Help with Delta E3 Ethercat drives - hal and ethercat-conf.xml

cnc@CNC:~$ ethercat slaves 0  0:0  PREOP  +  0x000001dd:0x10306081 cnc@CNC:~$

cnc@CNC:~$ ethercat master Master0   Phase: Idle   Active: no   Slaves: 1   Ethernet devices:     Main: 84:47:09:4b:f6:48 (attached)       Link: UP       Tx frames:   495013       Tx bytes:    29781420       Rx frames:   495012       Rx bytes:    29781360       Tx errors:   0       Tx frame rate [1/s]:    120    122    121       Tx rate [KByte/s]:      7.0    7.1    7.1       Rx frame rate [1/s]:    120    122    121       Rx rate [KByte/s]:      7.0    7.1    7.1     Common:       Tx frames:   675263       Tx bytes:    40660804       Rx frames:   675254       Rx bytes:    40660264       Lost frames: 9       Tx frame rate [1/s]:    120    122    121       Tx rate [KByte/s]:      7.0    7.1    7.1       Rx frame rate [1/s]:    120    122    121       Rx rate [KByte/s]:      7.0    7.1    7.1       Loss rate [1/s]:          0      0      0       Frame loss [%]:         0.0    0.0    0.0   Distributed clocks:     Reference clock:   Slave 0     DC reference time: 0     Application time:  0                        2000-01-01 00:00:00.000000000 cnc@CNC:~$

Error report created by /usr/lib/tcltk/linuxcnc/show_errors.tcl: Print file information: RUN_IN_PLACE=no LINUXCNC_DIR= LINUXCNC_BIN_DIR=/usr/bin LINUXCNC_TCL_DIR=/usr/lib/tcltk/linuxcnc LINUXCNC_SCRIPT_DIR= LINUXCNC_RTLIB_DIR=/usr/lib/linuxcnc/modules LINUXCNC_CONFIG_DIR= LINUXCNC_LANG_DIR=/usr/lib/tcltk/linuxcnc/msgs INIVAR=inivar HALCMD=halcmd LINUXCNC_EMCSH=/usr/bin/wish8.6 LINUXCNC - 2.9.4 Machine configuration directory is '/home/cnc/linuxcnc/configs/sim.axis.gantry' Machine configuration file is 'gantry.ini' INIFILE=/home/cnc/linuxcnc/configs/sim.axis.gantry/gantry.ini VERSION=1.1 PARAMETER_FILE=sim.var TPMOD= HOMEMOD= TASK=milltask HALUI= DISPLAY=axis COORDINATES=XYZY KINEMATICS=trivkins coordinates=XYZY kinstype=BOTH Starting LinuxCNC... Starting LinuxCNC server program: linuxcncsvr Loading Real Time OS, RTAPI, and HAL_LIB modules Starting LinuxCNC IO program: io emc/iotask/ioControl.cc 786: can't load tool table. linuxcnc TPMOD=tpmod HOMEMOD=homemod EMCMOT=motmod Found file(REL): ./ethercat.hal Shutting down and cleaning up LinuxCNC... Removing HAL_LIB, RTAPI, and Real Time OS modules Removing NML shared memory segments Debug file information: Note: Using POSIX realtime Failed to execute SDO download: Input/output error LCEC: slave 0.0: Failed to execute SDO download (0x2000:0x00, size 2, byte0=112, error -5, abort_code 06010002) LCEC: failed to configure slave 0.0 sdo 2000:00 Failed to execute SDO download: Input/output error LCEC: slave 0.0: Failed to execute SDO download (0x2007:0x06, size 1, byte0=5, error -5, abort_code 06020000) LCEC: failed to configure slave 0.0 sdo 2007:06 Failed to execute SDO download: Input/output error LCEC: slave 0.0: Failed to execute SDO download (0x2007:0x05, size 1, byte0=5, error -5, abort_code 06020000) LCEC: failed to configure slave 0.0 sdo 2007:05 Failed to execute SDO download: Invalid argument LCEC: slave 0.1: Failed to execute SDO download (0x2000:0x00, size 2, byte0=112, error -22, abort_code f67e76d4) LCEC: failed to configure slave 0.1 sdo 2000:00 Failed to execute SDO download: Invalid argument LCEC: slave 0.1: Failed to execute SDO download (0x2007:0x06, size 1, byte0=5, error -22, abort_code f67e76d4) LCEC: failed to configure slave 0.1 sdo 2007:06 Failed to execute SDO download: Invalid argument LCEC: slave 0.1: Failed to execute SDO download (0x2011:0x00, size 2, byte0=1, error -22, abort_code f67e76d4) LCEC: failed to configure slave 0.1 sdo 2011:00 Failed to execute SDO download: Invalid argument LCEC: slave 0.2: Failed to execute SDO download (0x2000:0x00, size 2, byte0=88, error -22, abort_code f67e76d4) LCEC: failed to configure slave 0.2 sdo 2000:00 Failed to execute SDO download: Invalid argument LCEC: slave 0.2: Failed to execute SDO download (0x2007:0x06, size 1, byte0=5, error -22, abort_code f67e76d4) LCEC: failed to configure slave 0.2 sdo 2007:06 Failed to execute SDO download: Invalid argument LCEC: slave 0.2: Failed to execute SDO download (0x2011:0x00, size 2, byte0=0, error -22, abort_code f67e76d4) LCEC: failed to configure slave 0.2 sdo 2011:00 Failed to register PDO entry: No such file or directory LCEC: master 0 PDO entry registration failed LCEC: failure, clearing config LCEC: exiting LCEC: returning -EINVAL lcec: rtapi_app_main: Invalid argument (-22) ./ethercat.hal:2: waitpid failed /usr/bin/rtapi_app lcec ./ethercat.hal:2: /usr/bin/rtapi_app exited without becoming ready ./ethercat.hal:2: insmod for lcec failed, returned -1 12547 Stopping realtime threads Unloading hal components Note: Using POSIX realtime ----------------------------------------------------------------------- Info report created by linuxcnc_info: The file:    /tmp/linuxcnc_info.txt can be posted to a forum or a web site like:      http://pastebin.com in order to provide information about the linuxcnc system and configuration.                 Date: Thu 23 Oct 2025 12:29:51 AEDT             UTC Date: Thu 23 Oct 2025 01:29:51 UTC         this program: /usr/bin/linuxcnc_info               uptime: 12:29:51 up 1:27, 1 user, load average: 4.59, 4.92, 4.60      lsb_release -sa: Debian Debian GNU/Linux 12 (bookworm) 12 bookworm             linuxcnc: /usr/bin/linuxcnc                  pwd: /home/cnc/linuxcnc/configs/sim.axis.gantry                 USER: cnc              LOGNAME: cnc                 HOME: /home/cnc               EDITOR:               VISUAL:             LANGUAGE: en_AU:en                 TERM: dumb            COLORTERM:              DISPLAY: :0.0              DESKTOP: lightdm-xsession         display size: 1920x1080 pixels (508x285 millimeters)                 PATH: /usr/bin:/home/cnc/linuxcnc/configs/sim.axis.gantry/bin:/usr/bin:/usr/local/bin:/usr/bin:/bin:/usr/local/games:/usr/games uname items:          nodename -n: CNC       kernel-name -s: Linux       kernel-vers -v: #1 SMP PREEMPT_RT Debian 6.1.124-1 (2025-01-12)           machine -m: x86_64         processor -p: unknown          platform -i: unknown       oper system -o: GNU/Linux /proc items:              cmdline: BOOT_IMAGE=/boot/vmlinuz-6.1.0-30-rt-amd64 root=UUID=0f3a6e83-8d9a-4590-a5d4-e505f6df4f87 ro quiet           model name: AMD Ryzen 7 5825U with Radeon Graphics                cores: 8              cpu MHz: 3594.461              parport:               serial: Versions:                  gcc: gcc (Debian 12.2.0-14) 12.2.0               python: Python 3.11.2                  git: git version 2.39.5           git commit: NA                  tcl: 8.6                   tk: 8.6                glade: not_in_PATH linuxcnc_var all:      LINUXCNCVERSION: 2.9.4 LINUXCNC_AUX_GLADEVCP: /usr/share/linuxcnc/aux_gladevcp LINUXCNC_AUX_EXAMPLES: /usr/share/linuxcnc/aux_examples             REALTIME: /usr/lib/linuxcnc/realtime                  RTS: uspace           HALLIB_DIR: /usr/share/linuxcnc/hallib               PYTHON: /usr/bin/python3 dpkg -l '*linuxcnc*': Desired=Unknown/Install/Remove/Purge/Hold | Status=Not/Inst/Conf-files/Unpacked/halF-conf/Half-inst/trig-aWait/Trig-pend |/ Err?