(Solved) Initialization code for a rintelligent ECT60 fails when run on an ECR60

First post, so be gentle - also, if this is in the wrong sub-forum, feel free to move it.

Back story: I'm building a wire EDM machine based upon Mike Bax's BX18 arc generator. He supplies modified LinuxCNC code, including initialization code for the stepper drivers. It's nearly done but I've run up against a problem with the drivers.

The problem: Mike wrote code for the ECT60 (closed loop driver) version, configuring it to run open-loop steppers. Silly me thought that since they're open loop steppers, there was no reason to spend the extra money on the ECT model, so I bought the ECR (open loop) model. Unfortunately, they're apparently different enough that the ECR gets stuck in the "Pre-Operation" phase during initialization, and neither Mike nor I can figure out why.

We both looked through the XML .ini code and we can't find anything that would cause it to fail. What's a bit concerning however, is that the online manuals are missing at least two sections regarding registers 0x60FE, and 0x6077. It makes me wonder if perhaps more information is missing that could explain why this isn't working.

Obviously the "easy button" is to replace the ECR units with ECT units. I would gladly do so if I had a use for the ECRs, but I do not. Throwing another $200 at this project is a bitter pill - plus I'm stubborn - and I would like to figure this out instead.

Anyone have any ideas?

Note: This is my first interaction with both LinuxCNC (or any form of Linux) and XML, making it much more challenging.

Thanks!

6077 is actual torque which probably can't be read without encoders so delete it. Not sure about 60fe, I never used it.
I would get the docs from rtelligent for both drives. there isn't really much difference between the ECT and ECR aside from some I/O and encoders.
Sometimes you need to reset to factory defaults as covered in the docs.

We discussed 60fe some time ago forum.linuxcnc.org/ethercat/50492-etherc...ligent-ecr60-outputs digital outputs.
What are the errors you get? Linuxcnc output and Ethercat output from "sudo dmesg"
Initial thought is that this drive should work with default settings, like the ECT60 does.

Thank you for your reply. I have asked rtelligent for the correct manuals but don't hold out much hope for a response.

I completely agree that the two versions are so similar that they should "just work", but the ECRs disagree, hah. I'll try deleting the 6077 reference and cross my fingers.

I would post the code in question but don't know how to get it from the Linux mini PC out to a Windows PC so I can post it. I can post literally screenshots (via camera), if it's helpful.

The developer had me start LinuxCNC from a command window with the following command. I did, and will try posting the results here, but the forum is blocking me, saying that it has "too many links" (there aren't any):
/usr/bin/linuxcnc '/home/edmuser/linuxcnc/configs/BaxEDM-2axis-WireEDM/2axis-WireEDM.ini'
 

I'll copy the debug output to a file and attach it...

Here you go, see attached. 

Don't see anything wrong there.
To try to diagnose this, we would need to see
ini file
hal file
ethercat-conf.xml file
and last say 40 lines of ouput from the command "sudo dmesg"

Files attached.

 

   

 

"Invalid output mapping" is what it says. infosys.beckhoff.com/english.php?content...stem/1058704779.html
What I think you should do is minimize the config to one slave, slave 0, and make that go OP.
Comment out all references to the other slaves lcec.0.1 and lcec.0.2 in the hal files.
Comment out/remove all sdoconfigs from ethercat-conf.xml and only leave slave 0 in there.
Comment out pdos, leave 6040, 6060, 607a, 6041,6061,6064 only.
With that, the slave should go to OP mode, check with "ethercat slaves".
Then gradually bring back the mods you took out, and fix what doesn't work.

Thank you very much! Though I don't know Linux or XML, I'm familiar with other languages so feel assured that I can get myself in way over my head! First thing I'll do is save off a backup, then give your suggestion a go.
Thanks again.