Perhaps due to the language barrier, we are misunderstanding each other.
1. There was a bug in version 2.8.4, which was fixed in 2.9.7.
2. Instead of fixing the bug that was interfering with the operation, they created a new one for which there is no solution.

However! First, I used a steel probe (before electrical contact) as a probe. Then I bought a Chinese Probe sensor (a so-called center finder). It did not suit me for a number of reasons:
1. Unacceptably high operating force (“out of the box” 450 grams, with my processing “with a file” (and a hammer) about 220 grams.
2. speed of operation
In version 2.8.4, I got 50,000-80,000 continuous sequential measurements at a rate of 5,000-6,500 per hour. But in version 2.9.7, the usual error for 2.9.7 appeared

And the other day I made my own version of such a sensor. The actuation force is 15 grams. The operating speed is higher (to such an extent that during G0 movements, the vibration sensor is triggered). But in version 2.8.4, I haven't exceeded 10,000 continuous measurements yet. In version 2.9.7, I got up to 12,000 measurements per hour, and now (tests are being conducted right now) more than 13,000 measurements without errors.

Conclusions: it is quite possible that version 2.9.7 works adequately with high-quality sensors.

Edit:
i just realized that I probably have the same problem as @dschultz.
I just don't know how to switch to variable PDO mapping?

I believe the real issue was the drive didn't like the PDOS I had in the xml.
Even though my original settings were one of the "Fixed PDO mapping" options from the manual (1704 & 1B02).
Anyway, I switched it to the "Variable PDO mapping" 1600 & 1A00 and the drive goes to OP mode and comes alive when I enable the machine!

Has anyone had success with setting up the CIA402 homing mode?

Very cool. That little lapping machine is awesome.

Makin' Christmas presents... We like dice games.
Cross-posted from reddit, so I could include some media a bit more easily.
www.reddit.com/r/Machinists/comments/1ph8ig5/comment/nsx4clj/

So, I just got a Precision Matthews PM-970 (RF45 clone) up and running with a Linuxcnc based retrofit with all of the bells and whistles. This is my first project.Also, built a planetary gear polisher, since I don't want to hand-polish 6 sides of 36 dice.Not a single step of this went the way I planned, but I think the work product turned out nicely.I didn't tune the PID properly to begin with, which I think is why my final dims were ~5 thou out of spec in some parts. This cascaded down to needing to remove more material in sanding/polishing. I left the final profile cut to 0.005", but didn't do a spring pass, which I think led to some tool deflection, which caused some tilt in the second op.Anyway, for a first CNC project for a manual machinist. I'm happy.

This is my Config which should Work. 
It´s a small setup in my Shop on my Workbench. It is for tinkering with, EtherCAT & LinuxCNC.

The PC is an old Siemens Microbox PC with 3 Ethernet Ports.

Hi,

Here is my cthercAT.xml. 
When loading, I get an error saying that the pin lcec.0.A6.control-word already exists.
>EtherCAT pdos< gives me completely different addresses for the A6 400W.
0x6060 is not mapped:
It is possible that my XML has an error.
But how am I supposed to write an 8 (csp mode) to 0x6060 if it does not currently exist on the A 6 400W?

Here is the excerpt from my post again:

A6 750W
=== Master 0, Slave 0 ===
SM0: PhysAddr 0x1000, DefaultSize  256, ControlRegister 0x26, Enable 1
SM1: PhysAddr 0x1400, DefaultSize  256, ControlRegister 0x22, Enable 1
SM2: PhysAddr 0x1800, DefaultSize   12, ControlRegister 0x64, Enable 1
  RxPDO 0x1600 ""
    PDO entry 0x6040:00, 16 bit, ""
    PDO entry 0x6060:00,  8 bit, ""
    PDO entry 0x607a:00, 32 bit, ""
    PDO entry 0x60ff:00, 32 bit, ""
    PDO entry 0x607c:00, 32 bit, ""
    PDO entry 0x6098:00,  8 bit, ""
    PDO entry 0x6099:01, 32 bit, ""
    PDO entry 0x6099:02, 32 bit, ""
    PDO entry 0x609a:00, 32 bit, ""
SM3: PhysAddr 0x1c00, DefaultSize   28, ControlRegister 0x20, Enable 1
  TxPDO 0x1a00 ""
    PDO entry 0x6041:00, 16 bit, ""
    PDO entry 0x6061:00,  8 bit, ""
    PDO entry 0x6064:00, 32 bit, ""
    PDO entry 0x606c:00, 32 bit, ""
    PDO entry 0x6077:00, 16 bit, ""

A6 400W
=== Master 0, Slave 1 ===
SM0: PhysAddr 0x1000, DefaultSize  256, ControlRegister 0x26, Enable 1
SM1: PhysAddr 0x1400, DefaultSize  256, ControlRegister 0x22, Enable 1
SM2: PhysAddr 0x1800, DefaultSize   12, ControlRegister 0x64, Enable 1
  RxPDO 0x1701 ""
    PDO entry 0x6040:00, 16 bit, ""
    PDO entry 0x607a:00, 32 bit, ""
    PDO entry 0x60b8:00, 16 bit, ""
    PDO entry 0x60fe:01, 32 bit, ""
SM3: PhysAddr 0x1c00, DefaultSize   28, ControlRegister 0x20, Enable 1
  TxPDO 0x1b01 ""
    PDO entry 0x603f:00, 16 bit, ""
    PDO entry 0x6041:00, 16 bit, ""
    PDO entry 0x6064:00, 32 bit, ""
    PDO entry 0x6077:00, 16 bit, ""
    PDO entry 0x60f4:00, 32 bit, ""
    PDO entry 0x60b9:00, 16 bit, ""
    PDO entry 0x60ba:00, 32 bit, ""
    PDO entry 0x60bc:00, 32 bit, ""
    PDO entry 0x60fd:00, 32 bit, ""

Thanks for the replies! I have considered putting independent x/y MPGs somewhere on the machine, but it doesn't quite scratch the itch I'm trying to scratch. 
My background is a manual machinist, and I wanted to add some CNC capability to my arsenal, even if that came at the cost of being able to do manual machining the way I used to. That said, there's no substitute from the feedback you get from turning the cranks, when you just need to make a quick slot, face a part, etc.
It seems like LinuxCNC (appropriately) is really intended almost exclusively for the CNC use case. 

Every slave must have its own configuration in the config xml file.
See example here.  github.com/dbraun1981/hal-cia402/blob/ma...le/ethercat-conf.xml

You must enter the config for the new drive.

AkkiSan wrote:

 without my M64/M65-flipflop solution, 

 

Please publish your solution in full, including function declarations such as loadrt + everything, everything, everything. So that I can repeat it.

yes, everything is working well thanks

You get after start another lcec.1. instances with your pins.

I can provide a config later this day.

Greets sven

Hi,
can you please add your .json config.

Have you set the scale for the quad encoder correctly?