=(none)/Reinst-required (Status,Err: uppercase=bad) ||/ Name                Version           Architecture Description +++-===================-=================-============-===================================================================== un  linuxcnc            <none>            <none>       (no description available) un  linuxcnc-dev        <none>            <none>       (no description available) un  linuxcnc-doc        <none>            <none>       (no description available) ii  linuxcnc-doc-de     1:2.9.4           all          motion controller for CNC machines and robots (German documentation) ii  linuxcnc-doc-en     1:2.9.4           all          motion controller for CNC machines and robots (English documentation) ii  linuxcnc-doc-es     1:2.9.4           all          motion controller for CNC machines and robots (Spanish documentation) ii  linuxcnc-doc-fr     1:2.9.4           all          motion controller for CNC machines and robots (French documentation) ii  linuxcnc-ethercat   1.40.0.g8a607c0-0 amd64        LinuxCNC EtherCAT HAL driver un  linuxcnc-sim        <none>            <none>       (no description available) un  linuxcnc-sim-dev    <none>            <none>       (no description available) ii  linuxcnc-uspace     1:2.9.4           amd64        motion controller for CNC machines and robots ii  linuxcnc-uspace-dev 1:2.9.4           amd64        PC based motion controller for real-time Linux

Print file information: RUN_IN_PLACE=no LINUXCNC_DIR= LINUXCNC_BIN_DIR=/usr/bin LINUXCNC_TCL_DIR=/usr/lib/tcltk/linuxcnc LINUXCNC_SCRIPT_DIR= LINUXCNC_RTLIB_DIR=/usr/lib/linuxcnc/modules LINUXCNC_CONFIG_DIR= LINUXCNC_LANG_DIR=/usr/lib/tcltk/linuxcnc/msgs INIVAR=inivar HALCMD=halcmd LINUXCNC_EMCSH=/usr/bin/wish8.6 LINUXCNC - 2.9.4 Machine configuration directory is '/home/cnc/linuxcnc/configs/sim.axis.gantry' Machine configuration file is 'gantry.ini' INIFILE=/home/cnc/linuxcnc/configs/sim.axis.gantry/gantry.ini VERSION=1.1 PARAMETER_FILE=sim.var TPMOD= HOMEMOD= TASK=milltask HALUI= DISPLAY=axis COORDINATES=XYZY KINEMATICS=trivkins coordinates=XYZY kinstype=BOTH Starting LinuxCNC... Starting LinuxCNC server program: linuxcncsvr Loading Real Time OS, RTAPI, and HAL_LIB modules Starting LinuxCNC IO program: io emc/iotask/ioControl.cc 786: can't load tool table. linuxcnc TPMOD=tpmod HOMEMOD=homemod EMCMOT=motmod Found file(REL): ./ethercat.hal Shutting down and cleaning up LinuxCNC... Removing HAL_LIB, RTAPI, and Real Time OS modules Removing NML shared memory segments Debug file information: Note: Using POSIX realtime LCEC: slave 0.D1: FAILURE: FAILURE: more input PDO entries configured than your hardware supports. Axis 1 has 13 PDO entries, vs a configured limit of 8. You will need to edit your XML configuration and either remove some <modParam name="enable*"> entries or increase <modParam name="ciaTxPDOEntryLimit">. Check your CiA 402 slave's hardware