-bash: halcnd: command not found cnc@EtherCatPi:~$ halcmd status HAL locking status: current lock value 0 (00) HAL_LOCK_NONE - nothing is locked HAL memory status used/total shared memory: 107184/1048576 active/recycled components: 20/1 active/recycled pins: 661/0 active/recycled parameters: 76/0 active/recycled aliases: 0/0 active/recycled signals: 37/0 active/recycled functions: 24/0 active/recycled threads: 1/0 cnc@EtherCatPi:~$ halcmd status HAL locking status: current lock value 0 (00) HAL_LOCK_NONE - nothing is locked HAL memory status used/total shared memory: 107184/1048576 active/recycled components: 20/1 active/recycled pins: 661/0 active/recycled parameters: 76/0 active/recycled aliases: 0/0 active/recycled signals: 37/0 active/recycled functions: 24/0 active/recycled threads: 1/0 cnc@EtherCatPi:~$ halcmd status HAL locking status: current lock value 0 (00) HAL_LOCK_NONE - nothing is locked HAL memory status used/total shared memory: 107184/1048576 active/recycled components: 20/1 active/recycled pins: 661/0 active/recycled parameters: 76/0 active/recycled aliases: 0/0 active/recycled signals: 37/0 active/recycled functions: 24/0 active/recycled threads: 1/0 cnc@EtherCatPi:~$ halcmd status HAL locking status: current lock value 0 (00) HAL_LOCK_NONE - nothing is locked HAL memory status used/total shared memory: 107184/1048576 active/recycled components: 20/1 active/recycled pins: 661/0 active/recycled parameters: 76/0 active/recycled aliases: 0/0 active/recycled signals: 37/0 active/recycled functions: 24/0 active/recycled threads: 1/0 cnc@EtherCatPi:~$ halcmd status HAL locking status: current lock value 0 (00) HAL_LOCK_NONE - nothing is locked HAL memory status used/total shared memory: 107184/1048576 active/recycled components: 20/1 active/recycled pins: 661/0 active/recycled parameters: 76/0 active/recycled aliases: 0/0 active/recycled signals: 37/0 active/recycled functions: 24/0 active/recycled threads: 1/0 cnc@EtherCatPi:~$ halcmd status HAL locking status: current lock value 0 (00) HAL_LOCK_NONE - nothing is locked HAL memory status used/total shared memory: 107184/1048576 active/recycled components: 20/1 active/recycled pins: 661/0 active/recycled parameters: 76/0 active/recycled aliases: 0/0 active/recycled signals: 37/0 active/recycled functions: 24/0 active/recycled threads: 1/0 cnc@EtherCatPi:~$ halcmd status HAL locking status: current lock value 0 (00) HAL_LOCK_NONE - nothing is locked HAL memory status used/total shared memory: 107184/1048576 active/recycled components: 20/1 active/recycled pins: 661/0 active/recycled parameters: 76/0 active/recycled aliases: 0/0 active/recycled signals: 37/0 active/recycled functions: 24/0 active/recycled threads: 1/0 cnc@EtherCatPi:~$ halcmd status HAL locking status: current lock value 0 (00) HAL_LOCK_NONE - nothing is locked HAL memory status used/total shared memory: 107184/1048576 active/recycled components: 20/1 active/recycled pins: 661/0 active/recycled parameters: 76/0 active/recycled aliases: 0/0 active/recycled signals: 37/0 active/recycled functions: 24/0 active/recycled threads: 1/0 cnc@EtherCatPi:~$ halcmd status HAL locking status: current lock value 0 (00) HAL_LOCK_NONE - nothing is locked HAL memory status used/total shared memory: 107184/1048576 active/recycled components: 20/1 active/recycled pins: 661/0 active/recycled parameters: 76/0 active/recycled aliases: 0/0 active/recycled signals: 37/0 active/recycled functions: 24/0 active/recycled threads: 1/0 cnc@EtherCatPi:~$ halcmd status HAL locking status: current lock value 0 (00) HAL_LOCK_NONE - nothing is locked HAL memory status used/total shared memory: 107184/1048576 active/recycled components: 20/1 active/recycled pins: 661/0 active/recycled parameters: 76/0 active/recycled aliases: 0/0 active/recycled signals: 37/0 active/recycled functions: 24/0 active/recycled threads: 1/0 cnc@EtherCatPi:~$ ethercat master Master0 Phase: Idle Active: no Slaves: 3 Ethernet devices: Main: e4:5f:01:3b:89:74 (attached) Link: UP Tx frames: 310075 Tx bytes: 19801152 Rx frames: 310074 Rx bytes: 19801092 Tx errors: 0 Tx frame rate [1/s]: 122 121 121 Tx rate [KByte/s]: 7.1 7.1 7.1 Rx frame rate [1/s]: 122 121 121 Rx rate [KByte/s]: 7.1 7.1 7.1 Common: Tx frames: 310075 Tx bytes: 19801152 Rx frames: 310074 Rx bytes: 19801092 Lost frames: 0 Tx frame rate [1/s]: 122 121 121 Tx rate [KByte/s]: 7.1 7.1 7.1 Rx frame rate [1/s]: 122 121 121 Rx rate [KByte/s]: 7.1 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@EtherCatPi:~$ ethercat start Unknown command start! Usage: ethercat [OPTIONS] [ARGUMENTS] Commands (can be abbreviated): alias Write alias addresses. config Show slave configurations. crc CRC error register diagnosis. cstruct Generate slave PDO information in C language. data Output binary domain process data. debug Set the master's debug level. domains Show configured domains. download Write an SDO entry to a slave. eoe Display Ethernet over EtherCAT statictics. foe_read Read a file from a slave via FoE. foe_write Store a file on a slave via FoE. graph Output the bus topology as a graph. ip Set EoE IP parameters. master Show master and Ethernet device information. pdos List Sync managers, PDO assignment and mapping. reg_read Output a slave's register contents. reg_write Write data to a slave's registers. rescan Rescan the bus. sdos List SDO dictionaries. sii_read Output a slave's SII contents. sii_write Write SII contents to a slave. slaves Display slaves on the bus. soe_read Read an SoE IDN from a slave. soe_write Write an SoE IDN to a slave. states Request application-layer states. upload Read an SDO entry from a slave. version Show version information. xml Generate slave information XML. Global options: --master -m Comma separated list of masters to select, ranges are allowed. Examples: '1,3', '5-7,9', '-3'. Default: '-' (all). --force -f Force a command. --quiet -q Output less information. --verbose -v Output more information. --help -h Show this help. Numerical values can be specified either with decimal (no prefix), octal (prefix '0') or hexadecimal (prefix '0x') base. Call 'ethercat --help' for command-specific help. Send bug reports to fp@igh.de. cnc@EtherCatPi:~$ ethercat master start 'master' takes no arguments! ethercat master [OPTIONS] Show master and Ethernet device information. Command-specific options: --master -m Master indices. A comma-separated list with ranges is supported. Example: 1,4,5,7-9. Default: - (all). Numerical values can be specified either with decimal (no prefix), octal (prefix '0') or hexadecimal (prefix '0x') base. cnc@EtherCatPi:~$ ethercat stop Unknown command stop! Usage: ethercat [OPTIONS] [ARGUMENTS] Commands (can be abbreviated): alias Write alias addresses. config Show slave configurations. crc CRC error register diagnosis. cstruct Generate slave PDO information in C language. data Output binary domain process data. debug Set the master's debug level. domains Show configured domains. download Write an SDO entry to a slave. eoe Display Ethernet over EtherCAT statictics. foe_read Read a file from a slave via FoE. foe_write Store a file on a slave via FoE. graph Output the bus topology as a graph. ip Set EoE IP parameters. master Show master and Ethernet device information. pdos List Sync managers, PDO assignment and mapping. reg_read Output a slave's register contents. reg_write Write data to a slave's registers. rescan Rescan the bus. sdos List SDO dictionaries. sii_read Output a slave's SII contents. sii_write Write SII contents to a slave. slaves Display slaves on the bus. soe_read Read an SoE IDN from a slave. soe_write Write an SoE IDN to a slave. states Request application-layer states. upload Read an SDO entry from a slave. version Show version information. xml Generate slave information XML. Global options: --master -m Comma separated list of masters to select, ranges are allowed. Examples: '1,3', '5-7,9', '-3'. Default: '-' (all). --force -f Force a command. --quiet -q Output less information. --verbose -v Output more information. --help -h Show this help. Numerical values can be specified either with decimal (no prefix), octal (prefix '0') or hexadecimal (prefix '0x') base. Call 'ethercat --help' for command-specific help. Send bug reports to fp@igh.de. cnc@EtherCatPi:~$ ethercat stop Unknown command stop! Usage: ethercat [OPTIONS] [ARGUMENTS] Commands (can be abbreviated): alias Write alias addresses. config Show slave configurations. crc CRC error register diagnosis. cstruct Generate slave PDO information in C language. data Output binary domain process data. debug Set the master's debug level. domains Show configured domains. download Write an SDO entry to a slave. eoe Display Ethernet over EtherCAT statictics. foe_read Read a file from a slave via FoE. foe_write Store a file on a slave via FoE. graph Output the bus topology as a graph. ip Set EoE IP parameters. master Show master and Ethernet device information. pdos List Sync managers, PDO assignment and mapping. reg_read Output a slave's register contents. reg_write Write data to a slave's registers. rescan Rescan the bus. sdos List SDO dictionaries. sii_read Output a slave's SII contents. sii_write Write SII contents to a slave. slaves Display slaves on the bus. soe_read Read an SoE IDN from a slave. soe_write Write an SoE IDN to a slave. states Request application-layer states. upload Read an SDO entry from a slave. version Show version information. xml Generate slave information XML. Global options: --master -m Comma separated list of masters to select, ranges are allowed. Examples: '1,3', '5-7,9', '-3'. Default: '-' (all). --force -f Force a command. --quiet -q Output less information. --verbose -v Output more information. --help -h Show this help. Numerical values can be specified either with decimal (no prefix), octal (prefix '0') or hexadecimal (prefix '0x') base. Call 'ethercat --help' for command-specific help. Send bug reports to fp@igh.de. cnc@EtherCatPi:~$ ethercat help Unknown command help! Usage: ethercat [OPTIONS] [ARGUMENTS] Commands (can be abbreviated): alias Write alias addresses. config Show slave configurations. crc CRC error register diagnosis. cstruct Generate slave PDO information in C language. data Output binary domain process data. debug Set the master's debug level. domains Show configured domains. download Write an SDO entry to a slave. eoe Display Ethernet over EtherCAT statictics. foe_read Read a file from a slave via FoE. foe_write Store a file on a slave via FoE. graph Output the bus topology as a graph. ip Set EoE IP parameters. master Show master and Ethernet device information. pdos List Sync managers, PDO assignment and mapping. reg_read Output a slave's register contents. reg_write Write data to a slave's registers. rescan Rescan the bus. sdos List SDO dictionaries. sii_read Output a slave's SII contents. sii_write Write SII contents to a slave. slaves Display slaves on the bus. soe_read Read an SoE IDN from a slave. soe_write Write an SoE IDN to a slave. states Request application-layer states. upload Read an SDO entry from a slave. version Show version information. xml Generate slave information XML. Global options: --master -m Comma separated list of masters to select, ranges are allowed. Examples: '1,3', '5-7,9', '-3'. Default: '-' (all). --force -f Force a command. --quiet -q Output less information. --verbose -v Output more information. --help -h Show this help. Numerical values can be specified either with decimal (no prefix), octal (prefix '0') or hexadecimal (prefix '0x') base. Call 'ethercat --help' for command-specific help. Send bug reports to fp@igh.de. cnc@EtherCatPi:~$ login as: cnc cnc@10.10.0.10's password: Access denied cnc@10.10.0.10's password: Debian GNU/Linux 12 (bookworm) 6.12.11 #1_RT Mon Jan 27 02:47:25 AEDT 2025 aarch64 Raspberry Pi 4 Model B Rev 1.4 ── DISK Filesystem Size Used Avail Use% Mounted on /dev/mmcblk0p2 58G 7.5G 49G 14% / /dev/mmcblk0p1 508M 97M 411M 20% /boot/broadcom ── NETWORK Hostname: EtherCatPi Wired: eth1 UP 10.10.0.10 ── SYSTEM Processor: Cortex-A72 @ 1800MHz 58°C Frequency: 1800MHz Online: 0-3 Governor: performance Memory: 3.7G 571M Entropy: 256 Uptime: 09:39:49 up 0 min, 1 user, load average: 1.59, 0.40, 0.13 Last login: Wed Feb 26 09:28:14 2025 from 10.10.0.1 cnc@EtherCatPi:~$ halcmd run :0: Unknown command 'run' cnc@EtherCatPi:~$ sudo halcmd run :0: Unknown command 'run' cnc@EtherCatPi:~$ halcmd stop cnc@EtherCatPi:~$ halcmd run :0: Unknown command 'run' cnc@EtherCatPi:~$ cnc@EtherCatPi:~$ cnc@EtherCatPi:~$ ethercat master Master0 Phase: Idle Active: no Slaves: 3 Ethernet devices: Main: e4:5f:01:3b:89:74 (attached) Link: UP Tx frames: 146192 Tx bytes: 9958068 Rx frames: 146191 Rx bytes: 9958008 Tx errors: 0 Tx frame rate [1/s]: 125 125 283 Tx rate [KByte/s]: 7.3 7.3 18.1 Rx frame rate [1/s]: 125 125 283 Rx rate [KByte/s]: 7.3 7.3 18.1 Common: Tx frames: 146192 Tx bytes: 9958068 Rx frames: 146191 Rx bytes: 9958008 Lost frames: 0 Tx frame rate [1/s]: 125 125 283 Tx rate [KByte/s]: 7.3 7.3 18.1 Rx frame rate [1/s]: 125 125 283 Rx rate [KByte/s]: 7.3 7.3 18.1 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@EtherCatPi:~$ ethercat master Master0 Phase: Idle Active: no Slaves: 3 Ethernet devices: Main: e4:5f:01:3b:89:74 (attached) Link: UP Tx frames: 148370 Tx bytes: 10088748 Rx frames: 148369 Rx bytes: 10088688 Tx errors: 0 Tx frame rate [1/s]: 125 125 242 Tx rate [KByte/s]: 7.3 7.3 15.3 Rx frame rate [1/s]: 125 125 242 Rx rate [KByte/s]: 7.3 7.3 15.3 Common: Tx frames: 148370 Tx bytes: 10088748 Rx frames: 148369 Rx bytes: 10088688 Lost frames: 0 Tx frame rate [1/s]: 125 125 242 Tx rate [KByte/s]: 7.3 7.3 15.3 Rx frame rate [1/s]: 125 125 242 Rx rate [KByte/s]: 7.3 7.3 15.3 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@EtherCatPi:~$ ethercat slaves 0 0:0 PREOP + 0x0000009a:0x00030924 1 0:1 PREOP + 0x0000009a:0x00030924 2 0:2 PREOP + 0x0000009a:0x00030924 cnc@EtherCatPi:~$ login as: cnc cnc@10.10.0.10's password: Debian GNU/Linux 12 (bookworm) 6.12.11 #1_RT Mon Jan 27 02:47:25 AEDT 2025 aarch64 Raspberry Pi 4 Model B Rev 1.4 ── DISK Filesystem Size Used Avail Use% Mounted on /dev/mmcblk0p2 58G 4.1G 52G 8% / /dev/mmcblk0p1 508M 97M 411M 20% /boot/broadcom ── NETWORK Hostname: PiEtherCAT Wired: eth1 UP 10.10.0.10 Wireless: wlan0 UP 10.10.206.94 ── SYSTEM Processor: Cortex-A72 @ 1800MHz 54°C Frequency: 1800MHz Online: 0-3 Governor: performance Memory: 7.6G 619M Entropy: 256 Uptime: 10:03:08 up 17 min, 1 user, load average: 0.08, 0.11, 0.14 cnc@PiEtherCAT:~$ ethercat slaves -v === Master 0, Slave 0 === Device: Main State: PREOP Flag: + Identity: Vendor Id: 0x0000009a Product code: 0x00030924 Revision number: 0x00010420 Serial number: 0x01354c2a DL information: FMMU bit operation: no Distributed clocks: yes, 64 bit DC system time transmission delay: 0 ns Port Type Link Loop Signal NextSlave RxTime [ns] Diff [ns] NextDc [ns] 0 MII up open yes - 3116464010 0 0 1 MII up open yes 1 3116466290 2280 560 2 N/A down closed no - - - - 3 N/A down closed no - - - - Mailboxes: Bootstrap RX: 0x1800/140, TX: 0x1900/140 Standard RX: 0x1800/140, TX: 0x1900/140 Supported protocols: EoE, CoE, FoE General: Group: Image name: Order number: Device name: CoE details: Enable SDO: yes Enable SDO Info: yes Enable PDO Assign: yes Enable PDO Configuration: yes Enable Upload at startup: yes Enable SDO complete access: yes Flags: Enable SafeOp: no Enable notLRW: no Current consumption: 0 mA === Master 0, Slave 1 === Device: Main State: PREOP Flag: + Identity: Vendor Id: 0x0000009a Product code: 0x00030924 Revision number: 0x00010420 Serial number: 0x01354c28 DL information: FMMU bit operation: no Distributed clocks: yes, 64 bit DC system time transmission delay: 560 ns Port Type Link Loop Signal NextSlave RxTime [ns] Diff [ns] NextDc [ns] 0 MII up open yes 0 3126255810 0 560 1 MII up open yes 2 3126256970 1160 