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I am way to ignorant on linuxcnc to understand what to do next. They are cia402 drives (Lichuan OL3-E57H) as I have two of them I have started with a lathe config as shown on the first video of this thread. How is the ESI file different from what linuxcnc needs? Should I be using output from pdos as my xml file?

phil@SodickA:~/linuxcnc/configs/sim.axis$ ethercat pdos
=== Master 0, Slave 0 ===
SM0: PhysAddr 0x1000, DefaultSize 128, ControlRegister 0x26, Enable 1
RxPDO 0x1a01 "TxPDO 2"
PDO entry 0x603f:00, 16 bit, "ErrorCode"
PDO entry 0x6041:00, 16 bit, "StatusWord"
PDO entry 0x6064:00, 32 bit, "Position actual value"
PDO entry 0x60fd:00, 32 bit, "Digital inputs"
PDO entry 0x6061:00, 8 bit, "Modes of operation display"
RxPDO 0x1601 "RxPDO 2"
PDO entry 0x6040:00, 16 bit, "ControlWord"
PDO entry 0x6060:00, 8 bit, "Modes of operation"
PDO entry 0x607a:00, 32 bit, "Target position"
PDO entry 0x6081:00, 32 bit, "Profile velocity"
PDO entry 0x6099:01, 32 bit, "Search Switch"
PDO entry 0x6099:02, 32 bit, "Search Zero"
SM1: PhysAddr 0x1100, DefaultSize 128, ControlRegister 0x22, Enable 1
SM2: PhysAddr 0x1200, DefaultSize 12, ControlRegister 0x64, Enable 1
RxPDO 0x1600 ""
PDO entry 0x6040:00, 16 bit, ""
PDO entry 0x607a:00, 32 bit, ""
PDO entry 0x60ff:00, 32 bit, ""
PDO entry 0x6060:00, 8 bit, ""
PDO entry 0x0000:00, 8 bit, "Gap"
SM3: PhysAddr 0x1300, DefaultSize 19, ControlRegister 0x20, Enable 1
TxPDO 0x1a00 ""
PDO entry 0x6041:00, 16 bit, ""
PDO entry 0x6064:00, 32 bit, ""
PDO entry 0x606c:00, 32 bit, ""
PDO entry 0x6061:00, 8 bit, ""
PDO entry 0x0000:00, 8 bit, "Gap"
=== Master 0, Slave 1 ===
SM0: PhysAddr 0x1000, DefaultSize 128, ControlRegister 0x26, Enable 1
RxPDO 0x1a01 "TxPDO 2"
PDO entry 0x603f:00, 16 bit, "ErrorCode"
PDO entry 0x6041:00, 16 bit, "StatusWord"
PDO entry 0x6064:00, 32 bit, "Position actual value"
PDO entry 0x60fd:00, 32 bit, "Digital inputs"
PDO entry 0x6061:00, 8 bit, "Modes of operation display"
RxPDO 0x1601 "RxPDO 2"
PDO entry 0x6040:00, 16 bit, "ControlWord"
PDO entry 0x6060:00, 8 bit, "Modes of operation"
PDO entry 0x607a:00, 32 bit, "Target position"
PDO entry 0x6081:00, 32 bit, "Profile velocity"
PDO entry 0x6099:01, 32 bit, "Search Switch"
PDO entry 0x6099:02, 32 bit, "Search Zero"
SM1: PhysAddr 0x1100, DefaultSize 128, ControlRegister 0x22, Enable 1
SM2: PhysAddr 0x1200, DefaultSize 12, ControlRegister 0x64, Enable 1
RxPDO 0x1600 ""
PDO entry 0x6040:00, 16 bit, ""
PDO entry 0x607a:00, 32 bit, ""
PDO entry 0x60ff:00, 32 bit, ""
PDO entry 0x6060:00, 8 bit, ""
PDO entry 0x0000:00, 8 bit, "Gap"
SM3: PhysAddr 0x1300, DefaultSize 19, ControlRegister 0x20, Enable 1
TxPDO 0x1a00 ""
PDO entry 0x6041:00, 16 bit, ""
PDO entry 0x6064:00, 32 bit, ""
PDO entry 0x606c:00, 32 bit, ""
PDO entry 0x6061:00, 8 bit, ""
PDO entry 0x0000:00, 8 bit, "Gap"
phil@SodickA:~/linuxcnc/configs/sim.axis$ ethercat sdos
phil@SodickA:~/linuxcnc/configs/sim.axis$ ethercat -v slaves
