Thanks for your reply. Problem is, I want to be able to use a virtual keyboard, and onboard just does not work. Could it have something to do with the window manager? Others seem to be available in the boot menu, but when I try them they come up with an error. This is a fresh install.

I mentioned before I want to future proof. To claify: its not a what if but a kind of fixed advancement plan:
1. ATC toolchanger
2. 4th possibly 5th axis
3. Alternating size/ tooling.
4. Laser/Mill hybrid 
5. possibly multiple machines of the same build.

I have a small business and depending on how I expand I want this cnc to be able to grow with me. Once I have a system running there will only be minor changes doable as downtime would cost me double.

Forgive me for being extremely new at this.

I understand 'add it to the xml file' in general terms, but as I have no experience or context it's hard for me to determine exactly what/how to add something.

My test xml file has what appears to be variable PDOs: "pdo idx=1600" and pdo idx="1A00"

These appear to be variable PDOs, whatever that means, based on the chart taken from the manual:
 

However, the only place where digital outputs appear to be available is in the Fixed PDO section:
 

Can I add another section in the xml file for fixed PDO's? or do I have to pick one or the other?

Regarding bitslice... am I correct - generally - in that the drive sends a 'word' or string or something to LCNC with address "60FDh", and the value of that word can be interpreted using bitslice as the status of the drive's digital inputs?

If so, using the chart below is the key needed to configure bitslice in to HAL pins?
 
 

Not your drive but this XML shows you how to set the input type using sdoconfig
github.com/rodw-au/linuxcnc-cia402/blob/main/ethercat-conf.xml

You can obtain the PDO corresponding to IO by consulting the servo's manual, and then add it to the ethercat-config.xml file. The "bitslice" component may be required in the hal file.
I have tested it with Leadshine's servo before and it worked normally, but I didn't save the configuration file.

Rookie0 wrote:

connecting only one driver is actually insufficient

Sufficient for whose purpose? Yours or mine?

I'm not trying to get a specific machine working...I'm trying to get the driver's IO controllable via HAL.

I don't understand exactly how the xml file's in/out configuration works and I can't find an example I can use as a template.

It can be done this way, but my approach is to use the IO module separately.
The advantage is that there is no need to connect wires from CN1 of the servo driver, as connecting only one driver is actually insufficient. There are more endpoints on the IO module.

The ethercat A6 use a HDB15 connector on the front for the built-in IO.  Not quite as large as an HDB44, but still need to consider cost of cable and stickout/packaging.  If you plan to use a brake on one (or more) servo, you'll need at least one drive to have the IO cable connected.

OTOH, HDB right-angle cables, extensions, and adapters are much more available less expensive than HDB44's.

Actually, in Norway the most used distribution system is called an IT net (IT is short for something like Insulated Terra). This system uses 3 phase conductors and no neutral, with a conductor to conductor voltage of 230v, and with no neutral there are no other voltages available. I think this is different from most of Europe where they use a TN net, at least that is what Wikipedia is claiming...

Keep a wireless mouse and keyboard connected to use for configuration purposes but put them on a cupboard until needed.
Use a GUI like QTdragon that is designed to be a fully touch enabled GUI.

The cables are kinda expensive(relative to others), the bulky part will be an issue too. Also played around with the thought of db44 breakout boards, most expensive because I need a cable and a board for 4 servos but it would reduce the wiring headache (~34 bouncing cables per servo)

Im trying to keep everything on a tight budget as the cnc kept growing and now Im at twice the planned budget. Im trying to future proof what I can and keep the system as adjustable as possible. 

 

A6 Ethercat servos are not step-dir compatible; pick one or the other.
Step-dir with Mesa will be easier to configure than Ethercat, but more wiring

What is complicated or expensive about connecting the step-dir drives to Mesa?  Buy a DB44 cable from Stepperonline and connect to Mesa - maybe I'm missing something?

Only headache I know is that the DB44 cable connector is HUGE, and sticks way out when plugged in to the drive.  If you have a tight enclosure you may not be able to shut the door on a standard 8" deep enclosure.

You can buy DB44 right-angle cables (no adapters I can find) to shorten the package a bit, or you can cut a hole in the enclosure door for the cables to stick out.  And 3D print a raised cover for the new hole...

EDIT - see last post for resolution and xml/HAL examples

Just dipping my toe in the ethercat waters and trying to set up a single drive on the bench.

I've got LCNC talking to the drive, and can start LCNC with a basic 1-axis config.  Very exciting to see the position change when I twist the motor shaft.  Much thanks to the forum!

Next move is to enable/configure the drive's IO, but none of the various xml file examples I could find in the forum appear to have mapped DI1-DI5 & DO1-DO3 to HAL pins.

I'd like to use all the DI/DO as general purpose IO (other than DO3 for a brake).  Does anyone have an xml file with all the IO defined and mapped?

And whatever else I need, maybe a HAL file with IO pin names?

Thanks for any examples or suggestions.

Hallo all,
im planning and building my own cnc from ground up with zero experience. Im in the final stages of planing but like many times before Im rethinking some basic descisions. 
Issue right now is I was planning on using linuxcnc with a mesa 7i96s and send commands to the drivers via step/dir. I plan on using stepper-online a6-series servos for my cnc and am aware that this is a kind of suboptimal setup as its not a fully closed loop system. I have ran into an issue connectiong the servo drives to the mesa, all options are eighter expensive or create a mess in my electrical box. I am considering switching to ethercat as the pricedifference is negligible. Rather it would actually save me money since the wiring is much cheaper and I don't need the mesa anymore. Problem is I already have the mesa (unused) and don't know what the best option would be.
1. Go full ethercat and sell mesa. 
2. Deal with the wiring issue by throwing money at it.
I hope someone with experience with eighter system or both can give me some help deciding or maybe give me pointers that I may not have considered before.
Many thanks in advance.