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  • bszoke
  • bszoke
13 Nov 2025 06:15
Replied by bszoke on topic help with ethercat and omron drives

help with ethercat and omron drives

Category: EtherCAT

Maybe this is documented already somewhere and I just missed it. The key to all of this is this magical argument in the slave tag
configPdos="true"
This actually does alot of what I described above, however, it works in the XML for "other" reasons. If you look at the dmesg log with "ethercat debug 1" you can see exactly what its doing. The XML is still incorrect. To truly use the configPdos="true" properly you have to use the variable mapped PDO's. The reason the XML "works" is because it sets the PDO assignment register to the address listed in the <PDO idx>, however you will get a bunch of errors because it will try to map the PDO's to read only registers. And you don't truly get a variable assigned PDO, you only get what is in the fixed PDO in the registers selected. So it could be intentional, but if you are going to use it, might as well use the variable mapped PDO so you can pick and choose exactly what PDO's you want. However, I think there is a caveat to this, variable PDO mapping is only available in Firmware version > 2.1. So this could be the "lazy mans" way of setting the Fixed PDO's for SM 2&3.
  • miro199315
  • miro199315
13 Nov 2025 05:56 - 13 Nov 2025 05:58
Replied by miro199315 on topic Configuration Schnider electric ILA2 Servo

Configuration Schnider electric ILA2 Servo

Category: EtherCAT

Thanks a lot for looking into this and taking the time to check my issue. I really appreciate the help and suggestions.
Below I’m attaching the XML configuration and system logs for reference.

[35409.201585] EtherCAT: Requesting master 0...
[35409.201588] EtherCAT: Successfully requested master 0.
[35409.201704] EtherCAT 0: Domain0: Logical address 0x00000000, 46 byte, expected working counter 3.
[35409.201706] EtherCAT 0:   Datagram domain0-0-main: Logical offset 0x00000000, 46 byte, type LRW.
[35409.201717] EtherCAT 0: Master thread exited.
[35409.201718] EtherCAT 0: Stopping EoE thread.
[35409.201726] EtherCAT 0: EoE thread exited.
[35409.201726] EtherCAT 0: Starting EoE thread.
[35409.201750] EtherCAT 0: Starting EtherCAT-OP thread.
[35409.201765] EtherCAT WARNING 0: 12 datagrams TIMED OUT!
[35409.331702] EtherCAT WARNING 0-1: Other mailbox protocol response for eoe0s1.
[35409.331956] EtherCAT ERROR 0-1: Reception of CoE download response failed: No response.
[35409.331959] EtherCAT WARNING 0-1: Failed to map PDO entry 0x0000:00 (8 bit) to position 6.
[35409.331961] EtherCAT WARNING 0-1: Currently mapped PDO entries: (none). Entries to map: 0x6040:00/16 0x6060:00/8 0x607A:00/32 0x60FF:00/32 0x0000:00/8 0x0000:00/8 0x0000:00/8 0x0000:00/8 0x0000:00/8 0x0000:00/8 0x0000:00/8 0x0000:00/8 0x0000:00/8 0x0000:00/8 0x0000:00/8
[35409.331973] EtherCAT WARNING 0-1: Failed to configure mapping of PDO 0x1600.
[35409.355684] EtherCAT ERROR 0-1: Mailbox error response received - Unknown error reply code 0x0000.
[35409.355688] EtherCAT WARNING 0-1: Invalid mailbox response for eoe0s1.
[35409.375692] EtherCAT WARNING 0-1: Other mailbox protocol response for eoe0s1.
[35409.375948] EtherCAT ERROR 0-1: Reception of CoE download response failed: No response.
[35409.375951] EtherCAT WARNING 0-1: Failed to map PDO entry 0x0000:00 (8 bit) to position 11.
[35409.375953] EtherCAT WARNING 0-1: Currently mapped PDO entries: (none). Entries to map: 0x6041:00/16 0x6061:00/8 0x6064:00/32 0x606C:00/32 0x6077:00/16 0x0000:00/8 0x0000:00/8 0x0000:00/8 0x0000:00/8 0x0000:00/8 0x0000:00/8 0x0000:00/8 0x0000:00/8 0x0000:00/8 0x0000:00/8 0x0000:00/8
[35409.375965] EtherCAT WARNING 0-1: Failed to configure mapping of PDO 0x1A00.
[35409.389044] EtherCAT ERROR 0-1: Failed to set SAFEOP state, slave refused state change (PREOP + ERROR).
[35409.390043] EtherCAT ERROR 0-1: AL status message 0x001E: "Invalid input configuration".
[35409.392045] EtherCAT 0-1: Acknowledged state PREOP.
[35409.403540] EtherCAT 0: Slave states on main device: PREOP, OP.
linuxcnc@linuxcnc:~$ 
 

