] EtherCAT WARNING 0-3: SDO information error response while fetching SDO entry 0x1C33:14!
[  331.813725] EtherCAT ERROR 0-3: SDO abort message 0x06090011: "Subindex does not exist".
[  331.816724] EtherCAT WARNING 0-3: SDO information error response while fetching SDO entry 0x1C33:15!
[  331.816726] EtherCAT ERROR 0-3: SDO abort message 0x06090011: "Subindex does not exist".
[  331.819724] EtherCAT WARNING 0-3: SDO information error response while fetching SDO entry 0x1C33:16!
[  331.819725] EtherCAT ERROR 0-3: SDO abort message 0x06090011: "Subindex does not exist".
[  331.822724] EtherCAT WARNING 0-3: SDO information error response while fetching SDO entry 0x1C33:17!
[  331.822725] EtherCAT ERROR 0-3: SDO abort message 0x06090011: "Subindex does not exist".
[  331.825724] EtherCAT WARNING 0-3: SDO information error response while fetching SDO entry 0x1C33:18!
[  331.825726] EtherCAT ERROR 0-3: SDO abort message 0x06090011: "Subindex does not exist".
[  331.828724] EtherCAT WARNING 0-3: SDO information error response while fetching SDO entry 0x1C33:19!
[  331.828725] EtherCAT ERROR 0-3: SDO abort message 0x06090011: "Subindex does not exist".
[  331.831724] EtherCAT WARNING 0-3: SDO information error response while fetching SDO entry 0x1C33:1A!
[  331.831726] EtherCAT ERROR 0-3: SDO abort message 0x06090011: "Subindex does not exist".
[  331.834724] EtherCAT WARNING 0-3: SDO information error response while fetching SDO entry 0x1C33:1B!
[  331.834725] EtherCAT ERROR 0-3: SDO abort message 0x06090011: "Subindex does not exist".
[  331.837723] EtherCAT WARNING 0-3: SDO information error response while fetching SDO entry 0x1C33:1C!
[  331.837725] EtherCAT ERROR 0-3: SDO abort message 0x06090011: "Subindex does not exist".
[  331.840724] EtherCAT WARNING 0-3: SDO information error response while fetching SDO entry 0x1C33:1D!
[  331.840725] EtherCAT ERROR 0-3: SDO abort message 0x06090011: "Subindex does not exist".
[  331.843724] EtherCAT WARNING 0-3: SDO information error response while fetching SDO entry 0x1C33:1E!
[  331.843725] EtherCAT ERROR 0-3: SDO abort message 0x06090011: "Subindex does not exist".
[  331.846723] EtherCAT WARNING 0-3: SDO information error response while fetching SDO entry 0x1C33:1F!
[  331.846725] EtherCAT ERROR 0-3: SDO abort message 0x06090011: "Subindex does not exist".

ethercat sdos:

