xml and hal - I am lost

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03 Jun 2025 13:53 #329605 by SwitchWitch
xml and hal - I am lost was created by SwitchWitch
I know - it is very unusual as a linuxcnc noob to start with an ethercat setup especially when you are en ethercat noob as well...
but I was so fascinated that I just wanted to give it a try.
Now I am at the point where Linuxcnc is installed, my ethercat is running and I get this terminal output:
0  0:0  OP      +  EK1100 EtherCAT-Koppler (2A E-Bus)
1  0:1  OP      +  EL1088 8Ch. Dig. Input 24V, 3ms, negative
2  0:2  OP      +  EL1008 8K. Dig. Eingang 24V, 3ms
3  0:3  OP      +  EL2008 8K. Dig. Ausgang 24V, 0.5A
4  0:4  OP      +  EL1008 8K. Dig. Eingang 24V, 3ms
5  0:5  OP      +  EL2008 8K. Dig. Ausgang 24V, 0.5A
6  0:6  SAFEOP  E  AS715N_sAxis_V0.10
7  0:7  SAFEOP  E  AS715N_sAxis_V0.10
8  0:8  SAFEOP  E  AS715N_sAxis_V0.10

As servos I use 3x Stepperonline OMC a6 400W

Now I tried to figure out how to build a working xml and a corresponding hal file.
After several hours of reading try`ll and error my last hope is that somebody of you would be so kind to share its xml and hal (best with running a6 servos) file so that I have a starting point for my setup.

Any help or hint is highly appreciated!

best

Kai

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03 Jun 2025 16:41 #329617 by Kieran
Replied by Kieran on topic xml and hal - I am lost
Im in the same boat. I have stepperonline A6 servos showing up as slave devices. now have no clue what to do next. 

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03 Jun 2025 16:56 #329618 by Aciera
Replied by Aciera on topic xml and hal - I am lost
There is a tutorial to get a working config for the EK1100. Maybe that is something to start with:
github.com/pklopping/linuxcnc-ethercat-b...asic_digital_outputs

For the drives there is this example config:
github.com/dbraun1981/hal-cia402
The following user(s) said Thank You: Kieran

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03 Jun 2025 19:49 #329629 by SwitchWitch
Replied by SwitchWitch on topic xml and hal - I am lost
Then let's keep each other up to date.
The following user(s) said Thank You: Kieran

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03 Jun 2025 19:51 #329630 by SwitchWitch
Replied by SwitchWitch on topic xml and hal - I am lost
Thx a lot!!
I will take a close look at both. Finally a first point of reference from which I can work my way forward.

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03 Jun 2025 20:09 #329631 by Kieran
Replied by Kieran on topic xml and hal - I am lost
Am I understanding correctly...   Linuxcnc "talks" to Hal, Hal used XML to translate to the ethercats. so xml is like an " hardware even more abstract layer". So I should assign "X Y Z A B" names in the XML and then Hal can control the servos from then on by those names? Im assuming the ethercat slaves show up in the order they are physically plugged into the chain? or is how they are plugged together not matter much? I guess I have to dive into the "debug software" for the servos too and set up the electronic gear ratios and whatnot. 

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03 Jun 2025 23:54 #329641 by Benb
Replied by Benb on topic xml and hal - I am lost
Hello Kieran,
A hardware driver such as mesa or ethercat when run will expose hal pins. You can use halshow to see the driver pins. These driver pins can now connect to hal components pins.

linuxcnc.org/docs/html/hal/tools.html
 
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04 Jun 2025 08:58 #329676 by SwitchWitch
Replied by SwitchWitch on topic xml and hal - I am lost
It would be so nice if anybody could share a 2.94 compatible setup for the i-o modules and servos drives. I always stuck in error I can`t resolve by myself for now.
A reliable starting point would be genious.

I would realla appreciate any help or hints. 

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04 Jun 2025 09:18 #329677 by SwitchWitch
Replied by SwitchWitch on topic xml and hal - I am lost
One major issue of understanding/misunderstanding for me ist that when I try out example files for hal and xml i always get the error that lcec can`t be loaded. Perhaps this is lost/replaced/ereased in the version 2.94? How could I adress hal pins without lcec loaded?

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04 Jun 2025 15:10 #329693 by Aciera
Replied by Aciera on topic xml and hal - I am lost

I always stuck in error I can`t resolve by myself for now.


1. It's usually a good idea to attach any error messages you get.
2. Share your config folder (compress and attach here)

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