help with ethercat and omron drives

Sooo, back at my ethercat fun and I think I've made progress, but I'm stuck.

I've gone right to the basics and am just using halshow to poke the drives.
I made a super basic xml file following some other examples on here.

So, following this:
EtherCAT: How to use the dedicated OmrG5 lcec driver? - LinuxCNC $ ethercat slaves shows me my 3 drives just fine
$ ethercat upload -p 0 -t int32 0x6064 0x0 shows me position just fine
$ ethercat safeop doesn't work and returns error 90 because the default sync0Cycle is wrong. This seems expected.

My xml is:

<masters>
<master idx="0" appTimePeriod="1000000" refClockSyncCycles="1">
<slave idx="0" type="generic" vid="#00000083" pid="#00000006">
<dcConf assignActivate="300" sync0Cycle="*1" sync0Shift="0"/>
<watchdog divider="2498" intervals="1000"/>
</slave>
</master>
</masters>(using the generic driver here cause the omron one was saying no drive found)


then we do this in halshow:
loadrt threads name1=master period1=1000000
loadusr -W lcec_conf linuxcnc/configs/ecat-test.xml
loadrt lcec
addf lcec.read-all master
addf lcec.write-all master
start

All works, except after we get to start, the drives show error 83, and if you look at the pins, its actually cycling through preop, safeop, inti, op, error every so many ms.

So what have I done wrong here, or what do I need to add? The are many gaps in the information and steps people provide so I expect there's just something missing I don't know about.

Thanks!

From that Omron thread, it looks like Arvidb got it working, so can you try with the ecat-conf.xml? It's the same xml that Arvidb used, but I have changed to what I think it the right model, based on the product code 6 you use.

Yeah that didn't work. I found a different xml with more "stuff" (pdo, etc) and it has put me in OP mode. even though I don't see any actual difference.

But its progress!

well now all 3 drives are in op mode with no errors showing.

... now what do i do? haha

Use it?
Use the hal file from here as starting point to get the servos going.
github.com/dbraun1981/hal-cia402/tree/main/example
 

Hehe that was a joke. Although right now the machine is stuck on estop and I'm not sure why. I'm sure it will be something dumb.

I just came from a fight with e-stop in a new config with qtdragon, and I didn't win. I'm quite sure I don't have the answers.

If you have a working config, one option is to replace the hal file in that one. Idea is that it overall worked before so it should overall work now.
Another way is to start with the simplest axis interface config from linuxcnc examples, replace the sim* hal files with the cia402.hal file.
 

I have no working config.
ill figure it out after lunch.

Estop fixed, my mistake.
But as soon as i enable, the servos howl like mad, even though i had just tuned them perfectly. Hmmmmmm.

Check and lower the P value in the ini.