=== Master 0, Slave 3 ===
SDO 0x1000, "Device Type"
  0x1000:00, r-r-r-, uint32, 32 bit, ""
SDO 0x1001, "Error Register"
  0x1001:00, r-r-r-, uint8, 8 bit, ""
SDO 0x1008, "Manufacturer Device Name"
  0x1008:00, r-r-r-, string, 168 bit, ""
SDO 0x1009, "Manufacturer Hardware Version"
  0x1009:00, r-r-r-, string, 24 bit, ""
SDO 0x100a, "Manufacturer Software Version"
  0x100a:00, r-r-r-, string, 80 bit, ""
SDO 0x1010, "Store Parameters"
  0x1010:00, r-r-r-, uint8, 8 bit, ""
  0x1010:01, rwr-r-, uint32, 32 bit, ""
SDO 0x1018, "Identity Object"
  0x1018:00, r-r-r-, uint8, 8 bit, ""
  0x1018:01, r-r-r-, uint32, 32 bit, ""
  0x1018:02, r-r-r-, uint32, 32 bit, ""
  0x1018:03, r-r-r-, uint32, 32 bit, ""
  0x1018:04, r-r-r-, uint32, 32 bit, ""
SDO 0x1023, "Command Object"
  0x1023:00, r-r-r-, uint8, 8 bit, ""
  0x1023:01, rwrwrw, octet_string, 256 bit, ""
  0x1023:02, r-r-r-, uint8, 8 bit, ""
  0x1023:03, r-r-r-, octet_string, 256 bit, ""
SDO 0x10f3, "Diagnosis History"
  0x10f3:00, r-r-r-, uint8, 8 bit, ""
  0x10f3:01, [code]=== Master 0, Slave 3 ===
SDO 0x1000, "Device Type"
  0x1000:00, r-r-r-, uint32, 32 bit, ""
SDO 0x1001, "Errorr-r-r-, uint8, 8 bit, ""
  0x10f3:02, r-r-r-, uint8, 8 bit, ""
  0x10f3:03, rwrwrw, uint8, 8 bit, ""
  0x10f3:04, r-r-r-, bool, 1 bit, ""
  0x10f3:05, rwrwrw, uint16, 16 bit, ""
  0x10f3:06, r-r-r-, octet_string, 208 bit, ""
  0x10f3:07, r-r-r-, octet_string, 208 bit, ""
  0x10f3:08, r-r-r-, octet_string, 208 bit, ""
  0x10f3:09, r-r-r-, octet_string, 208 bit, ""
  0x10f3:0a, r-r-r-, octet_string, 208 bit, ""
  0x10f3:0b, r-r-r-, octet_string, 208 bit, ""
  0x10f3:0c, r-r-r-, octet_string, 208 bit, ""
  0x10f3:0d, r-r-r-, octet_string, 208 bit, ""
  0x10f3:0e, r-r-r-, octet_string, 208 bit, ""
  0x10f3:0f, r-r-r-, octet_string, 208 bit, ""
  0x10f3:10, r-r-r-, octet_string, 208 bit, ""
  0x10f3:11, r-r-r-, octet_string, 208 bit, ""
  0x10f3:12, r-r-r-, octet_string, 208 bit, ""
  0x10f3:13, r-r-r-, octet_string, 208 bit, ""
  0x10f3:14, r-r-r-, octet_string, 208 bit, ""
  0x10f3:15, r-r-r-, octet_string, 208 bit, ""
  0x10f3:16, r-r-r-, octet_string, 208 bit, ""
  0x10f3:17, r-r-r-, octet_string, 208 bit, ""
  0x10f3:18, r-r-r-, octet_string, 208 bit, ""
  0x10f3:19, r-r-r-, octet_string, 208 bit, ""
  0x10f3:1a, r-r-r-, octet_string, 208 bit, ""
  0x10f3:1b, r-r-r-, octet_string, 208 bit, ""
  0x10f3:1c, r-r-r-, octet_string, 208 bit, ""
  0x10f3:1d, r-r-r-, octet_string, 208 bit, ""
  0x10f3:1e, r-r-r-, octet_string, 208 bit, ""
  0x10f3:1f, r-r-r-, octet_string, 208 bit, ""
  0x10f3:20, r-r-r-, octet_string, 208 bit, ""
  0x10f3:21, r-r-r-, octet_string, 208 bit, ""
  0x10f3:22, r-r-r-, octet_string, 208 bit, ""
  0x10f3:23, r-r-r-, octet_string, 208 bit, ""
  0x10f3:24, r-r-r-, octet_string, 208 bit, ""
  0x10f3:25, r-r-r-, octet_string, 208 bit, ""
  0x10f3:26, r-r-r-, octet_string, 208 bit, ""
  0x10f3:27, r-r-r-, octet_string, 208 bit, ""
  0x10f3:28, r-r-r-, octet_string, 208 bit, ""
  0x10f3:29, r-r-r-, octet_string, 208 bit, ""
  0x10f3:2a, r-r-r-, octet_string, 208 bit, ""
  0x10f3:2b, r-r-r-, octet_string, 208 bit, ""
  0x10f3:2c, r-r-r-, octet_string, 208 bit, ""
  0x10f3:2d, r-r-r-, octet_string, 208 bit, ""
  0x10f3:2e, r-r-r-, octet_string, 208 bit, ""
  0x10f3:2f, r-r-r-, octet_string, 208 bit, ""
  0x10f3:30, r-r-r-, octet_string, 208 bit, ""
  0x10f3:31, r-r-r-, octet_string, 208 bit, ""
  0x10f3:32, r-r-r-, octet_string, 208 bit, ""
  0x10f3:33, r-r-r-, octet_string, 208 bit, ""
  0x10f3:34, r-r-r-, octet_string, 208 bit, ""
  0x10f3:35, r-r-r-, octet_string, 208 bit, ""
  0x10f3:36, r-r-r-, octet_string, 208 bit, ""
  0x10f3:37, r-r-r-, octet_string, 208 bit, ""
SDO 0x10f9, "Time Distribution Object"
  0x10f9:00, rwrwrw, uint64, 64 bit, ""
SDO 0x1600, "Receive PDO Mapping Parameter 1"
  0x1600:00, rwr-r-, uint8, 8 bit, ""
  0x1600:01, rwr-r-, uint32, 32 bit, ""
  0x1600:02, rwr-r-, uint32, 32 bit, ""
  0x1600:03, rwr-r-, uint32, 32 bit, ""
  0x1600:04, rwr-r-, uint32, 32 bit, ""
  0x1600:05, rwr-r-, uint32, 32 bit, ""
  0x1600:06, rwr-r-, uint32, 32 bit, ""
  0x1600:07, rwr-r-, uint32, 32 bit, ""
  0x1600:08, rwr-r-, uint32, 32 bit, ""
SDO 0x1601, "Receive PDO Mapping Parameter 2"
  0x1601:00, rwr-r-, uint8, 8 bit, ""
  0x1601:01, rwr-r-, uint32, 32 bit, ""
  0x1601:02, rwr-r-, uint32, 32 bit, ""
  0x1601:03, rwr-r-, uint32, 32 bit, ""