[code]<?xml version="1.0" ?>
<masters>
  <master idx="0" appTimePeriod="1000000" refClockSyncCycles="1">
    <slave idx="1" type="generic" vid="0800005a" pid="000022db" configPdos="true">
      
      <!-- Distributed Clocks -->
      <dcConf assignActivate="300" sync0Cycle="1000000" sync0Shift="0" />
      
      <!-- SyncManagers -->
      <syncManager idx="2" dir="out">
        <pdo idx="1600">
          <pdoEntry idx="6040" subIdx="0" bitLen="16" halPin="cia-controlword" halType="u32" />
          <pdoEntry idx="6060" subIdx="0" bitLen="8"  halPin="opmode" halType="s32" />
          <pdoEntry idx="607A" subIdx="0" bitLen="32" halPin="target-position" halType="s32" />
          <pdoEntry idx="60FF" subIdx="0" bitLen="32" halPin="target-velocity" halType="s32" />
        </pdo>
      </syncManager>

      <syncManager idx="3" dir="in">
        <pdo idx="1A00">
          <pdoEntry idx="6041" subIdx="0" bitLen="16" halPin="cia-statusword" halType="u32" />
          <pdoEntry idx="6061" subIdx="0" bitLen="8"  halPin="opmode-display" halType="s32" />
          <pdoEntry idx="6064" subIdx="0" bitLen="32" halPin="actual-position" halType="s32" />
          <pdoEntry idx="606C" subIdx="0" bitLen="32" halPin="actual-velocity" halType="s32" />
          <pdoEntry idx="6077" subIdx="0" bitLen="16" halPin="actual-torque" halType="s32" />
        </pdo>
      </syncManager>

    </slave>
  </master>
</masters>

[/code]


[code] 
[/code]
  • skyguybrad
  • skyguybrad
13 Nov 2025 04:39
Replied by skyguybrad on topic pulling my hair out please help

pulling my hair out please help

Category: Basic Configuration

ive added the following to my my main.hal and it launches now. I could cry right now....

# threads
addf hm2_7i96s.0.read servo-thread
addf motion-command-handler servo-thread
addf motion-controller servo-thread
addf hm2_7i96s.0.write servo-thread
  • skyguybrad
  • skyguybrad
13 Nov 2025 04:28
pulling my hair out please help was created by skyguybrad

pulling my hair out please help

Category: Basic Configuration

New to linux. have a very basic 3 axis vert mill, open loop with only a 7i96s and can either not get any motion or at this point even a configuration I believe mostly ready to get started. Im shammed to state how many days ive been trying to figure this out.can anyone please help me or point me to competent persons who may be able to do so. Id be willing to pay if need be for direct help. Ive bit off way more than I can chew having chosen linux for my project. "A configure error is preventing linuxcnc from running". I have other configurations with PID loops I could not disable that do launch just fine only obviously I dont have any motion. My eyes are full of blood from bashing my head on the wall. any and all help would be GREATLY appreciated more than you know. Ive never posted in a forum of any kind in my life so if ive posted in the wrong place please educate me and Ill move but here made the most sense after careful evaluation. Thank you guys
7i96s_d.bin
linux 2.9.7
joint 0,1,2 = XYZ
spindle driver is on step/dir4
IN 00 x driver fault. low=fault
in01 Y driver fault low=fault
ino2 Z driver fault low=fault
ino3 spindle fault low=normal open/high=fault
out00 spindle low to enable
XYZ home not yet assigned NC low 
 
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