=== Master 0, Slave 0 ===
Device: Main
State: PREOP
Flag: +
Identity:
Vendor Id: 0x00000a79
Product code: 0x00002000
Revision number: 0x00000001
Serial number: 0x00000000
DL information:
FMMU bit operation: no
Distributed clocks: yes, 64 bit
DC system time transmission delay: 0 ns
Port Type Link Loop Signal NextSlave RxTime [ns] Diff [ns] NextDc [ns]
0 MII up open yes - 1139426180 0 0
1 MII up open yes 1 1139427620 1440 720
2 N/A down closed no - - - -
3 N/A down closed no - - - -
Mailboxes:
Bootstrap RX: 0x0000/0, TX: 0x0000/0
Standard RX: 0x1000/128, TX: 0x1100/128
Supported protocols: CoE
General:
Group: EtherCAT Driver
Image name:
Order number:
Device name: OL3-E57H
CoE details:
Enable SDO: yes
Enable SDO Info: no
Enable PDO Assign: yes
Enable PDO Configuration: yes
Enable Upload at startup: no
Enable SDO complete access: no
Flags:
Enable SafeOp: no
Enable notLRW: no
Current consumption: 0 mA
=== Master 0, Slave 1 ===
Device: Main
State: PREOP
Flag: +
Identity:
Vendor Id: 0x00000a79
Product code: 0x00002000
Revision number: 0x00000001
Serial number: 0x00000000
DL information:
FMMU bit operation: no
Distributed clocks: yes, 64 bit
DC system time transmission delay: 720 ns
Port Type Link Loop Signal NextSlave RxTime [ns] Diff [ns] NextDc [ns]
0 MII down closed no 0 - - -
1 MII up open yes - 54668620 2396782160 0
2 N/A down closed no - - - -
3 N/A down closed no - - - -
Mailboxes:
Bootstrap RX: 0x0000/0, TX: 0x0000/0
Standard RX: 0x1000/128, TX: 0x1100/128
Supported protocols: CoE
General:
Group: EtherCAT Driver
Image name:
Order number:
Device name: OL3-E57H
CoE details:
Enable SDO: yes
Enable SDO Info: no
Enable PDO Assign: yes
Enable PDO Configuration: yes
Enable Upload at startup: no
Enable SDO complete access: no
Flags:
Enable SafeOp: no
Enable notLRW: no
Current consumption: 0 mA
phil@SodickA:~/linuxcnc/configs/sim.axis$ lcec_configgen
<masters>
<master idx="0">
<slave idx="0" type="generic" vid="0x00000a79" pid="0x00002000" name="D1">
<!--OL3-E57H-->
<syncManager idx="0" dir="out">
<pdo idx="1a01">
<!--TxPDO 2-->
<pdoEntry idx="603f" subIdx="00" bitLen="16" halPin="errorcode" halType="BLANK"/>
<pdoEntry idx="6041" subIdx="00" bitLen="16" halPin="statusword" halType="BLANK"/>
<pdoEntry idx="6064" subIdx="00" bitLen="32" halPin="position-actual-value" halType="BLANK"/>
<pdoEntry idx="60fd" subIdx="00" bitLen="32" halPin="digital-inputs" halType="BLANK"/>
<pdoEntry idx="6061" subIdx="00" bitLen="8" halPin="modes-of-operation-display" halType="BLANK"/>
</pdo>
<pdo idx="1601">
<!--RxPDO 2-->
<pdoEntry idx="6040" subIdx="00" bitLen="16" halPin="controlword" halType="BLANK"/>
<pdoEntry idx="6060" subIdx="00" bitLen="8" halPin="modes-of-operation" halType="BLANK"/>
<pdoEntry idx="607a" subIdx="00" bitLen="32" halPin="target-position" halType="BLANK"/>
<pdoEntry idx="6081" subIdx="00" bitLen="32" halPin="profile-velocity" halType="BLANK"/>
<pdoEntry idx="6099" subIdx="01" bitLen="32" halPin="search-switch" halType="BLANK"/>