580 2 N/A down closed no - - - - 3 N/A down closed no - - - - Mailboxes: Bootstrap RX: 0x1800/140, TX: 0x1900/140 Standard RX: 0x1800/140, TX: 0x1900/140 Supported protocols: EoE, CoE, FoE General: Group: Image name: Order number: Device name: CoE details: Enable SDO: yes Enable SDO Info: yes Enable PDO Assign: yes Enable PDO Configuration: yes Enable Upload at startup: yes Enable SDO complete access: yes Flags: Enable SafeOp: no Enable notLRW: no Current consumption: 0 mA === Master 0, Slave 2 === Device: Main State: PREOP Flag: + Identity: Vendor Id: 0x0000009a Product code: 0x00030924 Revision number: 0x00010420 Serial number: 0x01354c29 DL information: FMMU bit operation: no Distributed clocks: yes, 64 bit DC system time transmission delay: 1140 ns Port Type Link Loop Signal NextSlave RxTime [ns] Diff [ns] NextDc [ns] 0 MII up open yes 1 3100947490 0 580 1 MII down closed no - - - - 2 N/A down closed no - - - - 3 N/A down closed no - - - - Mailboxes: Bootstrap RX: 0x1800/140, TX: 0x1900/140 Standard RX: 0x1800/140, TX: 0x1900/140 Supported protocols: EoE, CoE, FoE General: Group: Image name: Order number: Device name: CoE details: Enable SDO: yes Enable SDO Info: yes Enable PDO Assign: yes Enable PDO Configuration: yes Enable Upload at startup: yes Enable SDO complete access: yes Flags: Enable SafeOp: no Enable notLRW: no Current consumption: 0 mA cnc@PiEtherCAT:~$ 0x0000009a 0x00030924 -bash: 0x0000009a: command not found -bash: 0x00030924: command not found cnc@PiEtherCAT:~$ lcec -bash: lcec: command not found cnc@PiEtherCAT:~$ lcec_configgen cnc@PiEtherCAT:~$ lcec_configgen cnc@PiEtherCAT:~$ cnc@PiEtherCAT:~$ halcmd loadusr -W lcec_conf ethercat-conf.xml lcec_conf: ERROR: unable to open config file ethercat-conf.xml :0: waitpid failed lcec_conf lcec_conf :0: lcec_conf exited without becoming ready cnc@PiEtherCAT:~$ cd linuxcnc/ configs/ nc_files/ cnc@PiEtherCAT:~$ cd linuxcnc/configs/ linuxcnc-cia402/ sim.axis/ cnc@PiEtherCAT:~$ cd linuxcnc/configs/linuxcnc-cia402/ .git/ cia402.hal ethercat-conf.xml.bak Ethercat Installation instructions.txt cia402.ini shutdown.hal LICENSE ethercat-conf-diewu.xml README.md ethercat-conf.xml cnc@PiEtherCAT:~$ cd linuxcnc/configs/linuxcnc-cia402/ cnc@PiEtherCAT:~/linuxcnc/configs/linuxcnc-cia402$ halcmd loadusr -W lcec_conf ethercat-conf.xml lcec_conf: ERROR: Invalid pdoEntry halType BLANK lcec_conf: ERROR: Parse error at line 8: parsing aborted :0: waitpid failed lcec_conf lcec_conf :0: lcec_conf exited without becoming ready cnc@PiEtherCAT:~/linuxcnc/configs/linuxcnc-cia402$ ls 'Ethercat Installation instructions.txt' README.md cia402.ini ethercat-conf.xml shutdown.hal LICENSE cia402.hal ethercat-conf-diewu.xml ethercat-conf.xml.bak cnc@PiEtherCAT:~/linuxcnc/configs/linuxcnc-cia402$ halcmd loadusr -W lcec_conf ethercat-conf.xml cnc@PiEtherCAT:~/linuxcnc/configs/linuxcnc-cia402$ halcmd show pin lcec Component Pins: Owner Type Dir Value Name 4 u32 OUT 0x00000001 lcec.conf.master-count 4 u32 OUT 0x00000004 lcec.conf.slave-count cnc@PiEtherCAT:~/linuxcnc/configs/linuxcnc-cia402$ halcmd loadusr -W lcec_conf ethercat-conf.xml lcec_conf: ERROR: Invalid pdoEntry halType BLANK lcec_conf: ERROR: Parse error at line 8: parsing aborted :0: waitpid failed lcec_conf lcec_conf :0: lcec_conf exited without becoming ready cnc@PiEtherCAT:~/linuxcnc/configs/linuxcnc-cia402$ halcmd loadusr -W lcec_conf ethercat-conf.xml lcec_conf: ERROR: Invalid pdoEntry halType BLANK lcec_conf: ERROR: Parse error at line 79: parsing aborted :0: waitpid failed lcec_conf lcec_conf :0: lcec_conf exited without becoming ready cnc@PiEtherCAT:~/linuxcnc/configs/linuxcnc-cia402$ cnc@PiEtherCAT:~/linuxcnc/configs/linuxcnc-cia402$ cnc@PiEtherCAT:~/linuxcnc/configs/linuxcnc-cia402$ cnc@PiEtherCAT:~/linuxcnc/configs/linuxcnc-cia402$ cnc@PiEtherCAT:~/linuxcnc/configs/linuxcnc-cia402$ halcmd loadusr -W lcec_conf ethercat-conf.xml cnc@PiEtherCAT:~/linuxcnc/configs/linuxcnc-cia402$ halcmd loadusr -W lcec_conf ethercat-conf.xml cnc@PiEtherCAT:~/linuxcnc/configs/linuxcnc-cia402$ Broadcast message from root@PiEtherCAT on pts/3 (Thu 2025-02-27 10:45:50 AEDT): The system will reboot now! login as: cnc cnc@10.10.0.10's password: Debian GNU/Linux 12 (bookworm) 6.12.11 #1_RT Mon Jan 27 02:47:25 AEDT 2025 aarch64 Raspberry Pi 4 Model B Rev 1.4 ── DISK Filesystem Size Used Avail Use% Mounted on /dev/mmcblk0p2 58G 4.1G 52G 8% / /dev/mmcblk0p1 508M 97M 411M 20% /boot/broadcom ── NETWORK Hostname: PiEtherCAT Wired: eth1 UP 10.10.0.10 ── SYSTEM Processor: Cortex-A72 @ 1800MHz 54°C Frequency: 1800MHz Online: 0-3 Governor: performance Memory: 7.6G 629M Entropy: 256 Uptime: 10:47:27 up 1 min, 1 user, load average: 1.46, 0.62, 0.23 Last login: Thu Feb 27 10:03:08 2025 from 10.10.0.1 cnc@PiEtherCAT:~$ cd linuxcnc cnc@PiEtherCAT:~/linuxcnc$ ls configs nc_files cnc@PiEtherCAT:~/linuxcnc$ cd configs/ linuxcnc-cia402/ sim.axis/ cnc@PiEtherCAT:~/linuxcnc$ cd configs/linuxcnc-cia402/ cnc@PiEtherCAT:~/linuxcnc/configs/linuxcnc-cia402$ ls 'Ethercat Installation instructions.txt' README.md cia402.ini ethercat-conf.xml shutdown.hal LICENSE cia402.hal ethercat-conf-diewu.xml ethercat-conf.xml.0 cnc@PiEtherCAT:~/linuxcnc/configs/linuxcnc-cia402$ halcmd loadrt lcec Note: Using POSIX realtime LCEC: lcec_conf is not loaded LCEC: exiting LCEC: returning -EINVAL lcec: rtapi_app_main: Invalid argument (-22) :0: waitpid failed /usr/bin/rtapi_app lcec :0: /usr/bin/rtapi_app exited without becoming ready :0: insmod for lcec failed, returned -1 cnc@PiEtherCAT:~/linuxcnc/configs/linuxcnc-cia402$ loadusr -W ./lcec_conf ethercat-conf.xml -bash: loadusr: command not found cnc@PiEtherCAT:~/linuxcnc/configs/linuxcnc-cia402$ halrun halcmd: loadusr -W ./lcec_conf ethercat-conf.xml :1: execv(./lcec_conf): No such file or directory :1: waitpid failed ./lcec_conf lcec_conf :1: ./lcec_conf exited without becoming ready halcmd: :1: execv(./lcec_conf): No such file or directory :2: Unknown command ':1:' halcmd: Broadcast message from cnc@PiEtherCAT (Thu 2025-02-27 11:01:14 AEDT): The system will power off now! login as: cnc cnc@10.10.0.10's password: Debian GNU/Linux 12 (bookworm) 6.12.11 #1_RT Mon Jan 27 02:47:25 AEDT 2025 aarch64 Raspberry Pi 4 Model B Rev 1.4 ── DISK Filesystem Size Used Avail Use% Mounted on /dev/mmcblk0p2 58G 4.1G 52G 8% / /dev/mmcblk0p1 508M 97M 411M 20% /boot/broadcom ── NETWORK Hostname: PiEtherCAT Wired: eth1 UP 10.10.0.10 Wireless: wlan0 UP 10.10.199.19 ── SYSTEM Processor: Cortex-A72 @ 1800MHz 42°C Frequency: 1800MHz Online: 0-3 Governor: performance Memory: 7.6G 356M Entropy: 256 Uptime: 00:54:12 up 6 min, 0 user, load average: 0.44, 0.37, 0.21 Last login: Thu Feb 27 10:47:27 2025 from 10.10.0.1 cnc@PiEtherCAT:~$ sudo reboot Broadcast message from root@PiEtherCAT on pts/1 (Fri 2025-02-28 00:54:15 AEDT): The system will reboot now! cnc@PiEtherCAT:~$ login as: cnc cnc@10.10.0.10's password: Debian GNU/Linux 12 (bookworm) 6.12.11 #1_RT Mon Jan 27 02:47:25 AEDT 2025 aarch64 Raspberry Pi 4 Model B Rev 1.4 ── DISK Filesystem Size Used Avail Use% Mounted on /dev/mmcblk0p2 58G 4.1G 52G 8% / /dev/mmcblk0p1 508M 97M 411M 20% /boot/broadcom ── NETWORK Hostname: PiEtherCAT Wired: eth1 UP 10.10.0.10 Wireless: wlan0 UP 10.10.206.94 ── SYSTEM Processor: Cortex-A72 @ 1800MHz 44°C Frequency: 1800MHz Online: 0-3 Governor: performance Memory: 7.6G 390M Entropy: 256 Uptime: 00:54:31 up 0 min, 0 user, load average: 0.54, 0.12, 0.04 Last login: Fri Feb 28 00:54:12 2025 from 10.10.0.1 cnc@PiEtherCAT:~$ login as: cnc cnc@10.10.0.10's password: Debian GNU/Linux 12 (bookworm) 6.12.11 #1_RT Mon Jan 27 02:47:25 AEDT 2025 aarch64 Raspberry Pi 4 Model B Rev 1.4 ── DISK Filesystem Size Used Avail Use% Mounted on /dev/mmcblk0p2 58G 4.1G 52G 8% / /dev/mmcblk0p1 508M 97M 411M 20% /boot/broadcom ── NETWORK Hostname: PiEtherCAT Wired: eth1 UP 10.10.0.10 Wireless: wlan0 UP 10.10.206.94 ── SYSTEM Processor: Cortex-A72 @ 1800MHz 51°C Frequency: 1800MHz Online: 0-3 Governor: