Perhaps, I found out what is happening to the drives. I read the PDO mapping part of the manual again and it seems that the PDO mapping objects - 1C12h(RxPDO) and 1C13h(TxPDO) are set to some default values. The PDO mapping cannot be saved in the EEPROM of the drive and therefore the master needs to set the desired mapping in the PREOP state of the drive every time when the drives are powered on.

The output in terminal that show "Gap" in PDO entry is because there is no object mapped to that free slot - PDO mapping is set to fixed.  Here  is the PDO mapping part of the manual. It can be seen that 1C12h should be set to 1600h and 1C13h should be set to 1A00h to activate the variable PDO mapping.

Attached is the PDO mapping objects description from the manual and it shows that they expect data type of ARR(perhaps array). Apparently, LinuxCNC EtherCAT master should define a variable PDO mapping and what objects to include in the mapping.

In my opinion, the PDO mapping should be defined in the .hal file or create a script that executes once when the EtherCAT master detects slaves, similar to the first scan bit of a PLC.

So far so good. Next big thing is the wireless jog wheel. 

Okay I changed it and there was no improvement. 

Thank you in advance  

ruediger123 wrote:

Hello,
I try to integrate the security plc from Sick Flexi Soft via ethercat but I get the message that bitLen only allows 32 bits.
Are the restrictions limited to Linuxcnc-ethercat or do they also apply to the IGH ethercat-master.
 

 

Did you manage to integrate Sick Flexi Soft Safety controller with IgH Ethercat?
I can set the Sick safety controller in operational mode but can not able to get the data exchange correctly. Probably configuring the pdo incorrectly.

Looking more carefully at your hal file:

setp joint.0.jog-vel-mode 1

Means that the jog will continue as long as jog count <> 0

(this is normally intended for input devices like joysticks that return to 0 when not pressed)

for position mode jogging with a MPG, you should have:

setp joint.0.jog-vel-mode 0




 

I found it.

Ok, I didn't find the reason but I found a way around it.
It always crashed for me with "libusb: debug [libusb_unref_device] destroy device 3.109"
I ran it in the debugger and saw it stopped with a SIGSEGV.
After spending too much time figuring out how to turn on core dumps, I got a core dump.
Here is the stop point.  

 

The one wonders what ctx_log_handler is
I commented out this line in libusb_unref_device()
 
and then the xhc actually restarted.
Here is the log of that.  

were you able to get it set up and working? :side:

how do i change the pref_edit.py from this one out of the forum with mine becaus when i am just copy paste than occurs an error . regards tom 

The links : NativeCAM-Python3-Debian-12-Installationguide2026-02-20.pdf
: forum.linuxcnc.org/media/kunena/attachments/40714/pref_edit.py

Amazing support Peter, but I really don't understand the expectation of the original post. 

Your Mesa cards are very resonably priced. You have obviously put years of work into designing and updating these cards, and provide outstanding support to us here in the forum.

Someone reverse engineers your work, floods the market with knock-offs, undercuts your livelyhood, and then expects support?

You are a better person than me Peter. In your place, I would be tweaking Mesaflash to brick any knock off which gets connected to it
Cheers,
Mark

something like this:

 

and it will generate the code for all FPGA's and MCU's

the interlinks are RS422 over RJ45 cables (like smart-serial)

Ok, got it, good to know - and I do not know that much about Linuxcnc and lastly, Pnnconf / MESA stuff. All new.

But, all limits working now. I just need to check the probe setup - think that I can do after the limit switch and HalShow stuff initiation.

But, my ESTOP is still beyond me. Saw threads where JT and I believe a few others talked about inserting lines that linked the ESTOP pin to other pins or feedback - tries several but beyond me once again. 

ESTOP - loaded all pins and all ESTOP, Abort, Charge pump references into HalShow, enabled [it's a NC switch] my external ESTOP button and nothing in Halshow changed color. Yes, my external button is wired into the mx3660, and yes it shuts down the motors on push.

I tried to move the ESTOP to different pins that were open and then Halshow - no change. The probe pins work in Halshow so I know that is at least on the right pin and gives feedback - I can figure that out.

So any suggestions on ESTOP? Else I will live with it the way it is. Still have a lot of changes to do with travel and positioning in the ini for axes but that's easy stuff, just takes me a little longer one step at a time.