EtherCAT config: one Slave supports 3 modules (motors)

Hello,
I have servo drive from Tsino-Dynatron which has strange design:
- One Drive has built-in 2 Slaves
- One Slave has 3 modules which drive 3 motors
I attach file of esi from manufacturer and export from "ethercat xml" command.

I did xml too, but do not know how to command to motor-2 and motor-3 of slave-1
I checked lcec_conf data type, there is no "module" or "device" type, so how to address module-2, module-3 ?

Any idea ? Thank you.
 
 
 

So, "slave" has a fairly specific meaning in EtherCAT -- it's basically just an EtherCAT device that isn't the master device that's in charge of timing for the bus.

In this specific case, it looks like it's just a 3-axis CiA 402 device. The first axis uses objects in the 0x60XX address range, the second is at 0x68XX, then 0x70XX.

You can either take a single-axis CiA 402 XML file and duplicate things, or you can give the new-ish basic_cia402 driver a spin. Out of curiosity, what happens if you run lcec_configgen on the box? It should spit out a mostly-working config file and you can cut-and-paste into LinuxCNC's config, but I don't think I've ever seen a 3-axis CiA 402 device before. I have 1, 2, and 6 axis devices here, though, so 3 should probably work .

Thanks Scottlaird,
Please receive xml file exported from lcec_configgen command.
I do not think I can use content from this file
 
I have idea to use modules in one CiA402 as this file
I am not sure it is the best optimization, please advise.
 
In other hand, can you share your xml of 2 and 6 axis device ?.
Thank you.

1600-1603 1A00-1A03

I can share mine, but you won't find them to be particularly useful, and I ended up writing drivers for everything, so the configs are tiny:

github.com/linuxcnc-ethercat/linuxcnc-et...test1/cia402-all.xml

Other than the very first <master> line, the lcec_configgen output is probably fine. There's a high chance that it turns on too many features and your device will run out of usable PDO entries and reject it, but that's easy enough to fix by deleting unneeded "enable" lines. I should probably update the tool to make most of them optional rather than on by default if they're autodetected.

Give it a quick try and see what LinuxCNC says?