performance Memory: 7.6G 765M Entropy: 256 Uptime: 01:34:52 up 40 min, 2 users, load average: 1.41, 0.45, 0.20 Last login: Fri Feb 28 00:54:31 2025 from 10.10.0.1 cnc@PiEtherCAT:~$ sudo reboot Broadcast message from root@PiEtherCAT on pts/3 (Fri 2025-02-28 01:34:56 AEDT): The system will reboot now! cnc@PiEtherCAT:~$ login as: cnc cnc@10.10.0.10's password: Debian GNU/Linux 12 (bookworm) 6.12.11 #1_RT Mon Jan 27 02:47:25 AEDT 2025 aarch64 Raspberry Pi 4 Model B Rev 1.4 ── DISK Filesystem Size Used Avail Use% Mounted on /dev/mmcblk0p2 58G 4.1G 52G 8% / /dev/mmcblk0p1 508M 97M 411M 20% /boot/broadcom ── NETWORK Hostname: PiEtherCAT Wired: eth1 UP 10.10.0.10 Wireless: wlan0 UP 10.10.206.94 ── SYSTEM Processor: Cortex-A72 @ 1800MHz 53°C Frequency: 1800MHz Online: 0-3 Governor: performance Memory: 7.6G 675M Entropy: 256 Uptime: 02:10:36 up 35 min, 1 user, load average: 0.25, 0.28, 0.19 Last login: Fri Feb 28 01:34:52 2025 from 10.10.0.1 cnc@PiEtherCAT:~$ cd linuxcnc/configs/ linuxcnc-cia402/ sim.axis/ cnc@PiEtherCAT:~$ cd linuxcnc/configs/linuxcnc-cia402/ cnc@PiEtherCAT:~/linuxcnc/configs/linuxcnc-cia402$ ls 'Ethercat Installation instructions.txt' README.md cia402.ini ethercat-conf.xml ethercat-conf_2025-02-26.xml LICENSE cia402.hal ethercat-conf-diewu.xml ethercat-conf.xml.0 shutdown.hal cnc@PiEtherCAT:~/linuxcnc/configs/linuxcnc-cia402$ chmof 777 cia402. cia402.hal cia402.ini cnc@PiEtherCAT:~/linuxcnc/configs/linuxcnc-cia402$ chmof 777 cia402.ini -bash: chmof: command not found cnc@PiEtherCAT:~/linuxcnc/configs/linuxcnc-cia402$ chmod 777 cia402.ini cnc@PiEtherCAT:~/linuxcnc/configs/linuxcnc-cia402$ chmod 777 cia402. cia402.hal cia402.ini cnc@PiEtherCAT:~/linuxcnc/configs/linuxcnc-cia402$ chmod 777 cia402.hal cnc@PiEtherCAT:~/linuxcnc/configs/linuxcnc-cia402$ chmod 777 ethercat-conf_2025-02-26.xml chmod: changing permissions of 'ethercat-conf_2025-02-26.xml': Operation not permitted cnc@PiEtherCAT:~/linuxcnc/configs/linuxcnc-cia402$ sudo chmod 777 ethercat-conf_2025-02-26.xml cnc@PiEtherCAT:~/linuxcnc/configs/linuxcnc-cia402$ lcec_configgen > usethis.xml cnc@PiEtherCAT:~/linuxcnc/configs/linuxcnc-cia402$ cat usethis.xml cnc@PiEtherCAT:~/linuxcnc/configs/linuxcnc-cia402$ login as: cnc cnc@10.10.0.10's password: Debian GNU/Linux 12 (bookworm) 6.12.11 #1_RT Mon Jan 27 02:47:25 AEDT 2025 aarch64 Raspberry Pi 4 Model B Rev 1.4 ── DISK Filesystem Size Used Avail Use% Mounted on /dev/mmcblk0p2 58G 4.1G 52G 8% / /dev/mmcblk0p1 508M 97M 411M 20% /boot/broadcom ── NETWORK Hostname: PiEtherCAT Wired: eth1 UP 10.10.0.10 Wireless: wlan0 UP 10.10.206.94 ── SYSTEM Processor: Cortex-A72 @ 1800MHz 54°C Frequency: 1800MHz Online: 0-3 Governor: performance Memory: 7.6G 683M Entropy: 256 Uptime: 04:16:13 up 2:40, 2 users, load average: 0.35, 0.17, 0.06 Last login: Fri Feb 28 02:10:36 2025 from 10.10.0.1 cnc@PiEtherCAT:~$ cnc@PiEtherCAT:~$ cnc@PiEtherCAT:~$ halcmd loadusr -W lcec_conf ethercat-conf.xml lcec_conf: ERROR: unable to open config file ethercat-conf.xml :0: waitpid failed lcec_conf lcec_conf :0: lcec_conf exited without becoming ready cnc@PiEtherCAT:~$ halcmd loadusr -W lcec_conf ~/linuxcncethercat-conf.xml linuxcnc/ linuxcnc_debug.txt linuxcnc_print.txt cnc@PiEtherCAT:~$ halcmd loadusr -W lcec_conf ~/linuxcnc/ethercat-conf.xml configs/ nc_files/ cnc@PiEtherCAT:~$ halcmd loadusr -W lcec_conf ~/linuxcnc/configs/linuxcnc-cia402/ethercat-conf.xml cnc@PiEtherCAT:~$ halcmd loadrt lcec Note: Using POSIX realtime Waiting for component 'lcec' to become ready............. cnc@PiEtherCAT:~$ show pin -bash: show: command not found cnc@PiEtherCAT:~$ halcmd show pin Component Pins: Owner Type Dir Value Name 20 bit OUT FALSE lcec.0.D1.slave-online 20 bit OUT FALSE lcec.0.D1.slave-oper 20 bit OUT FALSE lcec.0.D1.slave-state-init 20 bit OUT FALSE lcec.0.D1.slave-state-op 20 bit OUT FALSE lcec.0.D1.slave-state-preop 20 bit OUT FALSE lcec.0.D1.slave-state-safeop 20 s32 OUT 0 lcec.0.D1.srv-actual-current 20 u32 OUT 0x00000000 lcec.0.D1.srv-actual-following-error 20 s32 OUT 0 lcec.0.D1.srv-actual-position 20 s32 OUT 0 lcec.0.D1.srv-actual-torque 20 s32 OUT 0 lcec.0.D1.srv-actual-velocity 20 s32 OUT 0 lcec.0.D1.srv-actual-velocity-sensor 20 u32 OUT 0x00000000 lcec.0.D1.srv-actual-voltage 20 u32 IN 0x00000000 lcec.0.D1.srv-cia-controlword 20 u32 OUT 0x00000000 lcec.0.D1.srv-cia-statusword 20 s32 OUT 0 lcec.0.D1.srv-control-effort 20 bit OUT FALSE lcec.0.D1.srv-din-0 20 bit OUT FALSE lcec.0.D1.srv-din-0-not 20 bit OUT FALSE lcec.0.D1.srv-din-1 20 bit OUT FALSE lcec.0.D1.srv-din-1-not 20 bit OUT FALSE lcec.0.D1.srv-din-10 20 bit OUT FALSE lcec.0.D1.srv-din-10-not 20 bit OUT FALSE lcec.0.D1.srv-din-11 20 bit OUT FALSE lcec.0.D1.srv-din-11-not 20 bit OUT FALSE lcec.0.D1.srv-din-12 20 bit OUT FALSE lcec.0.D1.srv-din-12-not 20 bit OUT FALSE lcec.0.D1.srv-din-13 20 bit OUT FALSE lcec.0.D1.srv-din-13-not 20 bit OUT FALSE lcec.0.D1.srv-din-14 20 bit OUT FALSE lcec.0.D1.srv-din-14-not 20 bit OUT FALSE lcec.0.D1.srv-din-15 20 bit OUT FALSE lcec.0.D1.srv-din-15-not 20 bit OUT FALSE lcec.0.D1.srv-din-2 20 bit OUT FALSE lcec.0.D1.srv-din-2-not 20 bit OUT FALSE lcec.0.D1.srv-din-3 20 bit OUT FALSE lcec.0.D1.srv-din-3-not 20 bit OUT FALSE lcec.0.D1.srv-din-4 20 bit OUT FALSE lcec.0.D1.srv-din-4-not 20 bit OUT FALSE lcec.0.D1.srv-din-5 20 bit OUT FALSE lcec.0.D1.srv-din-5-not 20 bit OUT FALSE lcec.0.D1.srv-din-6 20 bit OUT FALSE lcec.0.D1.srv-din-6-not 20 bit OUT FALSE lcec.0.D1.srv-din-7 20 bit OUT FALSE lcec.0.D1.srv-din-7-not 20 bit OUT FALSE lcec.0.D1.srv-din-8 20 bit OUT FALSE lcec.0.D1.srv-din-8-not 20 bit OUT FALSE lcec.0.D1.srv-din-9 20 bit OUT FALSE lcec.0.D1.srv-din-9-not 20 bit OUT FALSE lcec.0.D1.srv-din-home 20 bit OUT FALSE lcec.0.D1.srv-din-home-not 20 bit OUT FALSE lcec.0.D1.srv-din-interlock 20 bit OUT FALSE lcec.0.D1.srv-din-interlock-not 20 bit OUT FALSE lcec.0.D1.srv-din-negative-limit 20 bit OUT FALSE lcec.0.D1.srv-din-negative-limit-not 20 bit OUT FALSE lcec.0.D1.srv-din-positive-limit 20 bit OUT FALSE lcec.0.D1.srv-din-positive-limit-not 20 bit IN FALSE lcec.0.D1.srv-dout-0 20 bit IN FALSE lcec.0.D1.srv-dout-1 20 bit IN FALSE lcec.0.D1.srv-dout-10 20 bit IN FALSE lcec.0.D1.srv-dout-11 20 bit IN FALSE lcec.0.D1.srv-dout-12 20 bit IN FALSE lcec.0.D1.srv-dout-13 20 bit IN FALSE lcec.0.D1.srv-dout-14 20 bit IN FALSE lcec.0.D1.srv-dout-15 20 bit IN FALSE lcec.0.D1.srv-dout-2 20 bit IN FALSE lcec.0.D1.srv-dout-3 20 bit IN FALSE lcec.0.D1.srv-dout-4 20 bit IN FALSE lcec.0.D1.srv-dout-5 20 bit IN FALSE lcec.0.D1.srv-dout-6 20 bit IN FALSE lcec.0.D1.srv-dout-7 20 bit IN FALSE lcec.0.D1.srv-dout-8 20 bit IN FALSE lcec.0.D1.srv-dout-9 20 bit IN FALSE lcec.0.D1.srv-dout-brake 20 u32 OUT 0x00000000 lcec.0.D1.srv-error-code 20 u32 IN 0x00000014 lcec.0.D1.srv-following-error-timeout 20 u32 IN 0x3B9ACA00 lcec.0.D1.srv-following-error-window 20 u32 IN 0x000F4240 lcec.0.D1.srv-home-accel 20 s32 IN 1 lcec.0.D1.srv-home-method 20 u32 IN 0x000003E8 lcec.0.D1.srv-home-velocity-fast 20 u32 IN 0x000003E8 lcec.0.D1.srv-home-velocity-slow 20 u32 IN 0x00000000 lcec.0.D1.srv-interpolation-time-period 20 u32 IN 0x00000001 lcec.0.D1.srv-maximum-acceleration 20 u32 IN 0x00000000 lcec.0.D1.srv-maximum-current 20 u32 IN 0x00000001 lcec.0.D1.srv-maximum-deceleration 20 u32 IN 0xFFFFFFFF lcec.0.D1.srv-maximum-motor-rpm 20 u32 IN 0x00001770 lcec.0.D1.srv-motor-rated-current 20 u32 IN 0x00001770 lcec.0.D1.srv-motor-rated-torque 20 s32 IN 0 lcec.0.D1.srv-opmode 20 s32 OUT 0 lcec.0.D1.srv-opmode-display 20 u32 IN 0x00000000 lcec.0.D1.srv-polarity 20 s32 OUT 0 lcec.0.D1.srv-position-demand 20 u32 IN 0x00000014 lcec.0.D1.srv-positioning-time 20 u32 IN 0x00000064 lcec.0.D1.srv-positioning-window 20 u32 OUT 0x00000000 lcec.0.D1.srv-probe-status 20 u32 IN 0x00000001 lcec.0.D1.srv-profile-accel 20 u32 IN 0x00000001 lcec.0.D1.srv-profile-decel 20 u32 IN 0x00000000 lcec.0.D1.srv-profile-end-velocity 20 u32 IN 0x0000D216 lcec.0.D1.srv-profile-max-velocity 20 u32 IN 0x00000000 