  0x1601:04, rwr-r-, uint32, 32 bit, ""
  0x1601:05, rwr-r-, uint32, 32 bit, ""
  0x1601:06, rwr-r-, uint32, 32 bit, ""
  0x1601:07, rwr-r-, uint32, 32 bit, ""
  0x1601:08, rwr-r-, uint32, 32 bit, ""
SDO 0x1602, "Receive PDO Mapping Parameter 3"
  0x1602:00, rwr-r-, uint8, 8 bit, ""
  0x1602:01, rwr-r-, uint32, 32 bit, ""
  0x1602:02, rwr-r-, uint32, 32 bit, ""
  0x1602:03, rwr-r-, uint32, 32 bit, ""
  0x1602:04, rwr-r-, uint32, 32 bit, ""
  0x1602:05, rwr-r-, uint32, 32 bit, ""
  0x1602:06, rwr-r-, uint32, 32 bit, ""
  0x1602:07, rwr-r-, uint32, 32 bit, ""
  0x1602:08, rwr-r-, uint32, 32 bit, ""
SDO 0x1603, "Receive PDO Mapping Parameter 4"
  0x1603:00, rwr-r-, uint8, 8 bit, ""
  0x1603:01, rwr-r-, uint32, 32 bit, ""
  0x1603:02, rwr-r-, uint32, 32 bit, ""
  0x1603:03, rwr-r-, uint32, 32 bit, ""
  0x1603:04, rwr-r-, uint32, 32 bit, ""
  0x1603:05, rwr-r-, uint32, 32 bit, ""
  0x1603:06, rwr-r-, uint32, 32 bit, ""
  0x1603:07, rwr-r-, uint32, 32 bit, ""
  0x1603:08, rwr-r-, uint32, 32 bit, ""
SDO 0x1604, "Receive PDO Mapping Parameter 5"
  0x1604:00, rwr-r-, uint8, 8 bit, ""
  0x1604:01, rwr-r-, uint32, 32 bit, ""
  0x1604:02, rwr-r-, uint32, 32 bit, ""
  0x1604:03, rwr-r-, uint32, 32 bit, ""
  0x1604:04, rwr-r-, uint32, 32 bit, ""
  0x1604:05, rwr-r-, uint32, 32 bit, ""
  0x1604:06, rwr-r-, uint32, 32 bit, ""
  0x1604:07, rwr-r-, uint32, 32 bit, ""
  0x1604:08, rwr-r-, uint32, 32 bit, ""
SDO 0x1605, "Receive PDO Mapping Parameter 6"
  0x1605:00, rwr-r-, uint8, 8 bit, ""
  0x1605:01, rwr-r-, uint32, 32 bit, ""
  0x1605:02, rwr-r-, uint32, 32 bit, ""
  0x1605:03, rwr-r-, uint32, 32 bit, ""
  0x1605:04, rwr-r-, uint32, 32 bit, ""
  0x1605:05, rwr-r-, uint32, 32 bit, ""
  0x1605:06, rwr-r-, uint32, 32 bit, ""
  0x1605:07, rwr-r-, uint32, 32 bit, ""
  0x1605:08, rwr-r-, uint32, 32 bit, ""
SDO 0x1a00, "Transmit PDO Mapping Parameter 1"
  0x1a00:00, rwr-r-, uint8, 8 bit, ""
  0x1a00:01, rwr-r-, uint32, 32 bit, ""
  0x1a00:02, rwr-r-, uint32, 32 bit, ""
  0x1a00:03, rwr-r-, uint32, 32 bit, ""
  0x1a00:04, rwr-r-, uint32, 32 bit, ""
  0x1a00:05, rwr-r-, uint32, 32 bit, ""
  0x1a00:06, rwr-r-, uint32, 32 bit, ""
  0x1a00:07, rwr-r-, uint32, 32 bit, ""
  0x1a00:08, rwr-r-, uint32, 32 bit, ""
SDO 0x1a01, "Transmit PDO Mapping Parameter 2"
  0x1a01:00, rwr-r-, uint8, 8 bit, ""
  0x1a01:01, rwr-r-, uint32, 32 bit, ""
  0x1a01:02, rwr-r-, uint32, 32 bit, ""
  0x1a01:03, rwr-r-, uint32, 32 bit, ""
  0x1a01:04, rwr-r-, uint32, 32 bit, ""
  0x1a01:05, rwr-r-, uint32, 32 bit, ""
  0x1a01:06, rwr-r-, uint32, 32 bit, ""
  0x1a01:07, rwr-r-, uint32, 32 bit, ""
  0x1a01:08, rwr-r-, uint32, 32 bit, ""
SDO 0x1a02, "Transmit PDO Mapping Parameter 3"
  0x1a02:00, rwr-r-, uint8, 8 bit, ""
  0x1a02:01, rwr-r-, uint32, 32 bit, ""
  0x1a02:02, rwr-r-, uint32, 32 bit, ""
  0x1a02:03, rwr-r-, uint32, 32 bit, ""
  0x1a02:04, rwr-r-, uint32, 32 bit, ""
  0x1a02:05, rwr-r-, uint32, 32 bit, ""
  0x1a02:06, rwr-r-, uint32, 32 bit, ""
  0x1a02:07, rwr-r-, uint32, 32 bit, ""
  0x1a02:08, rwr-r-, uint32, 32 bit, ""
SDO 0x1a03, "Transmit PDO Mapping Parameter 4"
  0x1a03:00, rwr-r-, uint8, 8 bit, ""
  0x1a03:01, rwr-r-, uint32, 32 bit, ""
  0x1a03:02, rwr-r-, uint32, 32 bit, ""
  0x1a03:03, rwr-r-, uint32, 32 bit, ""
  0x1a03:04, rwr-r-, uint32, 32 bit, ""
  0x1a03:05, rwr-r-, uint32, 32 bit, ""
  0x1a03:06, rwr-r-, uint32, 32 bit, ""
  0x1a03:07, rwr-r-, uint32, 32 bit, ""
  0x1a03:08, rwr-r-, uint32, 32 bit, ""
SDO 0x1a04, "Transmit PDO Mapping Parameter 5"
  0x1a04:00, rwr-r-, uint8, 8 bit, ""
  0x1a04:01, rwr-r-, uint32, 32 bit, ""
  0x1a04:02, rwr-r-, uint32, 32 bit, ""
  0x1a04:03, rwr-r-, uint32, 32 bit, ""
  0x1a04:04, rwr-r-, uint32, 32 bit, ""
  0x1a04:05, rwr-r-, uint32, 32 bit, ""
  0x1a04:06, rwr-r-, uint32, 32 bit, ""
  0x1a04:07, rwr-r-, uint32, 32 bit, ""
  0x1a04:08, rwr-r-, uint32, 32 bit, ""
SDO 0x1a05, "Transmit PDO Mapping Parameter 6"
  0x1a05:00, rwr-r-, uint8, 8 bit, ""
  0x1a05:01, rwr-r-, uint32, 32 bit, ""
  0x1a05:02, rwr-r-, uint32, 32 bit, ""
  0x1a05:03, rwr-r-, uint32, 32 bit, ""
  0x1a05:04, rwr-r-, uint32, 32 bit, ""
  0x1a05:05, rwr-r-, uint32, 32 bit, ""
  0x1a05:06, rwr-r-, uint32, 32 bit, ""
  0x1a05:07, rwr-r-, uint32, 32 bit, ""
  0x1a05:08, rwr-r-, uint32, 32 bit, ""
SDO 0x1c00, "Sync Manager Communication Type"
  0x1c00:00, r-r-r-, uint8, 8 bit, ""
  0x1c00:01, r-r-r-, uint8, 8 bit, ""