<pdoEntry idx="6099" subIdx="02" bitLen="32" halPin="search-zero" halType="BLANK"/>
</pdo>
</syncManager>
<syncManager idx="1" dir="out"/>
<syncManager idx="2" dir="out">
<pdo idx="1600">
<pdoEntry idx="6040" subIdx="00" bitLen="16" halPin="pin-6040-00" halType="BLANK"/>
<pdoEntry idx="607a" subIdx="00" bitLen="32" halPin="pin-607a-00" halType="BLANK"/>
<pdoEntry idx="60ff" subIdx="00" bitLen="32" halPin="pin-60ff-00" halType="BLANK"/>
<pdoEntry idx="6060" subIdx="00" bitLen="8" halPin="pin-6060-00" halType="BLANK"/>
</pdo>
</syncManager>
<syncManager idx="3" dir="in">
<pdo idx="1a00">
<pdoEntry idx="6041" subIdx="00" bitLen="16" halPin="pin-6041-00" halType="BLANK"/>
<pdoEntry idx="6064" subIdx="00" bitLen="32" halPin="pin-6064-00" halType="BLANK"/>
<pdoEntry idx="606c" subIdx="00" bitLen="32" halPin="pin-606c-00" halType="BLANK"/>
<pdoEntry idx="6061" subIdx="00" bitLen="8" halPin="pin-6061-00" halType="BLANK"/>
</pdo>
</syncManager>
</slave>
<slave idx="1" type="generic" vid="0x00000a79" pid="0x00002000" name="D2">
<!--OL3-E57H-->
<syncManager idx="0" dir="out">
<pdo idx="1a01">
<!--TxPDO 2-->
<pdoEntry idx="603f" subIdx="00" bitLen="16" halPin="errorcode" halType="BLANK"/>
<pdoEntry idx="6041" subIdx="00" bitLen="16" halPin="statusword" halType="BLANK"/>
<pdoEntry idx="6064" subIdx="00" bitLen="32" halPin="position-actual-value" halType="BLANK"/>
<pdoEntry idx="60fd" subIdx="00" bitLen="32" halPin="digital-inputs" halType="BLANK"/>
<pdoEntry idx="6061" subIdx="00" bitLen="8" halPin="modes-of-operation-display" halType="BLANK"/>
</pdo>
<pdo idx="1601">
<!--RxPDO 2-->
<pdoEntry idx="6040" subIdx="00" bitLen="16" halPin="controlword" halType="BLANK"/>
<pdoEntry idx="6060" subIdx="00" bitLen="8" halPin="modes-of-operation" halType="BLANK"/>
<pdoEntry idx="607a" subIdx="00" bitLen="32" halPin="target-position" halType="BLANK"/>
<pdoEntry idx="6081" subIdx="00" bitLen="32" halPin="profile-velocity" halType="BLANK"/>
<pdoEntry idx="6099" subIdx="01" bitLen="32" halPin="search-switch" halType="BLANK"/>
<pdoEntry idx="6099" subIdx="02" bitLen="32" halPin="search-zero" halType="BLANK"/>
</pdo>
</syncManager>
<syncManager idx="1" dir="out"/>
<syncManager idx="2" dir="out">
<pdo idx="1600">
<pdoEntry idx="6040" subIdx="00" bitLen="16" halPin="pin-6040-00" halType="BLANK"/>
<pdoEntry idx="607a" subIdx="00" bitLen="32" halPin="pin-607a-00" halType="BLANK"/>
<pdoEntry idx="60ff" subIdx="00" bitLen="32" halPin="pin-60ff-00" halType="BLANK"/>
<pdoEntry idx="6060" subIdx="00" bitLen="8" halPin="pin-6060-00" halType="BLANK"/>
</pdo>
</syncManager>
<syncManager idx="3" dir="in">
<pdo idx="1a00">
<pdoEntry idx="6041" subIdx="00" bitLen="16" halPin="pin-6041-00" halType="BLANK"/>
<pdoEntry idx="6064" subIdx="00" bitLen="32" halPin="pin-6064-00" halType="BLANK"/>
<pdoEntry idx="606c" subIdx="00" bitLen="32" halPin="pin-606c-00" halType="BLANK"/>
<pdoEntry idx="6061" subIdx="00" bitLen="8" halPin="pin-6061-00" halType="BLANK"/>
</pdo>
</syncManager>
</slave>
</master>
</masters>