manual to determine the correct limit. Enabled features that impact this limit are: - <modParam name="enableActualCurrent" value="true"> - <modParam name="enableActualFollowingError" value="true"> - <modParam name="enableActualTorque" value="true"> - <modParam name="enableErrorCode" value="true"> - <modParam name="enablePositionDemand" value="true"> - <modParam name="enableProbeStatus" value="true"> - <modParam name="enableTorqueDemand" value="true"> - <modParam name="enableVelocityDemand" value="true"> In addition, disabling unneeded CiA 402 modes may help, as some implicitly add additional PDO entries: - <modParam name="enablePP" value="true"> - <modParam name="enablePV" value="true"> - <modParam name="enableCSP" value="true"> - <modParam name="enableCSV" value="true"> - <modParam name="enableCST" value="true"> - <modParam name="enableHM" value="true"> - <modParam name="enableTQ" value="true"> HAL: ERROR: thread 'servo-thread' not found ./ethercat.hal:3: addf failed 17208 Stopping realtime threads Unloading hal components Note: Using POSIX realtime

<masters> <master idx="0"> <slave idx="0" type="basic_cia402" vid="0x000001dd" pid="0x10306081" name="D1"> <modParam name="ciaRxPDOEntryLimit" value="8"/> <modParam name="ciaTxPDOEntryLimit" value="8"/> <modParam name="enablePP" value="false"/> <modParam name="enablePV" value="false"/> <modParam name="enableTQ" value="false"/> <modParam name="enableHM" value="false"/> <modParam name="enableIP" value="disabled"/> <modParam name="enableCSP" value="true"/> <modParam name="enableCSV" value="false"/> <modParam name="enableCST" value="false"/> <modParam name="enableActualCurrent" value="false"/> <modParam name="enableActualFollowingError" value="true"/> <modParam name="enableActualTorque" value="true"/> <modParam name="enableDigitalInput" value="true"/> <modParam name="digitalInChannels" value="16"/> <modParam name="enableDigitalOutput" value="true"/> <modParam name="digitalOutChannels" value="16"/> <modParam name="enableErrorCode" value="true"/> <modParam name="enableFollowingErrorWindow" value="true"/> <modParam name="enableHomeAccel" value="true"/> <modParam name="enableInterpolationTimePeriod" value="false"/> <modParam name="enableMaximumAcceleration" value="true"/> <modParam name="enableMaximumDeceleration" value="true"/> <modParam name="enableMaximumMotorRPM" value="false"/> <modParam name="enableMaximumTorque" value="false"/> <modParam name="enableMotorRatedCurrent" value="false"/> <modParam name="enableMotorRatedTorque" value="false"/> <modParam name="enablePositionDemand" value="false"/> <modParam name="enablePositioningTime" value="false"/> <modParam name="enablePositioningWindow" value="false"/> <modParam name="enableProbeStatus" value="false"/> <modParam name="enableProfileAccel" value="false"/> <modParam name="enableProfileDecel" value="false"/> <modParam name="enableProfileMaxVelocity" value="false"/> <modParam name="enableProfileVelocity" value="false"/> <modParam name="enableTargetTorque" value="false"/> <modParam name="enableTorqueDemand" value="false"/> <modParam name="enableTorqueSlope" value="false"/> <modParam name="enableVelocityDemand" value="false"/> <modParam name="enableVelocityErrorTime" value="false"/> <modParam name="enableVelocityErrorWindow" value="false"/> <modParam name="enableVelocityThresholdWindow" value="false"/> </slave> </master> </masters>