xml and hal - I am lost

Sorry - my mistake.
For sure it is a good idea to share the error message.

Now - my problems with the beckhoff modules are solved with the help from 2 friends.
Now I have to get the servos running and to figure out how to configure them.
I will give an update.

Im at about the same step as you. Last night I used the XMLconfiggen to make an xml for the 3 servos i had plugged in at the time. seems reasonable at first glance but might need some edits. My Hal and Ini are based on Hakan's ethercat Rpi video/forum post. getting errors indicating my ini and hal are not up to snuff.
forum.linuxcnc.org/ethercat/42048-notes-...at-on-raspberry-pi-4

Tonight I will bash my head against the keyboard some more and see if I can get a servo to move.

Hi guys, the best way is to show so much detail that someone can pinpoint what's wrong.
Starting from lcec_configgen is often a good way for the ethercat-conf.xml
Servos and stepper motors almost always follow the CIA402 standard so there it is best to take the example from github.com/dbraun1981/hal-cia402/tree/main/example and mix that into the config. There are more nuances for drives but lets not go there unless needed.

I and others can help to see what's wrong with your config, you need to attach the errors and outputs from the linuxcnc startup. This output, together with the hal file and ethercat-conf.xml can be attached here.

Ive got a single X axis going!

I used info from here...    forum.linuxcnc.org/ethercat/54965-stepperonline-a6-servo




My main problem this evening was installing the cia402  hal correctly. I ended up just making a dedicated folder home/linuxcnc/cia402 and placed cia402.comp there. 

 Then I opened the terminal and  >>     sudo halcompile --install cia402.comp  


that worked!

I went the same way but without success. I combined my working files (Beckhoff modules are working as they should) with the ones from MobiusToast. No error on startup but unfortunately no possibility to jog the axis as well. forum.linuxcnc.org/ethercat/54965-steppe...ervo?start=40#329744

Hmmm.... so linuxcnc starts with no error, you hit power on (F2?) and servo doesn't come to life? does linuxcnc think its moving when jogging?

Yes - I hit power and lcnc thinks it is moving. The servo stays in PreOp. 
My mistake - the changed files were not copied into the folders. 
Now I have success - I have errors 
twopass:pass0: loadusr -W lcec_conf ethercat-conf.xml

twopass: load_the_modules cmd=<orig_loadrt motmod servo_period_nsec=1000000 num_joints=3 base_period_nsec=100000 servo_period_nsec=1000000 num_joints=3 unlock_joints_mask=16 num_dio=6 num_aio=3>
waitpid failed /usr/bin/rtapi_app motmod
/usr/bin/rtapi_app exited without becoming ready
insmod for motmod failed, returned -1


twopass: load_the_modules cmd=<orig_loadrt lcec>
waitpid failed /usr/bin/rtapi_app lcec
/usr/bin/rtapi_app exited without becoming ready
insmod for lcec failed, returned -1

Shutting down and cleaning up LinuxCNC...
Removing HAL_LIB, RTAPI, and Real Time OS modules
Removing NML shared memory segments

Debug file information:
Note: Using POSIX realtime
cia402_homecomp: dlopen: /usr/lib/linuxcnc/modules/cia402_homecomp.so: cannot open shared object file: No such file or directory
<commandline>:0: waitpid failed /usr/bin/rtapi_app cia402_homecomp
<commandline>:0: /usr/bin/rtapi_app exited without becoming ready
<commandline>:0: insmod for cia402_homecomp failed, returned -1
motmod: dlopen: /usr/lib/linuxcnc/modules/motmod.so: undefined symbol: update_joint_homing_params
LinuxCNC Ethercat crashed with signal 11
-- STACK TRACE START
0    /usr/lib/linuxcnc/modules/lcec.so(+0xfc8c) [0x7feb9d9b0c8c]
1    /lib/x86_64-linux-gnu/libc.so.6(+0x3c050) [0x7feb9e68a050]
2    /lib/x86_64-linux-gnu/libethercat.so.1(ecrt_slave_config_pdos+0x2f) [0x7feb9d97452f]
3    /usr/lib/linuxcnc/modules/lcec.so(rtapi_app_main+0x40a) [0x7feb9d9b1f38]
4    /usr/bin/rtapi_app(+0x10cd7) [0x55e898f48cd7]
5    /usr/bin/rtapi_app(+0x1162e) [0x55e898f4962e]
6    /usr/bin/rtapi_app(+0x11c2c) [0x55e898f49c2c]
7    /usr/bin/rtapi_app(+0xc974) [0x55e898f44974]
8    /usr/bin/rtapi_app(main+0x70f) [0x55e898f4444f]
9    /lib/x86_64-linux-gnu/libc.so.6(+0x2724a) [0x7feb9e67524a]
10    /lib/x86_64-linux-gnu/libc.so.6(__libc_start_main+0x85) [0x7feb9e675305]
11    /usr/bin/rtapi_app(_start+0x21) [0x55e898f44861]
-- STACK TRACE END
Waiting for component 'cia402' to become ready........Waited 3 seconds for master.  giving up.
Note: Using POSIX realtime

