(Freelancer) Linux CNC + EtherCat + RPi 4 Setup

i think all u32 ,

if you don't need them in lcnc, you can remove halpin and haltype from the line.

Hi db1981
Thank you very much, now  the stepper are enabled. I entered Error Code, Touch probe etc as suggested and it works.

Now I get the following warning.

 

what is the actual revision of the hal file?

If the joint pins are all still commented out, this errors are all normal

Here are config files

 
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files looking ok.

is this error only on joint2 , do the other axis move?

One Idea, mode_of_ op is missing. This pin is not provided by your drives config.
Please check the value of the pin opmode_display in halshow.

Yes! is only joint2

27  s32   OUT             8  lcec.0.4.opmode-display ==> x-opmode-display
27  s32   OUT             8  lcec.0.5.opmode-display ==> x-opmode-display
27  s32   OUT             0  lcec.0.6.opmode-display ==> z-opmode-display

as you can see, the drive for z (joint 2) is not working correct. The Value should be 8= CSP Mode too.

Change the CAT cabling to get this drive to another position in the chain and look if the op-mode display moves with the drive or not.
If it moves, the bug is related to the drive himself, if not the config is buggy.