lcec.0.D1.srv-profile-velocity 20 u32 OUT 0x000003ED lcec.0.D1.srv-supported-modes 20 bit OUT TRUE lcec.0.D1.srv-supports-mode-csp 20 bit OUT TRUE lcec.0.D1.srv-supports-mode-cst 20 bit OUT TRUE lcec.0.D1.srv-supports-mode-csv 20 bit OUT TRUE lcec.0.D1.srv-supports-mode-hm 20 bit OUT TRUE lcec.0.D1.srv-supports-mode-ip 20 bit OUT TRUE lcec.0.D1.srv-supports-mode-pp 20 bit OUT TRUE lcec.0.D1.srv-supports-mode-pv 20 bit OUT TRUE lcec.0.D1.srv-supports-mode-tq 20 bit OUT FALSE lcec.0.D1.srv-supports-mode-vl 20 s32 IN 0 lcec.0.D1.srv-target-position 20 s32 IN 0 lcec.0.D1.srv-target-torque 20 s32 IN 0 lcec.0.D1.srv-target-velocity 20 s32 OUT 0 lcec.0.D1.srv-torque-demand 20 u32 IN 0x00000000 lcec.0.D1.srv-torque-maximum 20 u32 IN 0x00000000 lcec.0.D1.srv-torque-slope 20 s32 OUT 0 lcec.0.D1.srv-velocity-demand 20 u32 IN 0x00000014 lcec.0.D1.srv-velocity-error-time 20 u32 IN 0x00000064 lcec.0.D1.srv-velocity-error-window 20 s32 IN 1 lcec.0.D1.srv-velocity-sensor-selector 20 u32 IN 0x00000014 lcec.0.D1.srv-velocity-threshold-time 20 u32 IN 0x00000064 lcec.0.D1.srv-velocity-threshold-window 20 bit OUT FALSE lcec.0.D2.slave-online 20 bit OUT FALSE lcec.0.D2.slave-oper 20 bit OUT FALSE lcec.0.D2.slave-state-init 20 bit OUT FALSE lcec.0.D2.slave-state-op 20 bit OUT FALSE lcec.0.D2.slave-state-preop 20 bit OUT FALSE lcec.0.D2.slave-state-safeop 20 s32 OUT 0 lcec.0.D2.srv-actual-current 20 u32 OUT 0x00000000 lcec.0.D2.srv-actual-following-error 20 s32 OUT 0 lcec.0.D2.srv-actual-position 20 s32 OUT 0 lcec.0.D2.srv-actual-torque 20 s32 OUT 0 lcec.0.D2.srv-actual-velocity 20 s32 OUT 0 lcec.0.D2.srv-actual-velocity-sensor 20 u32 OUT 0x00000000 lcec.0.D2.srv-actual-voltage 20 u32 IN 0x00000000 lcec.0.D2.srv-cia-controlword 20 u32 OUT 0x00000000 lcec.0.D2.srv-cia-statusword 20 s32 OUT 0 lcec.0.D2.srv-control-effort 20 bit OUT FALSE lcec.0.D2.srv-din-0 20 bit OUT FALSE lcec.0.D2.srv-din-0-not 20 bit OUT FALSE lcec.0.D2.srv-din-1 20 bit OUT FALSE lcec.0.D2.srv-din-1-not 20 bit OUT FALSE lcec.0.D2.srv-din-10 20 bit OUT FALSE lcec.0.D2.srv-din-10-not 20 bit OUT FALSE lcec.0.D2.srv-din-11 20 bit OUT FALSE lcec.0.D2.srv-din-11-not 20 bit OUT FALSE lcec.0.D2.srv-din-12 20 bit OUT FALSE lcec.0.D2.srv-din-12-not 20 bit OUT FALSE lcec.0.D2.srv-din-13 20 bit OUT FALSE lcec.0.D2.srv-din-13-not 20 bit OUT FALSE lcec.0.D2.srv-din-14 20 bit OUT FALSE lcec.0.D2.srv-din-14-not 20 bit OUT FALSE lcec.0.D2.srv-din-15 20 bit OUT FALSE lcec.0.D2.srv-din-15-not 20 bit OUT FALSE lcec.0.D2.srv-din-2 20 bit OUT FALSE lcec.0.D2.srv-din-2-not 20 bit OUT FALSE lcec.0.D2.srv-din-3 20 bit OUT FALSE lcec.0.D2.srv-din-3-not 20 bit OUT FALSE lcec.0.D2.srv-din-4 20 bit OUT FALSE lcec.0.D2.srv-din-4-not 20 bit OUT FALSE lcec.0.D2.srv-din-5 20 bit OUT FALSE lcec.0.D2.srv-din-5-not 20 bit OUT FALSE lcec.0.D2.srv-din-6 20 bit OUT FALSE lcec.0.D2.srv-din-6-not 20 bit OUT FALSE lcec.0.D2.srv-din-7 20 bit OUT FALSE lcec.0.D2.srv-din-7-not 20 bit OUT FALSE lcec.0.D2.srv-din-8 20 bit OUT FALSE lcec.0.D2.srv-din-8-not 20 bit OUT FALSE lcec.0.D2.srv-din-9 20 bit OUT FALSE lcec.0.D2.srv-din-9-not 20 bit OUT FALSE lcec.0.D2.srv-din-home 20 bit OUT FALSE lcec.0.D2.srv-din-home-not 20 bit OUT FALSE lcec.0.D2.srv-din-interlock 20 bit OUT FALSE lcec.0.D2.srv-din-interlock-not 20 bit OUT FALSE lcec.0.D2.srv-din-negative-limit 20 bit OUT FALSE lcec.0.D2.srv-din-negative-limit-not 20 bit OUT FALSE lcec.0.D2.srv-din-positive-limit 20 bit OUT FALSE lcec.0.D2.srv-din-positive-limit-not 20 bit IN FALSE lcec.0.D2.srv-dout-0 20 bit IN FALSE lcec.0.D2.srv-dout-1 20 bit IN FALSE lcec.0.D2.srv-dout-10 20 bit IN FALSE lcec.0.D2.srv-dout-11 20 bit IN FALSE lcec.0.D2.srv-dout-12 20 bit IN FALSE lcec.0.D2.srv-dout-13 20 bit IN FALSE lcec.0.D2.srv-dout-14 20 bit IN FALSE lcec.0.D2.srv-dout-15 20 bit IN FALSE lcec.0.D2.srv-dout-2 20 bit IN FALSE lcec.0.D2.srv-dout-3 20 bit IN FALSE lcec.0.D2.srv-dout-4 20 bit IN FALSE lcec.0.D2.srv-dout-5 20 bit IN FALSE lcec.0.D2.srv-dout-6 20 bit IN FALSE lcec.0.D2.srv-dout-7 20 bit IN FALSE lcec.0.D2.srv-dout-8 20 bit IN FALSE lcec.0.D2.srv-dout-9 20 bit IN FALSE lcec.0.D2.srv-dout-brake 20 u32 OUT 0x00000000 lcec.0.D2.srv-error-code 20 u32 IN 0x00000014 lcec.0.D2.srv-following-error-timeout 20 u32 IN 0x3B9ACA00 lcec.0.D2.srv-following-error-window 20 u32 IN 0x000F4240 lcec.0.D2.srv-home-accel 20 s32 IN 1 lcec.0.D2.srv-home-method 20 u32 IN 0x000003E8 lcec.0.D2.srv-home-velocity-fast 20 u32 IN 0x000003E8 lcec.0.D2.srv-home-velocity-slow 20 u32 IN 0x00000001 lcec.0.D2.srv-interpolation-time-period 20 u32 IN 0x7FFFFFFF lcec.0.D2.srv-maximum-acceleration 20 u32 IN 0x0000C350 lcec.0.D2.srv-maximum-current 20 u32 IN 0x7FFFFFFF lcec.0.D2.srv-maximum-deceleration 20 u32 IN 0xFFFFFFFF lcec.0.D2.srv-maximum-motor-rpm 20 u32 IN 0x00002C2E lcec.0.D2.srv-motor-rated-current 20 u32 IN 0x00002C2E lcec.0.D2.srv-motor-rated-torque 20 s32 IN 0 lcec.0.D2.srv-opmode 20 s32 OUT 0 lcec.0.D2.srv-opmode-display 20 u32 IN 0x00000000 lcec.0.D2.srv-polarity 20 s32 OUT 0 lcec.0.D2.srv-position-demand 20 u32 IN 0x00000014 lcec.0.D2.srv-positioning-time 20 u32 IN 0x00000064 lcec.0.D2.srv-positioning-window 20 u32 OUT 0x00000000 lcec.0.D2.srv-probe-status 20 u32 IN 0x7FFFFFFF lcec.0.D2.srv-profile-accel 20 u32 IN 0x7FFFFFFF lcec.0.D2.srv-profile-decel 20 u32 IN 0x00000000 lcec.0.D2.srv-profile-end-velocity 20 u32 IN 0x00042AAB lcec.0.D2.srv-profile-max-velocity 20 u32 IN 0x7FFFFFFF lcec.0.D2.srv-profile-velocity 20 u32 OUT 0x000003ED lcec.0.D2.srv-supported-modes 20 bit OUT TRUE lcec.0.D2.srv-supports-mode-csp 20 bit OUT TRUE lcec.0.D2.srv-supports-mode-cst 20 bit OUT TRUE lcec.0.D2.srv-supports-mode-csv 20 bit OUT TRUE lcec.0.D2.srv-supports-mode-hm 20 bit OUT TRUE lcec.0.D2.srv-supports-mode-ip 20 bit OUT TRUE lcec.0.D2.srv-supports-mode-pp 20 bit OUT TRUE lcec.0.D2.srv-supports-mode-pv 20 bit OUT TRUE lcec.0.D2.srv-supports-mode-tq 20 bit OUT FALSE lcec.0.D2.srv-supports-mode-vl 20 s32 IN 0 lcec.0.D2.srv-target-position 20 s32 IN 0 lcec.0.D2.srv-target-torque 20 s32 IN 0 lcec.0.D2.srv-target-velocity 20 s32 OUT 0 lcec.0.D2.srv-torque-demand 20 u32 IN 0x0000C350 lcec.0.D2.srv-torque-maximum 20 u32 IN 0x00989680 lcec.0.D2.srv-torque-slope 20 s32 OUT 0 lcec.0.D2.srv-velocity-demand 20 u32 IN 0x00000014 lcec.0.D2.srv-velocity-error-time 20 u32 IN 0x00000064 lcec.0.D2.srv-velocity-error-window 20 s32 IN 1 lcec.0.D2.srv-velocity-sensor-selector 20 u32 IN 0x00000014 lcec.0.D2.srv-velocity-threshold-time 20 u32 IN 0x00000064 lcec.0.D2.srv-velocity-threshold-window 20 bit OUT FALSE lcec.0.D3.slave-online 20 bit OUT FALSE lcec.0.D3.slave-oper 20 bit OUT FALSE lcec.0.D3.slave-state-init 20 bit OUT FALSE lcec.0.D3.slave-state-op 20 bit OUT FALSE lcec.0.D3.slave-state-preop 20 bit OUT FALSE lcec.0.D3.slave-state-safeop 20 s32 OUT 0 lcec.0.D3.srv-actual-current 20 u32 OUT 0x00000000 lcec.0.D3.srv-actual-following-error 20 s32 OUT 0 lcec.0.D3.srv-actual-position 20 s32 OUT 0 lcec.0.D3.srv-actual-torque 20 s32 OUT 0 lcec.0.D3.srv-actual-velocity 20 s32 OUT 0 lcec.0.D3.srv-actual-velocity-sensor 20 u32 OUT 0x00000000 lcec.0.D3.srv-actual-voltage 20 u32 IN 0x00000000 lcec.0.D3.srv-cia-controlword 20 u32 OUT 0x00000000 lcec.0.D3.srv-cia-statusword 20 s32 OUT 0 lcec.0.D3.srv-control-effort 20 bit OUT FALSE lcec.0.D3.srv-din-0 20 bit OUT FALSE lcec.0.D3.srv-din-0-not 20 bit OUT FALSE lcec.0.D3.srv-din-1 20 bit OUT FALSE lcec.0.D3.srv-din-1-not 20 bit OUT FALSE lcec.0.D3.srv-din-10 20 bit OUT FALSE lcec.0.D3.srv-din-10-not 20 bit OUT FALSE lcec.0.D3.srv-din-11 20 bit OUT FALSE lcec.0.D3.srv-din-11-not 20 bit OUT FALSE lcec.0.D3.srv-din-12 20 bit OUT FALSE lcec.0.D3.srv-din-12-not 20 bit OUT FALSE lcec.0.D3.srv-din-13 20 bit OUT FALSE lcec.0.D3.srv-din-13-not 20 bit OUT FALSE lcec.0.D3.srv-din-14 20 bit OUT FALSE lcec.0.D3.srv-din-14-not 20 bit OUT FALSE lcec.0.D3.srv-din-15 20 bit OUT FALSE lcec.0.D3.srv-din-15-not 20 bit OUT FALSE lcec.0.D3.srv-din-2 20 bit OUT FALSE lcec.0.D3.srv-din-2-not 20 bit