That xml file is an ESI file. It will not work. See my reply above.
Run "lcec_configgen" and put the output into ethercat-conf.xml.

Can you post your hal file?
 

please see attached files

It is suport step/dir sir?? Because original stmbl are suported right, if posible open the step/dir interface mate, so we can used for mach3 or grbl, thank u somuch.

I'm running LinuxCNC/Axis 2.9.0-pre1..... on LMDE 6, using software stepping. I have a 3 axis CNC, with two motors on the X. Initial condition has the motherboard parallel port controlling the motors and a second parallel card doing some other details. One X motor works, the second does not.

I was trying to connect my g540 disable to the parallel port and one motor quit working, the 4th axis on the g540 (which is my second X motor, see image). Using an oscilloscope, I can see step/direction for the parallel port pins 2,3 (x) 4,5 (y) and 6,7 (z) when I use the arrow keys. Pins 8,9 have nothing when I use the arrow keys for x. I  figured I had blown up the parallel port, but somehow just those two pins.

Bought a PCI parallel card, changed stepconf to use that card instead of the MB parallel port. Same deal, I can move the X motor but the X2 motor doesn't do anything. I measured the new parallel port pins, same result. I can measure step/direction for pins 2-7, but pins 8 and 9 do nothing.

Somehow the signals on the 4th channel, pins 8-9, is not getting through. I think I have Stepconf set up right, it was a working machine before.

Help will be greatly appreciated!
Steve
 

Hey, i have a question about configuring a 6axis robot arm with lcnc, ive built myself a robot arm and im trying to control it via a puma560 simulation config, ive seen a youtube short of someone doing exactly that but he has no documentation on how he did it, im new to lcnc so i dont really know where to start with configuring physical pins, for context im using a rpi5 and want to use gpio pins for step/dir, ive got some tmc 5160t drivers to work and i get motion from them i just dont know how i would assign physical gpio pins to the already existing config Below ive linked the short where a robot arm is controlled by the puma560 config, if you stop at the right time you can see the tab name: youtube.com/shorts/js6OaVhUN2U?si=68d75rJqwbvCr9V0

tommylight wrote:

Is the void lock disabled?
Old info, but had this happen often on PlasmaC while it was still being developed, does require setting VAD at under 75% and disabling void lock.
Did not happen probably last two years.
-
Also does absolutely require monitoring the voltage, as it can be caused by the plasma source dropping the voltage due to heat or mains voltage going up (transformer plasma) or issues with current control (inverter plasma).

Thanks Tommy. We had not discounted plasma voltage changes and had some ideas to check if that is it.

Stahlwerk
www.stahlwerk-schweissgeraete.de/Plasmaschneider-CUT
Good quality and cheaper than china, vertical machine torch is 40E in Germany, with 5 meter cable is 90E, bought both.
Mind the pilot arc, there are some without it so do not get those, it is easy just look for a red knob on the bottom front and usually it is written in spec info.

Is the void lock disabled?
Old info, but had this happen often on PlasmaC while it was still being developed, does require setting VAD at under 75% and disabling void lock.
Did not happen probably last two years.
-
Also does absolutely require monitoring the voltage, as it can be caused by the plasma source dropping the voltage due to heat or mains voltage going up (transformer plasma) or issues with current control (inverter plasma).

Hm, the issue is that I only have a 12 slot tool rack. I machine wood and metal and have my tool library imported into fusion as well. This means I will be switching tools in and out the tool rack as I need, so it would be great to use the assigned pocket numbers.

Nevertheless for someone not needing to change the tools frequently (or is more flexible in tool numbering) that is a good idea!

You can use tool numbers instead, pocket numbers have to be the same as tool numbers for non random toolchangers

Hello Klopp an ProG.

I'm also in the same situation to retrofit a Weiler 160 CNC. I'm very interested in the LCNC config files and also the classicladder for the turret. Can you help me with these files?

Marc

Hi Chris,
I think this completes this:
You can see another build like ours with the hand adjuster on the top slide and the Kipps handle on the quill clamping assembly
Cheers,
David

If you got an xml file from the manufacturer it is most likely an ESI file. Linuxcnc doesn't use that.
Linuxcnc reads out all necessary info from the drive itself. You can see most of that info yourself with the commands
You do need to connect pdos to hal pins and that is (mostly) what you do in the linuxcnc ethercat-conf.xml file.
A good starting point for that is often the output from the "lcec_configgen" command.
Which happens to use the three commands above and rearranges that info into a workable ethercat-conf.xml that you can then modify if needed and you don't like the naming etc.

I wonder how one can describe the configuration of a linuxcnc ethercat system. There isn't any stepconf or pncconf and it isn't realistic to create one due to the large variety and number of devices. I hope to get proven wrong there.
Starting point is a linuxcnc config from the linuxcnc simulator examples and then substitute pins.
lcec and ethercat-conf.xml, how to create the ethercat-conf.xml
Special on Cia402 drives
Modifications to hal