6457
Stopping realtime threads
Unloading hal components
Note: Using POSIX realtime
lcec: not loaded
<commandline>:0: exit value: 255
<commandline>:0: rmmod failed, returned -1
Note: Using POSIX realtime
trivkins: not loaded
<commandline>:0: exit value: 255
<commandline>:0: rmmod failed, returned -1
Note: Using POSIX realtime
tpmod: not loaded
<commandline>:0: exit value: 255
<commandline>:0: rmmod failed, returned -1
<commandline>:0: unloadrt failed
Note: Using POSIX realtime

Mmmhh - in my understanding just the cia402_homecomp.so is missing - could this be right?

Yes it is missing.
Maybe you already have fixed it by now. It's not a standard component so you need to "halcompile --compile cia402_homecomp.comp" to put the .so file in you config directory.
It's daring to try to get the servo working using a custom setup, I wouldn't do it. I would start with the simplest config possible from dbraun1981 and when that works I would build on with other functions.
But i understand this is part of a complete working setup, so you need to find the cia402_homecomp, compile it and hope for the best.

You`re right. When I realized that it is a special customized Version I started everything all over again to go with the simplest version. I did what you proposed and compiled the cia402_homecomp. Than I mixed my working Beckhoff starting point files with the ones from dbraun. Unfortunately it still crashes:

wopass: load_the_modules cmd=<orig_loadrt lcec>
waitpid failed /usr/bin/rtapi_app lcec
/usr/bin/rtapi_app exited without becoming ready
insmod for lcec failed, returned -1

Shutting down and cleaning up LinuxCNC...
Removing HAL_LIB, RTAPI, and Real Time OS modules
Removing NML shared memory segments

Debug file information:
Note: Using POSIX realtime
motion.c: Creating unlock hal pins for joint 4
LinuxCNC Ethercat crashed with signal 11
-- STACK TRACE START
0 /usr/lib/linuxcnc/modules/lcec.so(+0xfc8c) [0x7fc1af3e9c8c]
1 /lib/x86_64-linux-gnu/libc.so.6(+0x3c050) [0x7fc1b0303050]
2 /lib/x86_64-linux-gnu/libethercat.so.1(ecrt_slave_config_pdos+0x2f) [0x7fc1af3ad52f]
3 /usr/lib/linuxcnc/modules/lcec.so(rtapi_app_main+0x40a) [0x7fc1af3eaf38]
4 /usr/bin/rtapi_app(+0x10cd7) [0x56167d468cd7]
5 /usr/bin/rtapi_app(+0x1162e) [0x56167d46962e]
6 /usr/bin/rtapi_app(+0x11c2c) [0x56167d469c2c]
7 /usr/bin/rtapi_app(+0xc974) [0x56167d464974]
8 /usr/bin/rtapi_app(main+0x70f) [0x56167d46444f]
9 /lib/x86_64-linux-gnu/libc.so.6(+0x2724a) [0x7fc1b02ee24a]
10 /lib/x86_64-linux-gnu/libc.so.6(__libc_start_main+0x85) [0x7fc1b02ee305]
11 /usr/bin/rtapi_app(_start+0x21) [0x56167d464861]
-- STACK TRACE END
Waiting for component 'cia402' to become ready.....Waited 3 seconds for master. giving up.
.Note: Using POSIX realtime

2971
Stopping realtime threads
Unloading hal components
Note: Using POSIX realtime
lcec: not loaded
<commandline>:0: exit value: 255
<commandline>:0: rmmod failed, returned -1
Note: Using POSIX realtime
motmod: not loaded
<commandline>:0: exit value: 255
<commandline>:0: rmmod failed, returned -1
Note: Using POSIX realtime
trivkins: not loaded
<commandline>:0: exit value: 255
<commandline>:0: rmmod failed, returned -1
Note: Using POSIX realtime
homemod: not loaded
<commandline>:0: exit value: 255
<commandline>:0: rmmod failed, returned -1
Note: Using POSIX realtime
tpmod: not loaded
<commandline>:0: exit value: 255
<commandline>:0: rmmod failed, returned -1
<commandline>:0: unloadrt failed
Note: Using POSIX realtime

Do you have any Idea what to try next?

I see you have two slaves with idx="0", that won't work.
List the indexes with "ethercat slaves"

There is another debug option or possibility. The output of "sudo dmesg" show a lot, at the end it may have info that can show the error.
Especially info messages from ethercat master and lcec goes there.