OUT FALSE lcec.0.D3.srv-din-3 20 bit OUT FALSE lcec.0.D3.srv-din-3-not 20 bit OUT FALSE lcec.0.D3.srv-din-4 20 bit OUT FALSE lcec.0.D3.srv-din-4-not 20 bit OUT FALSE lcec.0.D3.srv-din-5 20 bit OUT FALSE lcec.0.D3.srv-din-5-not 20 bit OUT FALSE lcec.0.D3.srv-din-6 20 bit OUT FALSE lcec.0.D3.srv-din-6-not 20 bit OUT FALSE lcec.0.D3.srv-din-7 20 bit OUT FALSE lcec.0.D3.srv-din-7-not 20 bit OUT FALSE lcec.0.D3.srv-din-8 20 bit OUT FALSE lcec.0.D3.srv-din-8-not 20 bit OUT FALSE lcec.0.D3.srv-din-9 20 bit OUT FALSE lcec.0.D3.srv-din-9-not 20 bit OUT FALSE lcec.0.D3.srv-din-home 20 bit OUT FALSE lcec.0.D3.srv-din-home-not 20 bit OUT FALSE lcec.0.D3.srv-din-interlock 20 bit OUT FALSE lcec.0.D3.srv-din-interlock-not 20 bit OUT FALSE lcec.0.D3.srv-din-negative-limit 20 bit OUT FALSE lcec.0.D3.srv-din-negative-limit-not 20 bit OUT FALSE lcec.0.D3.srv-din-positive-limit 20 bit OUT FALSE lcec.0.D3.srv-din-positive-limit-not 20 bit IN FALSE lcec.0.D3.srv-dout-0 20 bit IN FALSE lcec.0.D3.srv-dout-1 20 bit IN FALSE lcec.0.D3.srv-dout-10 20 bit IN FALSE lcec.0.D3.srv-dout-11 20 bit IN FALSE lcec.0.D3.srv-dout-12 20 bit IN FALSE lcec.0.D3.srv-dout-13 20 bit IN FALSE lcec.0.D3.srv-dout-14 20 bit IN FALSE lcec.0.D3.srv-dout-15 20 bit IN FALSE lcec.0.D3.srv-dout-2 20 bit IN FALSE lcec.0.D3.srv-dout-3 20 bit IN FALSE lcec.0.D3.srv-dout-4 20 bit IN FALSE lcec.0.D3.srv-dout-5 20 bit IN FALSE lcec.0.D3.srv-dout-6 20 bit IN FALSE lcec.0.D3.srv-dout-7 20 bit IN FALSE lcec.0.D3.srv-dout-8 20 bit IN FALSE lcec.0.D3.srv-dout-9 20 bit IN FALSE lcec.0.D3.srv-dout-brake 20 u32 OUT 0x00000000 lcec.0.D3.srv-error-code 20 u32 IN 0x00000014 lcec.0.D3.srv-following-error-timeout 20 u32 IN 0x3B9ACA00 lcec.0.D3.srv-following-error-window 20 u32 IN 0x000F4240 lcec.0.D3.srv-home-accel 20 s32 IN 1 lcec.0.D3.srv-home-method 20 u32 IN 0x000003E8 lcec.0.D3.srv-home-velocity-fast 20 u32 IN 0x000003E8 lcec.0.D3.srv-home-velocity-slow 20 u32 IN 0x00000001 lcec.0.D3.srv-interpolation-time-period 20 u32 IN 0x7FFFFFFF lcec.0.D3.srv-maximum-acceleration 20 u32 IN 0x0000C350 lcec.0.D3.srv-maximum-current 20 u32 IN 0x7FFFFFFF lcec.0.D3.srv-maximum-deceleration 20 u32 IN 0xFFFFFFFF lcec.0.D3.srv-maximum-motor-rpm 20 u32 IN 0x00002710 lcec.0.D3.srv-motor-rated-current 20 u32 IN 0x00002710 lcec.0.D3.srv-motor-rated-torque 20 s32 IN 0 lcec.0.D3.srv-opmode 20 s32 OUT 0 lcec.0.D3.srv-opmode-display 20 u32 IN 0x00000000 lcec.0.D3.srv-polarity 20 s32 OUT 0 lcec.0.D3.srv-position-demand 20 u32 IN 0x00000014 lcec.0.D3.srv-positioning-time 20 u32 IN 0x00000064 lcec.0.D3.srv-positioning-window 20 u32 OUT 0x00000000 lcec.0.D3.srv-probe-status 20 u32 IN 0x7FFFFFFF lcec.0.D3.srv-profile-accel 20 u32 IN 0x7FFFFFFF lcec.0.D3.srv-profile-decel 20 u32 IN 0x00000000 lcec.0.D3.srv-profile-end-velocity 20 u32 IN 0x00037B45 lcec.0.D3.srv-profile-max-velocity 20 u32 IN 0x7FFFFFFF lcec.0.D3.srv-profile-velocity 20 u32 OUT 0x000003ED lcec.0.D3.srv-supported-modes 20 bit OUT TRUE lcec.0.D3.srv-supports-mode-csp 20 bit OUT TRUE lcec.0.D3.srv-supports-mode-cst 20 bit OUT TRUE lcec.0.D3.srv-supports-mode-csv 20 bit OUT TRUE lcec.0.D3.srv-supports-mode-hm 20 bit OUT TRUE lcec.0.D3.srv-supports-mode-ip 20 bit OUT TRUE lcec.0.D3.srv-supports-mode-pp 20 bit OUT TRUE lcec.0.D3.srv-supports-mode-pv 20 bit OUT TRUE lcec.0.D3.srv-supports-mode-tq 20 bit OUT FALSE lcec.0.D3.srv-supports-mode-vl 20 s32 IN 0 lcec.0.D3.srv-target-position 20 s32 IN 0 lcec.0.D3.srv-target-torque 20 s32 IN 0 lcec.0.D3.srv-target-velocity 20 s32 OUT 0 lcec.0.D3.srv-torque-demand 20 u32 IN 0x0000C350 lcec.0.D3.srv-torque-maximum 20 u32 IN 0x00989680 lcec.0.D3.srv-torque-slope 20 s32 OUT 0 lcec.0.D3.srv-velocity-demand 20 u32 IN 0x00000014 lcec.0.D3.srv-velocity-error-time 20 u32 IN 0x00000064 lcec.0.D3.srv-velocity-error-window 20 s32 IN 1 lcec.0.D3.srv-velocity-sensor-selector 20 u32 IN 0x00000014 lcec.0.D3.srv-velocity-threshold-time 20 u32 IN 0x00000064 lcec.0.D3.srv-velocity-threshold-window 20 bit OUT FALSE lcec.0.all-op 20 bit OUT FALSE lcec.0.link-up 20 s32 OUT 0 lcec.0.pll-err 20 s32 OUT 0 lcec.0.pll-out 20 u32 OUT 0x00000000 lcec.0.pll-reset-count 20 s32 OUT 0 lcec.0.read.time 20 u32 OUT 0x00000000 lcec.0.slaves-responding 20 bit OUT FALSE lcec.0.state-init 20 bit OUT FALSE lcec.0.state-op 20 bit OUT FALSE lcec.0.state-preop 20 bit OUT FALSE lcec.0.state-safeop 20 s32 OUT 0 lcec.0.write.time 20 bit OUT FALSE lcec.all-op 14 u32 OUT 0x00000001 lcec.conf.master-count 14 u32 OUT 0x00000003 lcec.conf.slave-count 20 bit OUT FALSE lcec.link-up 20 s32 OUT 0 lcec.read-all.time 20 u32 OUT 0x00000000 lcec.slaves-responding 20 bit OUT FALSE lcec.state-init 20 bit OUT FALSE lcec.state-op 20 bit OUT FALSE lcec.state-preop 20 bit OUT FALSE lcec.state-safeop 20 s32 OUT 0 lcec.write-all.time cnc@PiEtherCAT:~$ halcmd loadusr -W lcec_conf ~/linuxcnc/configs/linuxcnc-cia402/ethercat-conf.xml HAL: ERROR: duplicate component name 'lcec_conf' lcec_conf: ERROR: hal_init failed :0: waitpid failed lcec_conf lcec_conf :0: lcec_conf exited without becoming ready cnc@PiEtherCAT:~$ cd linuxcnc linuxcnc/ linuxcnc_debug.txt linuxcnc_print.txt cnc@PiEtherCAT:~$ cd linuxcnc/ configs/ nc_files/ cnc@PiEtherCAT:~$ cd linuxcnc/configs/linuxcnc-cia402/ cnc@PiEtherCAT:~/linuxcnc/configs/linuxcnc-cia402$ halcmd loadusr -W lcec_conf ethercat-conf.xml HAL: ERROR: duplicate component name 'lcec_conf' lcec_conf: ERROR: hal_init failed :0: waitpid failed lcec_conf lcec_conf :0: lcec_conf exited without becoming ready cnc@PiEtherCAT:~/linuxcnc/configs/linuxcnc-cia402$ sudo reboot Broadcast message from root@PiEtherCAT on pts/3 (Fri 2025-02-28 04:22:30 AEDT): The system will reboot now! cnc@PiEtherCAT:~/linuxcnc/configs/linuxcnc-cia402$ login as: cnc cnc@10.10.0.10's password: Debian GNU/Linux 12 (bookworm) 6.12.11 #1_RT Mon Jan 27 02:47:25 AEDT 2025 aarch64 Raspberry Pi 4 Model B Rev 1.4 ── DISK Filesystem Size Used Avail Use% Mounted on /dev/mmcblk0p2 58G 4.1G 52G 8% / /dev/mmcblk0p1 508M 97M 411M 20% /boot/broadcom ── NETWORK Hostname: PiEtherCAT Wired: eth1 UP 10.10.0.10 Wireless: wlan0 UP 10.10.206.94 ── SYSTEM Processor: Cortex-A72 @ 1800MHz 53°C Frequency: 1800MHz Online: 0-3 Governor: performance Memory: 7.6G 375M Entropy: 256 Uptime: 04:23:29 up 0 min, 0 user, load average: 0.62, 0.17, 0.06 Last login: Fri Feb 28 04:16:13 2025 from 10.10.0.1 cnc@PiEtherCAT:~$ cd linuxcnc/configs/linuxcnc-cia402/ cnc@PiEtherCAT:~/linuxcnc/configs/linuxcnc-cia402$ halcmd loadusr -W lcec_conf ethercat-conf.xml cnc@PiEtherCAT:~/linuxcnc/configs/linuxcnc-cia402$ halcmd loadrt lcec Waiting for component 'lcec' to become ready...Waited 3 seconds for master. giving up. Note: Using POSIX realtime ................................ cnc@PiEtherCAT:~/linuxcnc/configs/linuxcnc-cia402$ halcmd show pin Component Pins: Owner Type Dir Value Name 10 bit OUT FALSE lcec.0.D1.slave-online 10 bit OUT FALSE lcec.0.D1.slave-oper 10 bit OUT FALSE lcec.0.D1.slave-state-init 10 bit OUT FALSE lcec.0.D1.slave-state-op 10 bit OUT FALSE lcec.0.D1.slave-state-preop 10 bit OUT FALSE lcec.0.D1.slave-state-safeop 10 s32 OUT 0 lcec.0.D1.srv-actual-current 10 u32 OUT 0x00000000 lcec.0.D1.srv-actual-following-error 10 s32 OUT 0 lcec.0.D1.srv-actual-position 10 s32 OUT 0 lcec.0.D1.srv-actual-torque 10 s32 OUT 0 lcec.0.D1.srv-actual-velocity 10 s32 OUT 0 lcec.0.D1.srv-actual-velocity-sensor 10 u32 OUT 0x00000000 lcec.0.D1.srv-actual-voltage 10 u32 IN 0x00000000 lcec.0.D1.srv-cia-controlword 10 u32 OUT 0x00000000 lcec.0.D1.srv-cia-statusword 10 s32 OUT 0 lcec.0.D1.srv-control-effort 10 bit OUT FALSE lcec.0.D1.srv-din-0 10 bit OUT FALSE lcec.0.D1.srv-din-0-not 10 bit OUT FALSE lcec.0.D1.srv-din-1 10 bit OUT FALSE lcec.0.D1.srv-din-1-not 10 bit OUT FALSE lcec.0.D1.srv-din-10 10 bit OUT FALSE lcec.0.D1.srv-din-10-not 10 bit OUT FALSE lcec.0.D1.srv-din-11 10 bit OUT FALSE lcec.0.D1.srv-din-11-not 10 bit OUT FALSE lcec.0.D1.srv-din-12 10 bit OUT FALSE lcec.0.D1.srv-din-12-not 10 bit OUT FALSE lcec.0.D1.srv-din-13 