I should mention I show how to build for RIP but you can keep with the Debian way and build the debs and install with sudo dpkg -i on the folder above where you are.

I have done a video on this. There is a bookmark for cloning and compiling.
Master branch build process has been updated but I think there is a typo in the docs. Now getting dependencies is done the debian way with a single command line. This is an amazing improvement

So I reverted to Dominic's original component cia402.comp based on feedback here so I could get back to basics
Now I have learnt/refreshed my knowledge about ethercat, I used halshow to list all of the lcec pins and noticed the familiar value of 561 but it was on the wrong pin. Checking the XML, I had included a torque pin but there is no PDO or SDO for it (I had tested this earlier with raw ethercat command line commands). So I deleted the entry in my xml. Everything is now mapped correctly. But only Drive/Joint 0 works correctly. lcec and cia402 follow each other but motion only happens on X (Joint/Drive 0)
Joint position/fb follow lcec and cia402 when jogging but for some reason the 3 higher drives don't move.

I've attached the revised XML and my CIA402 hal and ini files. I don't tthink I have mapped anything incorrectly in hal

Tomorrow I'll do a new axis configuration to test and compare the hal and ini files again. Would my hal file be correct for normal operation?

Yeah, if you just used the seveni90 project you will get a EPP configuration.
if you used the seveni90spi project you will get a SPI configuration and if you used
the seveni90ssrm project you will get a SSerial configuration.
(There is one more 7I90 option: hm2serial)


So unless you made some build error its likely you have loaded EPP configurations

The best way out is probably to get  JTAG programmer, program the FPGA with a working
bitfile with the desired interface and then use mesaflash to restore the EEPROM contents

I installed from Official LCNC ISO to N150 PC , and right after did this,

sudo apt update sudo apt upgrade　

I got error ,
dpkg  initramfs-tools error (--configure):
error exit status 1

My questions are
1) Is it OK to use LCNC in this situation ?
2) Are there any ways to solve this error ?


 

Do you get near 0V on the analog output
when the 7I97T is powered but LinuxCNC is not running?

Thanks tommylight but I'm trying to build from master branch. Probably should have mentioned that.
Jim
 

What program  printed the error message?

Are you using the latest mesaflash?

Could you JTAG program the FPGA chip and get Ethernet access?

If so what does

mesaflash --device Ethernet --addr [card_ip_addr] --verbose

print?



 

Yes it has been going on for a long time.
Very long latency, it is almost like it isn't using a RT kernel.

That seems to be ok.
The error message is in the output from the linuxcnc command
 

And if you look in the ethercat-conf.xml you find the word BLANK
 

In place of BLANK there should be one of the hal types u32, s32, float-ieee, bit.
Have a look at the ethercat-conf.xml in this example I often refer to
github.com/dbraun1981/hal-cia402/tree/main/example
Modify both the halType and the halPin .

This example also shows how you use the cia402 component to
connect the servo drives to the joints.


 

Perfect, thanks! I skimmed over that page too fast trying to find index only homing and overlooked that detail. I guess I was depending too much on searches which were not getting me anywhere.