  0x1c00:02, r-r-r-, uint8, 8 bit, ""
  0x1c00:03, r-r-r-, uint8, 8 bit, ""
  0x1c00:04, r-r-r-, uint8, 8 bit, ""
SDO 0x1c12, "RxPDO Assignment"
  0x1c12:00, rwr-r-, uint8, 8 bit, ""
  0x1c12:01, rwr-r-, uint16, 16 bit, ""
  0x1c12:02, rwr-r-, uint16, 16 bit, ""
  0x1c12:03, rwr-r-, uint16, 16 bit, ""
  0x1c12:04, rwr-r-, uint16, 16 bit, ""
  0x1c12:05, rwr-r-, uint16, 16 bit, ""
  0x1c12:06, rwr-r-, uint16, 16 bit, ""
SDO 0x1c13, "TxPDO Assignment"
  0x1c13:00, rwr-r-, uint8, 8 bit, ""
  0x1c13:01, rwr-r-, uint16, 16 bit, ""
  0x1c13:02, rwr-r-, uint16, 16 bit, ""
  0x1c13:03, rwr-r-, uint16, 16 bit, ""
  0x1c13:04, rwr-r-, uint16, 16 bit, ""
  0x1c13:05, rwr-r-, uint16, 16 bit, ""
  0x1c13:06, rwr-r-, uint16, 16 bit, ""
SDO 0x1c32, "RxPDO Synchronization"
  0x1c32:00, r-r-r-, uint8, 8 bit, ""
  0x1c32:01, r-r-r-, uint16, 16 bit, ""
  0x1c32:02, r-r-r-, uint32, 32 bit, ""
  0x1c32:03, r-r-r-, uint32, 32 bit, ""
  0x1c32:04, r-r-r-, uint16, 16 bit, ""
  0x1c32:05, r-r-r-, uint32, 32 bit, ""
  0x1c32:06, r-r-r-, uint32, 32 bit, ""
  0x1c32:09, r-r-r-, uint32, 32 bit, ""
  0x1c32:0c, r-r-r-, uint16, 16 bit, ""
  0x1c32:20, r-r-r-, bool, 1 bit, ""
SDO 0x1c33, "TxPDO Synchronization"
  0x1c33:00, r-r-r-, uint8, 8 bit, ""
  0x1c33:01, r-r-r-, uint16, 16 bit, ""
  0x1c33:02, r-r-r-, uint32, 32 bit, ""
  0x1c33:03, r-r-r-, uint32, 32 bit, ""
  0x1c33:04, r-r-r-, uint16, 16 bit, ""
  0x1c33:05, r-r-r-, uint32, 32 bit, ""
  0x1c33:06, r-r-r-, uint32, 32 bit, ""
  0x1c33:09, r-r-r-, uint32, 32 bit, ""
  0x1c33:0c, r-r-r-, uint16, 16 bit, ""
  0x1c33:20, r-r-r-, bool, 1 bit, ""
SDO 0x2006, "Internal Parameter 6"
  0x2006:00, rwr-r-, uint16, 16 bit, ""
SDO 0x2007, "Internal Parameter 7"
  0x2007:00, r-r-r-, uint16, 16 bit, ""
SDO 0x2009, "Alert Register"
  0x2009:00, r-r-r-, octet_string, 96 bit, ""
SDO 0x2014, "Internal Parameter 20"
  0x2014:00, rwr-r-, uint16, 16 bit, ""
SDO 0x2015, "Internal Parameter 21"
  0x2015:00, r-r-r-, uint16, 16 bit, ""
SDO 0x2017, "HW Config Register"
  0x2017:00, rwrwrw, uint32, 32 bit, ""
SDO 0x2018, "Application Config Register"
  0x2018:00, rwrwrw, uint32, 32 bit, ""
SDO 0x201d, "On Time"
  0x201d:00, r-r-r-, uint32, 32 bit, ""
SDO 0x2039, "RAS Delay"
  0x2039:00, r-r-r-, uint16, 16 bit, ""
SDO 0x2048, "Internal Parameter 72"
  0x2048:00, rwrwrw, uint16, 16 bit, ""
SDO 0x204a, "Internal Parameter 74"
  0x204a:00, rwrwrw, int32, 32 bit, ""
SDO 0x205c, "Internal Parameter 92"
  0x205c:00, rwrwrw, int16, 16 bit, ""
SDO 0x2063, "Input A Filter Time"
  0x2063:00, rwrwrw, uint16, 16 bit, ""
SDO 0x2066, "Input B Filter Time"
  0x2066:00, rwrwrw, uint16, 16 bit, ""
SDO 0x2068, "Internal Parameter 104"
  0x2068:00, r-r-r-, int32, 32 bit, ""
SDO 0x2069, "Internal Parameter 105"
  0x2069:00, rwrwrw, uint16, 16 bit, ""
SDO 0x206a, "Internal Parameter 106"
  0x206a:00, rwrwrw, uint16, 16 bit, ""
SDO 0x206b, "Internal Parameter 107"
  0x206b:00, rwrwrw, uint16, 16 bit, ""
SDO 0x206f, "Internal Parameter 111"
  0x206f:00, rwrwrw, uint16, 16 bit, ""
SDO 0x2071, "Internal Parameter 113"
  0x2071:00, rwrwrw, uint16, 16 bit, ""
SDO 0x2072, "Internal Parameter 114"
  0x2072:00, rwrwrw, uint16, 16 bit, ""
SDO 0x2073, "Internal Parameter 115"
  0x2073:00, rwrwrw, uint16, 16 bit, ""
SDO 0x210b, "Internal Parameter 267"
  0x210b:00, rwrwrw, int32, 32 bit, ""
SDO 0x210e, "Internal Parameter 270"
  0x210e:00, rwrwrw, int32, 32 bit, ""
SDO 0x210f, "Internal Parameter 271"
  0x210f:00, rwrwrw, uint16, 16 bit, ""
SDO 0x2113, "Internal Parameter 275"
  0x2113:00, rwrwrw, int32, 32 bit, ""
SDO 0x2118, "Bus Voltage Measured"
  0x2118:00, r-r-r-, uint16, 16 bit, ""
SDO 0x2123, "Drive Temperature"
  0x2123:00, r-r-r-, int16, 16 bit, ""
SDO 0x2135, "Internal Parameter 309"
  0x2135:00, rwrwrw, uint16, 16 bit, ""
SDO 0x213e, "Kip"
  0x213e:00, rwrwrw, uint16, 16 bit, ""
SDO 0x213f, "Kii"
  0x213f:00, rwrwrw, uint16, 16 bit, ""
SDO 0x2143, "Kr"
  0x2143:00, rwrwrw, int16, 16 bit, ""
SDO 0x2144, "Internal Parameter 324"
  0x2144:00, rwrwrw, uint16, 16 bit, ""
SDO 0x2145, "Tuning Config Register"
  0x2145:00, rwrwrw, uint32, 32 bit, ""
SDO 0x2146, "Kv"
  0x2146:00, rwrwrw, uint32, 32 bit, ""
SDO 0x2147, "Kp"
  0x2147:00, rwrwrw, uint32, 32 bit, ""
SDO 0x2148, "Ki"
  0x2148:00, rwrwrw, uint32, 32 bit, ""
SDO 0x2149, "Kfv"
  0x2149:00, rwrwrw, uint32, 32 bit, ""
SDO 0x214a, "Kfa"
