Ver 2.9.4 iso clean install Trouble when disabling EOE

I attached dmesg file which is
refClockSyncCycles="-1" version.

(PS)
I have to add this info.
I tested multiple times this refClockSyncCycles="-1"  version.

sometimes (33%?) , No alarm , and I could Power on (servo on) and jog moving.

But sometimes ( 66%?) I can't control servo motor at all from the begining after execute LinuxCNC.
In this case, CiA402 status=0000.  if I pull off and push in  (reconnect physically) EtherCAT cable several times, sometimes get correct status,
and after that I can control servo. ( not all the times )




 

It looks like you are still running the old version of ethercat master.
I look at this message in syslog This means the EoE code is still active in the ethercat master.
When EoE is removed from the master, all messaged with EoE will disappear.

Make sure to remove the debian/apt installed version of the ethercat master Then re-compile and re-install the new version of ethercat master.
Also, the configure statement I told you was wrong (sorry about that), it should be and continue to install according to INSTALL.md.

When you have the ethercat master up and running again, check the syslog. There should be no EOE mentioned.
This must work, it is all dependent on that EoE is removed.

Thank you so much.
I tried multiple times, but I get the same result.

I installed ethercat-master using "linuxcnc-ethercat" package (that include some packages ) . and that may caused some issue for replacing ethercat master.

Do I need to install some packages separately, step by step ?
Unfortunatelly, I'm not familier to do this and I could not find proper procedures so far.

Do you know some web links or somethings to instruct this procedures to do this?

It can be that linuxcnc-ethercat disturbs the process. It must be removed too.
I think this way is the best after all. The other way with changing a bit in the eeprom is even more complicated with ned tools.

I went through the disabling of EoE on a development system I have. Here is the list of commands At this point you should be able to start linuxcnc.
Check syslog for EoE appearances.
Take it step by step.
 

For Yaskawa Sigma7 the issue with lcec (linuxcnc-ethercat) software component is not only EOE being enabled in the drive.

It also has something to do with modes LRD/LWR and LRW. In the sigma7, the PDOs in the syncMasters are not read-write, i.e., LRW mode is not supported by sigma7. To work with sigma7, you need to enable 2 domains in the lcec program. I am not sure how to do that yet.

This issue is documented in these forum threads:
forum.linuxcnc.org/ethercat/50245-yasikawa-sigma7-lcec-driver
forum.linuxcnc.org/ethercat/48110-etherc...-responding?start=40

I have tried using this program from github.com/nylon7 and fdarling (on the yaskawa thread in the linuxcnc forum) and have seen some success in enabling the sigma7 motor and moving it and reading the absolute position register over ethercat.

github.com/nylon7/Igh-Ethercat-master/bl...ples/user/main_yas.c

For doing this, I am using the IGH Ethercat master 1.6-stable with EOE disabled as documented by Hakan.

I think we need to make some changes in lcec to enable the use of two domains.

-automata

So, there is a much bigger issue with lcec supporting LWR and Yaskawa drives requiring LRD/LRW.

I followed some of your links and while there is some success, there are also very pessimistic opinions
on rewriting of lcec_main. Maybe it is possible to take some of the success and shoehorn it into something?

 It seems user fdarling has got yaskawa drives working with ethercat and lcec based on this response on the original sittner/linuxcnc-ethercat repo.

github.com/sittner/linuxcnc-ethercat/issues/121

Based on the original suggestions in github.com/nylon7/Igh-Ethercat-master/bl...ples/user/main_yas.c, I also have gotten yaskawa drives to work with linuxcnc without using lcec.
I have attached the program to this mail. 
The next step is to make a separate yaskawa driver in lcec like delta ASDA or omron drives to service yaskawa sigma7 drives.

-automata 

Thank you so much, Mr.Hakan.

I installed "go" package and then everything seems to be successful.

I appreciate your kindness.

I will try to connec YASKAWA Servo tomorrow.

Good. EoE has to go.

But you see automata's posts here? Do not be surprised if it still does not work.
Thankfully, automata has kindly posted the solution here.
Please report back how it goes and if there are problems with lcec
I hope automata will guide you to use his solution.

Thank you so much.

Result:
A12 Servo driver alarm has vanished.
I could "ServoOn", "Jog move". without any error in Servo Driver LED.

Buf I got this  message "Failed to get reference clock time: Input / Output error"  many times. (screenshot)

I attached dmesg log.

But you see automata's posts here? Do not be surprised if it still does not work.
Thankfully, automata has kindly posted the solution here.
Please report back how it goes and if there are problems with lcec
I hope automata will guide you to use his solution.
 

Thanks, I will report back as much as I can for a while.  ( I'm borrowing Yaskawa-Sigma-X motors for just a few weeks)

But I'm not familier about EtherCAT master, I'm not sure what to do next, so please guide me, everyone 

And I'd like to summerize procedures what I have done with your great help to get Yaskawa worked with LinuxCNC for those who are not so familier with EtherCAT master in detail like me.