General Questions about using ethercat

The line
setp cia402.0.csp-mode 1
should make the cia402 put the drive in csp-mode.
OP is required but not enough. For cia402 drivers, they have their own states on top of OP.
The drive needs to be in stat-op-enabled to start moving.
Easiest is to use halshow and navigate to pins,cia402,0 to check the values from the component.
 

halshow value for cia402.0.csp-mode is true, but the drive parameters (value of modes-of-operation/cia402.0.opmode/lcec.0.x.opmode) is 0.

in the XML file there is
<pdoEntry idx="6060" subIdx="00" bitLen="8" halPin="opmode" halType="S32"/>

in the HAL file there is:

setp cia402.0.csp-mode 1
...
net x-modes-of-operation cia402.0.opmode => lcec.0.X.opmode
...

The drive wants parameter 6060 to be 8 for CSP mode. How do I correct that?

As I said, first make sure the drive is in CIA 402 operation enable mode.


The cia402 component will make the drive go to operation-enable when you set cia402.0.enable true.
There should be a line that looks like this in your hal file
net x-enable <= joint.0.amp-enable-out => cia402.0.enable

If it doesn't go to operation-enable, check cia402.0.stat-op-enable in halshow,
you need to check the statusword and the controlword, and consult the manual
for reasons why the drive doesn't want to go operation enabled.