  0x214a:00, rwrwrw, uint32, 32 bit, ""
SDO 0x214b, "Kfj"
  0x214b:00, rwrwrw, uint32, 32 bit, ""
SDO 0x214d, "Knv"
  0x214d:00, rwrwrw, uint32, 32 bit, ""
SDO 0x214e, "Internal Parameter 334"
  0x214e:00, rwrwrw, int16, 16 bit, ""
SDO 0x214f, "Torque Bias"
  0x214f:00, rwrwrw, int16, 16 bit, ""
SDO 0x2150, "Internal Parameter 336"
  0x2150:00, rwrwrw, uint16, 16 bit, ""
SDO 0x2151, "Internal Parameter 337"
  0x2151:00, rwrwrw, uint16, 16 bit, ""
SDO 0x2152, "Internal Parameter 338"
  0x2152:00, rwrwrw, uint16, 16 bit, ""
SDO 0x2153, "Internal Parameter 339"
  0x2153:00, rwrwrw, uint32, 32 bit, ""
SDO 0x2154, "Internal Parameter 340"
  0x2154:00, rwrwrw, uint32, 32 bit, ""
SDO 0x2155, "Internal Parameter 341"
  0x2155:00, rwrwrw, uint16, 16 bit, ""
SDO 0x2156, "Internal Parameter 342"
  0x2156:00, rwrwrw, uint16, 16 bit, ""
SDO 0x215a, "Internal Parameter 346"
  0x215a:00, rwrwrw, int32, 32 bit, ""
SDO 0x215b, "Internal Parameter 347"
  0x215b:00, rwrwrw, int32, 32 bit, ""
SDO 0x215c, "Internal Parameter 348"
  0x215c:00, rwrwrw, int32, 32 bit, ""
SDO 0x215d, "Fine Tuning Slider"
  0x215d:00, rwrwrw, uint16, 16 bit, ""
SDO 0x2163, "Move Done Torque Foldback"
  0x2163:00, rwrwrw, int16, 16 bit, ""
SDO 0x2164, "Move Done Torque Foldback TC"
  0x2164:00, rwrwrw, int16, 16 bit, ""
SDO 0x2167, "Internal Parameter 359"
  0x2167:00, rwrwrw, int32, 32 bit, ""
SDO 0x2168, "Internal Parameter 360"
  0x2168:00, rwrwrw, int16, 16 bit, ""
SDO 0x2169, "Internal Parameter 361"
  0x2169:00, rwrwrw, int16, 16 bit, ""
SDO 0x216a, "Internal Parameter 362"
  0x216a:00, rwrwrw, int16, 16 bit, ""
SDO 0x216b, "Hardstop Torque Maximum"
  0x216b:00, rwrwrw, int16, 16 bit, ""
SDO 0x216c, "Internal Parameter 364"
  0x216c:00, rwrwrw, uint16, 16 bit, ""
SDO 0x216f, "Mechanical Position"
  0x216f:00, r-r-r-, int32, 32 bit, ""
SDO 0x2170, "Delay Disable Time"
  0x2170:00, rwrwrw, int16, 16 bit, ""
SDO 0x2172, "Internal Parameter 370"
  0x2172:00, rwrwrw, int16, 16 bit, ""
SDO 0x2173, "Internal Parameter 371"
  0x2173:00, rwrwrw, int16, 16 bit, ""
SDO 0x2201, "Physical Home Clearance"
  0x2201:00, rwrwrw, uint32, 32 bit, ""
SDO 0x2209, "Internal Parameter 521"
  0x2209:00, rwrwrw, int16, 16 bit, ""
SDO 0x2242, "Minimum Operating Volts"
  0x2242:00, rwrwrw, int16, 16 bit, ""
SDO 0x2243, "Max User Temp"
  0x2243:00, rwrwrw, int16, 16 bit, ""
SDO 0x2244, "Bus Current Trip"
  0x2244:00, rwrwrw, int16, 16 bit, ""
SDO 0x2300, "Shaft Homing Target"
  0x2300:00, rwrwrw, uint32, 32 bit, ""
SDO 0x230e, "Digital Input Map"
  0x230e:00, rwrwrw, uint16, 16 bit, ""
SDO 0x230f, "RMS Level"
  0x230f:00, r-r-r-, uint16, 16 bit, ""
SDO 0x2316, "Current Profile Position"
  0x2316:00, r-r-r-, int32, 32 bit, ""
SDO 0x2317, "Current Profile Velocity"
  0x2317:00, r-r-r-, int32, 32 bit, ""
SDO 0x2318, "Current Profile Acceleration"
  0x2318:00, r-r-r-, uint32, 32 bit, ""
SDO 0x2319, "Current Profile Deceleration"
  0x2319:00, r-r-r-, uint32, 32 bit, ""
SDO 0x231a, "Overspeed Timeout"
  0x231a:00, rwrwrw, uint16, 16 bit, ""
SDO 0x6007, "Abort Connection Option Code"
  0x6007:00, rwrwrw, int16, 16 bit, ""
SDO 0x603f, "Error Code"
  0x603f:00, r-r-r-, uint16, 16 bit, ""
SDO 0x6040, "Controlword"
  0x6040:00, rwrwrw, uint16, 16 bit, ""
SDO 0x6041, "Statusword"
  0x6041:00, r-r-r-, uint16, 16 bit, ""
SDO 0x605a, "Quick Stop Option Code"
  0x605a:00, rwrwrw, int16, 16 bit, ""
SDO 0x605c, "Disable Operation Option Code"
  0x605c:00, rwrwrw, int16, 16 bit, ""
SDO 0x605d, "Halt Option Code"
  0x605d:00, rwrwrw, int16, 16 bit, ""
SDO 0x605e, "Fault Reaction Option Code"
  0x605e:00, rwrwrw, int16, 16 bit, ""
SDO 0x6060, "Modes of Operation"
  0x6060:00, rwrwrw, int8, 8 bit, ""
SDO 0x6061, "Modes of Operation Display"
  0x6061:00, r-r-r-, int8, 8 bit, ""
SDO 0x6062, "Position Demand Value"
  0x6062:00, r-r-r-, int32, 32 bit, ""
SDO 0x6063, "Position Actual Internal Value"
  0x6063:00, r-r-r-, int32, 32 bit, ""
SDO 0x6064, "Position Actual Value"
  0x6064:00, r-r-r-, int32, 32 bit, ""
SDO 0x6065, "Following Error Window"
  0x6065:00, rwrwrw, uint32, 32 bit, ""
SDO 0x6066, "Following Error Time Out"
  0x6066:00, rwrwrw, uint16, 16 bit, ""
SDO 0x6067, "Position Window"
  0x6067:00, rwrwrw, uint32, 32 bit, ""
SDO 0x6068, "Position Window Time"
  0x6068:00, rwrwrw, uint16, 16 bit, ""
SDO 0x606b, "Velocity Demand Value"
  0x606b:00, r-r-r-, int32, 32 bit, ""