10 bit OUT FALSE lcec.0.D1.srv-din-13-not 10 bit OUT FALSE lcec.0.D1.srv-din-14 10 bit OUT FALSE lcec.0.D1.srv-din-14-not 10 bit OUT FALSE lcec.0.D1.srv-din-15 10 bit OUT FALSE lcec.0.D1.srv-din-15-not 10 bit OUT FALSE lcec.0.D1.srv-din-2 10 bit OUT FALSE lcec.0.D1.srv-din-2-not 10 bit OUT FALSE lcec.0.D1.srv-din-3 10 bit OUT FALSE lcec.0.D1.srv-din-3-not 10 bit OUT FALSE lcec.0.D1.srv-din-4 10 bit OUT FALSE lcec.0.D1.srv-din-4-not 10 bit OUT FALSE lcec.0.D1.srv-din-5 10 bit OUT FALSE lcec.0.D1.srv-din-5-not 10 bit OUT FALSE lcec.0.D1.srv-din-6 10 bit OUT FALSE lcec.0.D1.srv-din-6-not 10 bit OUT FALSE lcec.0.D1.srv-din-7 10 bit OUT FALSE lcec.0.D1.srv-din-7-not 10 bit OUT FALSE lcec.0.D1.srv-din-8 10 bit OUT FALSE lcec.0.D1.srv-din-8-not 10 bit OUT FALSE lcec.0.D1.srv-din-9 10 bit OUT FALSE lcec.0.D1.srv-din-9-not 10 bit OUT FALSE lcec.0.D1.srv-din-home 10 bit OUT FALSE lcec.0.D1.srv-din-home-not 10 bit OUT FALSE lcec.0.D1.srv-din-interlock 10 bit OUT FALSE lcec.0.D1.srv-din-interlock-not 10 bit OUT FALSE lcec.0.D1.srv-din-negative-limit 10 bit OUT FALSE lcec.0.D1.srv-din-negative-limit-not 10 bit OUT FALSE lcec.0.D1.srv-din-positive-limit 10 bit OUT FALSE lcec.0.D1.srv-din-positive-limit-not 10 bit IN FALSE lcec.0.D1.srv-dout-0 10 bit IN FALSE lcec.0.D1.srv-dout-1 10 bit IN FALSE lcec.0.D1.srv-dout-10 10 bit IN FALSE lcec.0.D1.srv-dout-11 10 bit IN FALSE lcec.0.D1.srv-dout-12 10 bit IN FALSE lcec.0.D1.srv-dout-13 10 bit IN FALSE lcec.0.D1.srv-dout-14 10 bit IN FALSE lcec.0.D1.srv-dout-15 10 bit IN FALSE lcec.0.D1.srv-dout-2 10 bit IN FALSE lcec.0.D1.srv-dout-3 10 bit IN FALSE lcec.0.D1.srv-dout-4 10 bit IN FALSE lcec.0.D1.srv-dout-5 10 bit IN FALSE lcec.0.D1.srv-dout-6 10 bit IN FALSE lcec.0.D1.srv-dout-7 10 bit IN FALSE lcec.0.D1.srv-dout-8 10 bit IN FALSE lcec.0.D1.srv-dout-9 10 bit IN FALSE lcec.0.D1.srv-dout-brake 10 u32 OUT 0x00000000 lcec.0.D1.srv-error-code 10 u32 IN 0x00000014 lcec.0.D1.srv-following-error-timeout 10 u32 IN 0x3B9ACA00 lcec.0.D1.srv-following-error-window 10 u32 IN 0x000F4240 lcec.0.D1.srv-home-accel 10 s32 IN 1 lcec.0.D1.srv-home-method 10 u32 IN 0x000003E8 lcec.0.D1.srv-home-velocity-fast 10 u32 IN 0x000003E8 lcec.0.D1.srv-home-velocity-slow 10 u32 IN 0x00000000 lcec.0.D1.srv-interpolation-time-period 10 u32 IN 0x00000001 lcec.0.D1.srv-maximum-acceleration 10 u32 IN 0x00000000 lcec.0.D1.srv-maximum-current 10 u32 IN 0x00000001 lcec.0.D1.srv-maximum-deceleration 10 u32 IN 0xFFFFFFFF lcec.0.D1.srv-maximum-motor-rpm 10 u32 IN 0x00001770 lcec.0.D1.srv-motor-rated-current 10 u32 IN 0x00001770 lcec.0.D1.srv-motor-rated-torque 10 s32 IN 0 lcec.0.D1.srv-opmode 10 s32 OUT 0 lcec.0.D1.srv-opmode-display 10 u32 IN 0x00000000 lcec.0.D1.srv-polarity 10 s32 OUT 0 lcec.0.D1.srv-position-demand 10 u32 IN 0x00000014 lcec.0.D1.srv-positioning-time 10 u32 IN 0x00000064 lcec.0.D1.srv-positioning-window 10 u32 OUT 0x00000000 lcec.0.D1.srv-probe-status 10 u32 IN 0x00000001 lcec.0.D1.srv-profile-accel 10 u32 IN 0x00000001 lcec.0.D1.srv-profile-decel 10 u32 IN 0x00000000 lcec.0.D1.srv-profile-end-velocity 10 u32 IN 0x0000D216 lcec.0.D1.srv-profile-max-velocity 10 u32 IN 0x00000000 lcec.0.D1.srv-profile-velocity 10 u32 OUT 0x000003ED lcec.0.D1.srv-supported-modes 10 bit OUT TRUE lcec.0.D1.srv-supports-mode-csp 10 bit OUT TRUE lcec.0.D1.srv-supports-mode-cst 10 bit OUT TRUE lcec.0.D1.srv-supports-mode-csv 10 bit OUT TRUE lcec.0.D1.srv-supports-mode-hm 10 bit OUT TRUE lcec.0.D1.srv-supports-mode-ip 10 bit OUT TRUE lcec.0.D1.srv-supports-mode-pp 10 bit OUT TRUE lcec.0.D1.srv-supports-mode-pv 10 bit OUT TRUE lcec.0.D1.srv-supports-mode-tq 10 bit OUT FALSE lcec.0.D1.srv-supports-mode-vl 10 s32 IN 0 lcec.0.D1.srv-target-position 10 s32 IN 0 lcec.0.D1.srv-target-torque 10 s32 IN 0 lcec.0.D1.srv-target-velocity 10 s32 OUT 0 lcec.0.D1.srv-torque-demand 10 u32 IN 0x00000000 lcec.0.D1.srv-torque-maximum 10 u32 IN 0x00000000 lcec.0.D1.srv-torque-slope 10 s32 OUT 0 lcec.0.D1.srv-velocity-demand 10 u32 IN 0x00000014 lcec.0.D1.srv-velocity-error-time 10 u32 IN 0x00000064 lcec.0.D1.srv-velocity-error-window 10 s32 IN 1 lcec.0.D1.srv-velocity-sensor-selector 10 u32 IN 0x00000014 lcec.0.D1.srv-velocity-threshold-time 10 u32 IN 0x00000064 lcec.0.D1.srv-velocity-threshold-window 10 bit OUT FALSE lcec.0.D2.slave-online 10 bit OUT FALSE lcec.0.D2.slave-oper 10 bit OUT FALSE lcec.0.D2.slave-state-init 10 bit OUT FALSE lcec.0.D2.slave-state-op 10 bit OUT FALSE lcec.0.D2.slave-state-preop 10 bit OUT FALSE lcec.0.D2.slave-state-safeop 10 s32 OUT 0 lcec.0.D2.srv-actual-current 10 u32 OUT 0x00000000 lcec.0.D2.srv-actual-following-error 10 s32 OUT 0 lcec.0.D2.srv-actual-position 10 s32 OUT 0 lcec.0.D2.srv-actual-torque 10 s32 OUT 0 lcec.0.D2.srv-actual-velocity 10 s32 OUT 0 lcec.0.D2.srv-actual-velocity-sensor 10 u32 OUT 0x00000000 lcec.0.D2.srv-actual-voltage 10 u32 IN 0x00000000 lcec.0.D2.srv-cia-controlword 10 u32 OUT 0x00000000 lcec.0.D2.srv-cia-statusword 10 s32 OUT 0 lcec.0.D2.srv-control-effort 10 bit OUT FALSE lcec.0.D2.srv-din-0 10 bit OUT FALSE lcec.0.D2.srv-din-0-not 10 bit OUT FALSE lcec.0.D2.srv-din-1 10 bit OUT FALSE lcec.0.D2.srv-din-1-not 10 bit OUT FALSE lcec.0.D2.srv-din-10 10 bit OUT FALSE lcec.0.D2.srv-din-10-not 10 bit OUT FALSE lcec.0.D2.srv-din-11 10 bit OUT FALSE lcec.0.D2.srv-din-11-not 10 bit OUT FALSE lcec.0.D2.srv-din-12 10 bit OUT FALSE lcec.0.D2.srv-din-12-not 10 bit OUT FALSE lcec.0.D2.srv-din-13 10 bit OUT FALSE lcec.0.D2.srv-din-13-not 10 bit OUT FALSE lcec.0.D2.srv-din-14 10 bit OUT FALSE lcec.0.D2.srv-din-14-not 10 bit OUT FALSE lcec.0.D2.srv-din-15 10 bit OUT FALSE lcec.0.D2.srv-din-15-not 10 bit OUT FALSE lcec.0.D2.srv-din-2 10 bit OUT FALSE lcec.0.D2.srv-din-2-not 10 bit OUT FALSE lcec.0.D2.srv-din-3 10 bit OUT FALSE lcec.0.D2.srv-din-3-not 10 bit OUT FALSE lcec.0.D2.srv-din-4 10 bit OUT FALSE lcec.0.D2.srv-din-4-not 10 bit OUT FALSE lcec.0.D2.srv-din-5 10 bit OUT FALSE lcec.0.D2.srv-din-5-not 10 bit OUT FALSE lcec.0.D2.srv-din-6 10 bit OUT FALSE lcec.0.D2.srv-din-6-not 10 bit OUT FALSE lcec.0.D2.srv-din-7 10 bit OUT FALSE lcec.0.D2.srv-din-7-not 10 bit OUT FALSE lcec.0.D2.srv-din-8 10 bit OUT FALSE lcec.0.D2.srv-din-8-not 10 bit OUT FALSE lcec.0.D2.srv-din-9 10 bit OUT FALSE lcec.0.D2.srv-din-9-not 10 bit OUT FALSE lcec.0.D2.srv-din-home 10 bit OUT FALSE lcec.0.D2.srv-din-home-not 10 bit OUT FALSE lcec.0.D2.srv-din-interlock 10 bit OUT FALSE lcec.0.D2.srv-din-interlock-not 10 bit OUT FALSE lcec.0.D2.srv-din-negative-limit 10 bit OUT FALSE lcec.0.D2.srv-din-negative-limit-not 10 bit OUT FALSE lcec.0.D2.srv-din-positive-limit 10 bit OUT FALSE lcec.0.D2.srv-din-positive-limit-not 10 bit IN FALSE lcec.0.D2.srv-dout-0 10 bit IN FALSE lcec.0.D2.srv-dout-1 10 bit IN FALSE lcec.0.D2.srv-dout-10 10 bit IN FALSE lcec.0.D2.srv-dout-11 10 bit IN FALSE lcec.0.D2.srv-dout-12 10 bit IN FALSE lcec.0.D2.srv-dout-13 10 bit IN FALSE lcec.0.D2.srv-dout-14 10 bit IN FALSE lcec.0.D2.srv-dout-15 10 bit IN FALSE lcec.0.D2.srv-dout-2 10 bit IN FALSE lcec.0.D2.srv-dout-3 10 bit IN FALSE lcec.0.D2.srv-dout-4 10 bit IN FALSE lcec.0.D2.srv-dout-5 10 bit IN FALSE lcec.0.D2.srv-dout-6 10 bit IN FALSE lcec.0.D2.srv-dout-7 10 bit IN FALSE lcec.0.D2.srv-dout-8 10 bit IN FALSE lcec.0.D2.srv-dout-9 10 bit IN FALSE lcec.0.D2.srv-dout-brake 10 u32 OUT 0x00000000 lcec.0.D2.srv-error-code 10 u32 IN 0x00000014 lcec.0.D2.srv-following-error-timeout 10 u32 IN 0x3B9ACA00 lcec.0.D2.srv-following-error-window 10 u32 IN 0x000F4240 lcec.0.D2.srv-home-accel 10 s32 IN 1 lcec.0.D2.srv-home-method 10 u32 IN 0x000003E8 lcec.0.D2.srv-home-velocity-fast 10 u32 IN 0x000003E8 lcec.0.D2.srv-home-velocity-slow 10 u32 IN 0x00000001 lcec.0.D2.srv-interpolation-time-period 10 u32 IN 0x7FFFFFFF lcec.0.D2.srv-maximum-acceleration 10 u32 IN 0x0000C350 lcec.0.D2.srv-maximum-current 10 u32 IN 0x7FFFFFFF lcec.0.D2.srv-maximum-deceleration 10 u32 IN 0xFFFFFFFF lcec.0.D2.srv-maximum-motor-rpm 10 u32 IN 0x00002C2E lcec.0.D2.srv-motor-rated-current 10 