SDO 0x606c, "Velocity Actual Value"
  0x606c:00, r-r-r-, int32, 32 bit, ""
SDO 0x606d, "Velocity Window"
  0x606d:00, rwrwrw, uint16, 16 bit, ""
SDO 0x606e, "Velocity Window Time"
  0x606e:00, rwrwrw, uint16, 16 bit, ""
SDO 0x6071, "Target Torque"
  0x6071:00, rwrwrw, int16, 16 bit, ""
SDO 0x6072, "Max Torque"
  0x6072:00, rwrwrw, uint16, 16 bit, ""
SDO 0x6074, "Torque Demand Value"
  0x6074:00, r-r-r-, int16, 16 bit, ""
SDO 0x6077, "Torque Actual Value"
  0x6077:00, r-r-r-, int16, 16 bit, ""
SDO 0x6079, "DC Link Circuit Voltage"
  0x6079:00, r-r-r-, uint32, 32 bit, ""
SDO 0x607a, "Target Position"
  0x607a:00, rwrwrw, int32, 32 bit, ""
SDO 0x607c, "Home Offset"
  0x607c:00, rwrwrw, int32, 32 bit, ""
SDO 0x607d, "Software Position Limit"
  0x607d:00, r-r-r-, uint8, 8 bit, ""
  0x607d:01, rwrwrw, int32, 32 bit, ""
  0x607d:02, rwrwrw, int32, 32 bit, ""
SDO 0x607e, "Polarity"
  0x607e:00, rwrwrw, uint8, 8 bit, ""
SDO 0x6080, "Max Motor Speed"
  0x6080:00, rwrwrw, uint32, 32 bit, ""
SDO 0x6081, "Profile Velocity"
  0x6081:00, rwrwrw, uint32, 32 bit, ""
SDO 0x6083, "Profile Acceleration"
  0x6083:00, rwrwrw, uint32, 32 bit, ""
SDO 0x6084, "Profile Deceleration"
  0x6084:00, rwrwrw, uint32, 32 bit, ""
SDO 0x6085, "Quick Stop Deceleration"
  0x6085:00, rwrwrw, uint32, 32 bit, ""
SDO 0x6087, "Torque Slope"
  0x6087:00, rwrwrw, uint32, 32 bit, ""
SDO 0x608f, "Position Encoder Resolution"
  0x608f:00, r-r-r-, uint8, 8 bit, ""
  0x608f:01, r-r-r-, uint32, 32 bit, ""
  0x608f:02, r-r-r-, uint32, 32 bit, ""
SDO 0x6098, "Homing Method"
  0x6098:00, rwrwrw, int8, 8 bit, ""
SDO 0x6099, "Homing Speeds"
  0x6099:00, r-r-r-, uint8, 8 bit, ""
  0x6099:01, rwrwrw, uint32, 32 bit, ""
  0x6099:02, rwrwrw, uint32, 32 bit, ""
SDO 0x609a, "Homing Acceleration"
  0x609a:00, rwrwrw, uint32, 32 bit, ""
SDO 0x60b0, "Position Offset"
  0x60b0:00, rwrwrw, int32, 32 bit, ""
SDO 0x60b1, "Velocity Offset"
  0x60b1:00, rwrwrw, int32, 32 bit, ""
SDO 0x60b2, "Torque Offset"
  0x60b2:00, rwrwrw, int16, 16 bit, ""
SDO 0x60b8, "Touch Probe Function"
  0x60b8:00, rwrwrw, uint16, 16 bit, ""
SDO 0x60b9, "Touch Probe Status"
  0x60b9:00, r-r-r-, uint16, 16 bit, ""
SDO 0x60ba, "Touch Probe Position 1 Positive Value"
  0x60ba:00, r-r-r-, int32, 32 bit, ""
SDO 0x60bb, "Touch Probe Position 1 Negative Value"
  0x60bb:00, r-r-r-, int32, 32 bit, ""
SDO 0x60bc, "Touch Probe Position 2 Positive Value"
  0x60bc:00, r-r-r-, int32, 32 bit, ""
SDO 0x60bd, "Touch Probe Position 2 Negative Value"
  0x60bd:00, r-r-r-, int32, 32 bit, ""
SDO 0x60c2, "Interpolation Time Period"
  0x60c2:00, r-r-r-, uint8, 8 bit, ""
  0x60c2:01, rwr-r-, uint8, 8 bit, ""
  0x60c2:02, rwr-r-, int8, 8 bit, ""
SDO 0x60d5, "Touch Probe 1 Positive Edge Counter"
  0x60d5:00, r-r-r-, uint16, 16 bit, ""
SDO 0x60d6, "Touch Probe 1 Negative Edge Counter"
  0x60d6:00, r-r-r-, uint16, 16 bit, ""
SDO 0x60d7, "Touch Probe 2 Positive Edge Counter"
  0x60d7:00, r-r-r-, uint16, 16 bit, ""
SDO 0x60d8, "Touch Probe 2 Negative Edge Counter"
  0x60d8:00, r-r-r-, uint16, 16 bit, ""
SDO 0x60e0, "Positive Torque Limit Value"
  0x60e0:00, rwrwrw, uint16, 16 bit, ""
SDO 0x60e1, "Negative Torque Limit Value"
  0x60e1:00, rwrwrw, uint16, 16 bit, ""
SDO 0x60e3, "Supported Homing Methods"
  0x60e3:00, r-r-r-, uint8, 8 bit, ""
  0x60e3:01, r-r-r-, int8, 8 bit, ""
  0x60e3:02, r-r-r-, int8, 8 bit, ""
  0x60e3:03, r-r-r-, int8, 8 bit, ""
  0x60e3:04, r-r-r-, int8, 8 bit, ""
  0x60e3:05, r-r-r-, int8, 8 bit, ""
  0x60e3:06, r-r-r-, int8, 8 bit, ""
  0x60e3:07, r-r-r-, int8, 8 bit, ""
  0x60e3:08, r-r-r-, int8, 8 bit, ""
  0x60e3:09, r-r-r-, int8, 8 bit, ""
  0x60e3:0a, r-r-r-, int8, 8 bit, ""
  0x60e3:0b, r-r-r-, int8, 8 bit, ""
SDO 0x60f4, "Following Error Actual Value"
  0x60f4:00, r-r-r-, int32, 32 bit, ""
SDO 0x60fc, "Position Demand Internal Value"
  0x60fc:00, r-r-r-, int32, 32 bit, ""
SDO 0x60fd, "Digital Inputs"
  0x60fd:00, r-r-r-, uint32, 32 bit, ""
SDO 0x60fe, "Digital Outputs"
  0x60fe:00, r-r-r-, uint8, 8 bit, ""
  0x60fe:01, rwrwrw, uint32, 32 bit, ""
  0x60fe:02, rwrwrw, uint32, 32 bit, ""
SDO 0x60ff, "Target Velocity"
  0x60ff:00, rwrwrw, int32, 32 bit, ""
SDO 0x6502, "Supported Drive Modes"
  0x6502:00, r-r-r-, uint32, 32 bit, ""
SDO 0x67fe, "Version Number"
  0x67fe:00, r-r-r-, uint32, 32 bit, ""
SDO 0x67ff, "Single Device Type"
  0x67ff:00, r-r-r-, uint32, 32 bit, ""

File Attachment:

File Name: axis.ini
File Size:4 KB

File Attachment:

File Name: ethercat.hal
File Size:3 KB

File Attachment:

File Name: ethercat-conf.xml
File Size:1 KB

The vid, pid and SM2 idx and SM3 idx are all correct.
I hope everything is readable. Let me know if there are tools I should use to make things easier to read.

boksi
boksi

22 Sep 2025 18:10

Replied by boksi on topic Mesa smart serial or PktUART or serial over RS232 or udp for robot joints

Mesa smart serial or PktUART or serial over RS232 or udp for robot joints

Category: Advanced Configuration

Thanks for fast answer.
I will check SSerialB, yes this is for one-off design and I will take a look at second proposal and see if my type encoder can be handled.

Leuo_
Leuo_

22 Sep 2025 18:09

Replied by Leuo_ on topic Lichuan LC20E Homing, End switches, Probing

Lichuan LC20E Homing, End switches, Probing

Category: EtherCAT

Hello, can you share your configuration?
I have an LC20E Drive with a 1kW motor with brake.

However, I am having problems with the motor configuration. Whenever I try to move it, the Er.201 alarm occurs. I have tried several configurations, even using Sandro's configuration, since his kit is similar to mine, but without success.

unknown
unknown

22 Sep 2025 17:25

Replied by unknown on topic Recommendations for a dual NIC SBC or mini-pc

Recommendations for a dual NIC SBC or mini-pc

Category: EtherCAT

Funny how things are, I've always run my RPi5 from the 15wat PSU, using the waveshare Nvme board and the RPi cooler. I have a keyboard with an internal USB hub and a wireless mouse connected via the hub in the keyboard, never had an issue with resets or the like. I have turned all the power saving stuff for the wireless interface off.
Maybe I've just been lucky with this one, and the other one I have will be different.

MaHa
MaHa

22 Sep 2025 17:11

Replied by MaHa on topic The Parameters

The Parameters

Category: General LinuxCNC Questions

This is for the loaded tool.
dont know how to read the tooltable with gcode. I'm affraid it's not possible.

(DEBUG, Outil actif = #5400)
(DEBUG, Longueur outil = #5403)
(DEBUG, Diamètre outil = #5410)
#<tool_radius> = [#5410 / 2]
(DEBUG, Rayon outil = #<tool_radius> )

PCW

22 Sep 2025 17:09

Replied by PCW on topic Mesa smart serial or PktUART or serial over RS232 or udp for robot joints

Mesa smart serial or PktUART or serial over RS232 or udp for robot joints

Category: Advanced Configuration

SSerialB is the large packet version of SSerial and firmware with SSerialB can
be built for any Mesa FPGA card the supports LinuxCNC.

But... if this is for a one-off design it might be simpler to just have the required number of encoder
channels (either quadrature or absolute) built into the base interface.

(or if it's a big enough machine, use EtherCAT drives)

Hakan
Hakan

22 Sep 2025 16:57

Replied by Hakan on topic Trouble with Cia402 drive configuration

Trouble with Cia402 drive configuration

Category: EtherCAT

Ok, to understand a bit better, post the error you get.
If it is just that the device doesn't go to OP, please post the, say, 40 last lines of the output of "sudo dmesg".
Please also post you ethercat-conf.xml and the output of the "ethercat sdos" command.

I want to see the error from EtherCAT master which come in the syslog.
And match your config with the actual sdos the drive have.

Hakan
Hakan

22 Sep 2025 16:49

Replied by Hakan on topic Setting up kinematics for my Ballscrew articulated B-axis

Setting up kinematics for my Ballscrew articulated B-axis

Category: Basic Configuration

Picture is fine.
linuxcnc.org/docs/html/motion/kinematics.html is a starting point if you haven't been there already.