u32 IN 0x00002C2E lcec.0.D2.srv-motor-rated-torque 10 s32 IN 0 lcec.0.D2.srv-opmode 10 s32 OUT 0 lcec.0.D2.srv-opmode-display 10 u32 IN 0x00000000 lcec.0.D2.srv-polarity 10 s32 OUT 0 lcec.0.D2.srv-position-demand 10 u32 IN 0x00000014 lcec.0.D2.srv-positioning-time 10 u32 IN 0x00000064 lcec.0.D2.srv-positioning-window 10 u32 OUT 0x00000000 lcec.0.D2.srv-probe-status 10 u32 IN 0x7FFFFFFF lcec.0.D2.srv-profile-accel 10 u32 IN 0x7FFFFFFF lcec.0.D2.srv-profile-decel 10 u32 IN 0x00000000 lcec.0.D2.srv-profile-end-velocity 10 u32 IN 0x00042AAB lcec.0.D2.srv-profile-max-velocity 10 u32 IN 0x7FFFFFFF lcec.0.D2.srv-profile-velocity 10 u32 OUT 0x000003ED lcec.0.D2.srv-supported-modes 10 bit OUT TRUE lcec.0.D2.srv-supports-mode-csp 10 bit OUT TRUE lcec.0.D2.srv-supports-mode-cst 10 bit OUT TRUE lcec.0.D2.srv-supports-mode-csv 10 bit OUT TRUE lcec.0.D2.srv-supports-mode-hm 10 bit OUT TRUE lcec.0.D2.srv-supports-mode-ip 10 bit OUT TRUE lcec.0.D2.srv-supports-mode-pp 10 bit OUT TRUE lcec.0.D2.srv-supports-mode-pv 10 bit OUT TRUE lcec.0.D2.srv-supports-mode-tq 10 bit OUT FALSE lcec.0.D2.srv-supports-mode-vl 10 s32 IN 0 lcec.0.D2.srv-target-position 10 s32 IN 0 lcec.0.D2.srv-target-torque 10 s32 IN 0 lcec.0.D2.srv-target-velocity 10 s32 OUT 0 lcec.0.D2.srv-torque-demand 10 u32 IN 0x0000C350 lcec.0.D2.srv-torque-maximum 10 u32 IN 0x00989680 lcec.0.D2.srv-torque-slope 10 s32 OUT 0 lcec.0.D2.srv-velocity-demand 10 u32 IN 0x00000014 lcec.0.D2.srv-velocity-error-time 10 u32 IN 0x00000064 lcec.0.D2.srv-velocity-error-window 10 s32 IN 1 lcec.0.D2.srv-velocity-sensor-selector 10 u32 IN 0x00000014 lcec.0.D2.srv-velocity-threshold-time 10 u32 IN 0x00000064 lcec.0.D2.srv-velocity-threshold-window 10 bit OUT FALSE lcec.0.D3.slave-online 10 bit OUT FALSE lcec.0.D3.slave-oper 10 bit OUT FALSE lcec.0.D3.slave-state-init 10 bit OUT FALSE lcec.0.D3.slave-state-op 10 bit OUT FALSE lcec.0.D3.slave-state-preop 10 bit OUT FALSE lcec.0.D3.slave-state-safeop 10 s32 OUT 0 lcec.0.D3.srv-actual-current 10 u32 OUT 0x00000000 lcec.0.D3.srv-actual-following-error 10 s32 OUT 0 lcec.0.D3.srv-actual-position 10 s32 OUT 0 lcec.0.D3.srv-actual-torque 10 s32 OUT 0 lcec.0.D3.srv-actual-velocity 10 s32 OUT 0 lcec.0.D3.srv-actual-velocity-sensor 10 u32 OUT 0x00000000 lcec.0.D3.srv-actual-voltage 10 u32 IN 0x00000000 lcec.0.D3.srv-cia-controlword 10 u32 OUT 0x00000000 lcec.0.D3.srv-cia-statusword 10 s32 OUT 0 lcec.0.D3.srv-control-effort 10 bit OUT FALSE lcec.0.D3.srv-din-0 10 bit OUT FALSE lcec.0.D3.srv-din-0-not 10 bit OUT FALSE lcec.0.D3.srv-din-1 10 bit OUT FALSE lcec.0.D3.srv-din-1-not 10 bit OUT FALSE lcec.0.D3.srv-din-10 10 bit OUT FALSE lcec.0.D3.srv-din-10-not 10 bit OUT FALSE lcec.0.D3.srv-din-11 10 bit OUT FALSE lcec.0.D3.srv-din-11-not 10 bit OUT FALSE lcec.0.D3.srv-din-12 10 bit OUT FALSE lcec.0.D3.srv-din-12-not 10 bit OUT FALSE lcec.0.D3.srv-din-13 10 bit OUT FALSE lcec.0.D3.srv-din-13-not 10 bit OUT FALSE lcec.0.D3.srv-din-14 10 bit OUT FALSE lcec.0.D3.srv-din-14-not 10 bit OUT FALSE lcec.0.D3.srv-din-15 10 bit OUT FALSE lcec.0.D3.srv-din-15-not 10 bit OUT FALSE lcec.0.D3.srv-din-2 10 bit OUT FALSE lcec.0.D3.srv-din-2-not 10 bit OUT FALSE lcec.0.D3.srv-din-3 10 bit OUT FALSE lcec.0.D3.srv-din-3-not 10 bit OUT FALSE lcec.0.D3.srv-din-4 10 bit OUT FALSE lcec.0.D3.srv-din-4-not 10 bit OUT FALSE lcec.0.D3.srv-din-5 10 bit OUT FALSE lcec.0.D3.srv-din-5-not 10 bit OUT FALSE lcec.0.D3.srv-din-6 10 bit OUT FALSE lcec.0.D3.srv-din-6-not 10 bit OUT FALSE lcec.0.D3.srv-din-7 10 bit OUT FALSE lcec.0.D3.srv-din-7-not 10 bit OUT FALSE lcec.0.D3.srv-din-8 10 bit OUT FALSE lcec.0.D3.srv-din-8-not 10 bit OUT FALSE lcec.0.D3.srv-din-9 10 bit OUT FALSE lcec.0.D3.srv-din-9-not 10 bit OUT FALSE lcec.0.D3.srv-din-home 10 bit OUT FALSE lcec.0.D3.srv-din-home-not 10 bit OUT FALSE lcec.0.D3.srv-din-interlock 10 bit OUT FALSE lcec.0.D3.srv-din-interlock-not 10 bit OUT FALSE lcec.0.D3.srv-din-negative-limit 10 bit OUT FALSE lcec.0.D3.srv-din-negative-limit-not 10 bit OUT FALSE lcec.0.D3.srv-din-positive-limit 10 bit OUT FALSE lcec.0.D3.srv-din-positive-limit-not 10 bit IN FALSE lcec.0.D3.srv-dout-0 10 bit IN FALSE lcec.0.D3.srv-dout-1 10 bit IN FALSE lcec.0.D3.srv-dout-10 10 bit IN FALSE lcec.0.D3.srv-dout-11 10 bit IN FALSE lcec.0.D3.srv-dout-12 10 bit IN FALSE lcec.0.D3.srv-dout-13 10 bit IN FALSE lcec.0.D3.srv-dout-14 10 bit IN FALSE lcec.0.D3.srv-dout-15 10 bit IN FALSE lcec.0.D3.srv-dout-2 10 bit IN FALSE lcec.0.D3.srv-dout-3 10 bit IN FALSE lcec.0.D3.srv-dout-4 10 bit IN FALSE lcec.0.D3.srv-dout-5 10 bit IN FALSE lcec.0.D3.srv-dout-6 10 bit IN FALSE lcec.0.D3.srv-dout-7 10 bit IN FALSE lcec.0.D3.srv-dout-8 10 bit IN FALSE lcec.0.D3.srv-dout-9 10 bit IN FALSE lcec.0.D3.srv-dout-brake 10 u32 OUT 0x00000000 lcec.0.D3.srv-error-code 10 u32 IN 0x00000014 lcec.0.D3.srv-following-error-timeout 10 u32 IN 0x3B9ACA00 lcec.0.D3.srv-following-error-window 10 u32 IN 0x000F4240 lcec.0.D3.srv-home-accel 10 s32 IN 1 lcec.0.D3.srv-home-method 10 u32 IN 0x000003E8 lcec.0.D3.srv-home-velocity-fast 10 u32 IN 0x000003E8 lcec.0.D3.srv-home-velocity-slow 10 u32 IN 0x00000001 lcec.0.D3.srv-interpolation-time-period 10 u32 IN 0x7FFFFFFF lcec.0.D3.srv-maximum-acceleration 10 u32 IN 0x0000C350 lcec.0.D3.srv-maximum-current 10 u32 IN 0x7FFFFFFF lcec.0.D3.srv-maximum-deceleration 10 u32 IN 0xFFFFFFFF lcec.0.D3.srv-maximum-motor-rpm 10 u32 IN 0x00002710 lcec.0.D3.srv-motor-rated-current 10 u32 IN 0x00002710 lcec.0.D3.srv-motor-rated-torque 10 s32 IN 0 lcec.0.D3.srv-opmode 10 s32 OUT 0 lcec.0.D3.srv-opmode-display 10 u32 IN 0x00000000 lcec.0.D3.srv-polarity 10 s32 OUT 0 lcec.0.D3.srv-position-demand 10 u32 IN 0x00000014 lcec.0.D3.srv-positioning-time 10 u32 IN 0x00000064 lcec.0.D3.srv-positioning-window 10 u32 OUT 0x00000000 lcec.0.D3.srv-probe-status 10 u32 IN 0x7FFFFFFF lcec.0.D3.srv-profile-accel 10 u32 IN 0x7FFFFFFF lcec.0.D3.srv-profile-decel 10 u32 IN 0x00000000 lcec.0.D3.srv-profile-end-velocity 10 u32 IN 0x00037B45 lcec.0.D3.srv-profile-max-velocity 10 u32 IN 0x7FFFFFFF lcec.0.D3.srv-profile-velocity 10 u32 OUT 0x000003ED lcec.0.D3.srv-supported-modes 10 bit OUT TRUE lcec.0.D3.srv-supports-mode-csp 10 bit OUT TRUE lcec.0.D3.srv-supports-mode-cst 10 bit OUT TRUE lcec.0.D3.srv-supports-mode-csv 10 bit OUT TRUE lcec.0.D3.srv-supports-mode-hm 10 bit OUT TRUE lcec.0.D3.srv-supports-mode-ip 10 bit OUT TRUE lcec.0.D3.srv-supports-mode-pp 10 bit OUT TRUE lcec.0.D3.srv-supports-mode-pv 10 bit OUT TRUE lcec.0.D3.srv-supports-mode-tq 10 bit OUT FALSE lcec.0.D3.srv-supports-mode-vl 10 s32 IN 0 lcec.0.D3.srv-target-position 10 s32 IN 0 lcec.0.D3.srv-target-torque 10 s32 IN 0 lcec.0.D3.srv-target-velocity 10 s32 OUT 0 lcec.0.D3.srv-torque-demand 10 u32 IN 0x0000C350 lcec.0.D3.srv-torque-maximum 10 u32 IN 0x00989680 lcec.0.D3.srv-torque-slope 10 s32 OUT 0 lcec.0.D3.srv-velocity-demand 10 u32 IN 0x00000014 lcec.0.D3.srv-velocity-error-time 10 u32 IN 0x00000064 lcec.0.D3.srv-velocity-error-window 10 s32 IN 1 lcec.0.D3.srv-velocity-sensor-selector 10 u32 IN 0x00000014 lcec.0.D3.srv-velocity-threshold-time 10 u32 IN 0x00000064 lcec.0.D3.srv-velocity-threshold-window 10 bit OUT FALSE lcec.0.all-op 10 bit OUT FALSE lcec.0.link-up 10 s32 OUT 0 lcec.0.pll-err 10 s32 OUT 0 lcec.0.pll-out 10 u32 OUT 0x00000000 lcec.0.pll-reset-count 10 s32 OUT 0 lcec.0.read.time 10 u32 OUT 0x00000000 lcec.0.slaves-responding 10 bit OUT FALSE lcec.0.state-init 10 bit OUT FALSE lcec.0.state-op 10 bit OUT FALSE lcec.0.state-preop 10 bit OUT FALSE lcec.0.state-safeop 10 s32 OUT 0 lcec.0.write.time 10 bit OUT FALSE lcec.all-op 4 u32 OUT 0x00000001 lcec.conf.master-count 4 u32 OUT 0x00000003 lcec.conf.slave-count 10 bit OUT FALSE lcec.link-up 10 s32 OUT 0 lcec.read-all.time 10 u32 OUT 0x00000000 lcec.slaves-responding 10 bit OUT FALSE lcec.state-init 10 bit OUT FALSE lcec.state-op 10 bit OUT FALSE lcec.state-preop 10 bit OUT FALSE lcec.state-safeop 10 s32 OUT 0 lcec.write-all.time cnc@PiEtherCAT:~/linuxcnc/configs/linuxcnc-cia402$