JackRay
JackRay

22 Sep 2025 16:44

Replied by JackRay on topic The Parameters

The Parameters

Category: General LinuxCNC Questions

Hello,
I need to acces at these set :DEBUG, Outil actif = #<tool>)
(DEBUG, Longueur outil = #<tool_length_offset>)
(DEBUG, Diamètre outil = #<tool_diameter>)
(DEBUG, Rayon outil = #<tool_radius>)

wihtout succes

Thanks

tommylight

22 Sep 2025 16:23

Replied by tommylight on topic Setting up kinematics for my Ballscrew articulated B-axis

Setting up kinematics for my Ballscrew articulated B-axis

Category: Basic Configuration

langdons wrote:
Your image links don't work.

Works fine here.
And do not advise anyone to upload pictures to third party sites, they are not safe, just google "malware on file sharing websites" and be amazed.
GitHUB is OK, though, for now.

boksi
boksi

22 Sep 2025 16:19 - 22 Sep 2025 16:23

Mesa smart serial or PktUART or serial over RS232 or udp for robot joints was created by boksi

Mesa smart serial or PktUART or serial over RS232 or udp for robot joints

Category: Advanced Configuration

[justify]Hello, I am looking for some advice here while still learning about Linuxcnc.I have robot arm with 6 custom drives and I would like to integrate it more with Linuxcnc and use kinematics module. Currently it is driven in joint space with mesa 6i25 via step/dir interface. From what I saw there are multiple ways to get joint positions into Linuxcnc. Have to tell here that encoders are in some way absolute as they use batteries and on power on send current position over uart and from that point and further on just behave as incremental and send A and B pulses (these pulses are added in software to first read out position). Position read is handled in drives. I am thinking about best way to transfer 6 encoder readings to Linuxcnc. Have to check with gear ratio but data from encoders would be at least 24 bits(with multiple turns) and lets fix it to be 4 bytes per encoder. Another thing is that this communication should be isolated from drives as step/dir are also isolated from drives.

My questions are :

1. Do I need this enc data only for handling robot joints limits and for first start up position read (as all loops are closed into drives)?

2. Are these encoders data needed every 1mS for servo tread (in respect that I want to move robot in Cartesian space)?

3. What would be constraints on timing and synchronization of these 6 encoder readings?

My idea is to use one additional mcu (stm32) to do "fast" communication with 6 drives (via uart, spi, i2c or can but most probably uart(RS485) with speeds in range from 1Mbps to 2Mbps ), do acquisition of 6 encoder channels and send it Linuxcnc. Mcu could issue 6 read commands "simultaneously" on 6 UARTs, wait for all responses (ISR with control logic in drives works at 16KHz so worst case ~62uS delayed response concerning priorities), pack data and send to Linuxcnc.

4. Which one would be best/easiest to use? Mesa smart serial, Mesa PktUART, pc serial port with custom protocol, ethernet -> UDP or something else?

- PC serial port seems to be slow with max speed of 1115200 - 128000bps, have to do isolation

- Mesa smart serial, as I see no isolation (if I want to use it just with bare 6i25 + RS422 chip, perhaps there are some add on boards which offer isolation? ) and concerning post from 29 Aug 2021 18:33 #219118
"
Replied by PCW on topic Mesa Smart Serial Interface Questions (expanding and/or encoder card options)

PWM would be possible on sserial as would encoders.
encoders use a lot of bits so it's not too practical to do multiple
encoders on a remote sserial card due to the current 96 bit
packet size limit (this has been expanded to 224 bits but no current
sserial remotes use more that 96 in and 96 out)
"
If I use stm32 for acquisition of all enc data, I would need 6 encoder * 32 bits -> 192 bits in total (possibly little more), is there new firmware for packet size of 224bits already available for 6i25? If so where I can find it? If I don't want to use stm32 then I need fpga firmware (or mesa board) with at least 6 smart serial blocks but in this case each one of 6 drives would have to cummunicate over smart serial, not sure here if drives could follow smart serial timings due other higher priority tasks (as read on forum after sending request mesa serial is expecting reply in some time ~20uS(not sure in which phase discovery or...)
- stmbl code available
- arduino code availale (work in progress as stated)

- Mesa PktUART, as I read available speeds can go very high around 10Mbps, have to provide isolation, Rx buffer size of 1024 bytes, would implementation be straight-forward or there could be some issues?
I would still plan to use it with stm32 which collects 6 position data (24bytes) and send it via PktUART. Only issue here would be number of available UARTs on stm32 but possibly this could be resolved with remapping RX/TX pins.
I suppose concerning fpga space, firmware for PktUART could be made along with 6 step gen for 6i25?

- Ethernet -> UDP seems to me as good option as it provides isolation and could be handled with available stm32 + W5500 and
seems that there is some source code already available

www.forum.linuxcnc.org/38-general-linuxc...or-linuxcnc?start=10

forum.linuxcnc.org/24-hal-components/287...rduino-over-ethernet

Thanks[/justify]

peterpan
peterpan

22 Sep 2025 15:45

Trouble with Cia402 drive configuration was created by peterpan

Trouble with Cia402 drive configuration

Category: EtherCAT

I've been working on an EtherCAT build for a couple of months now, and wanted to avoid posting here, but it seems I have hit a wall.
For some background: I am completely new to LinuxCNC but wanted to build an EtherCAT AXYZ cnc with Cia402 drives. I got an EK1100, EL1008, and EL2008, and my brother gave me a ClearPath-EC Teknic Cia402 (CoE) drive. I had a raspberry pi 5 available, so I am testing my configuration on that right now. I used the Pre-packaged rasp-pi install (Debian 12) with LinuxCNC from the linuxcnc website, and had very little trouble following Rod's installation from repositories. From there I had a lot of trouble, but got a configuration based off of the sim.axis config working with the EtherCAT slaves, and was able to test I/O with no trouble.
Now, as I am attempting to incorporate the drive, but I can't get it into the OP state. The EtherCAT master recognizes it, and I can define pdos, but sdo 0x2000 and 0x2011 seem to just not exist, which I currently think has to do with the problem. I'm still having trouble wrapping my head around this, so let me know if there's anything else you need to help me. I would really appreciate the help!

teknic.com/files/downloads/ClearPath-EC_User_Manual.pdf