Help with Delta E3 Ethercat drives - hal and ethercat-conf.xml

cnc@CNC:~$ ethercat slaves
0  0:0  PREOP  +  0x000001dd:0x10306081
cnc@CNC:~$

cnc@CNC:~$ ethercat master
Master0
  Phase: Idle
  Active: no
  Slaves: 1
  Ethernet devices:
    Main: 84:47:09:4b:f6:48 (attached)
      Link: UP
      Tx frames:   495013
      Tx bytes:    29781420
      Rx frames:   495012
      Rx bytes:    29781360
      Tx errors:   0
      Tx frame rate [1/s]:    120    122    121
      Tx rate [KByte/s]:      7.0    7.1    7.1
      Rx frame rate [1/s]:    120    122    121
      Rx rate [KByte/s]:      7.0    7.1    7.1
    Common:
      Tx frames:   675263
      Tx bytes:    40660804
      Rx frames:   675254
      Rx bytes:    40660264
      Lost frames: 9
      Tx frame rate [1/s]:    120    122    121
      Tx rate [KByte/s]:      7.0    7.1    7.1
      Rx frame rate [1/s]:    120    122    121
      Rx rate [KByte/s]:      7.0    7.1    7.1
      Loss rate [1/s]:          0      0      0
      Frame loss [%]:         0.0    0.0    0.0
  Distributed clocks:
    Reference clock:   Slave 0
    DC reference time: 0
    Application time:  0
                       2000-01-01 00:00:00.000000000
cnc@CNC:~$

Error report created by /usr/lib/tcltk/linuxcnc/show_errors.tcl:

Print file information:
RUN_IN_PLACE=no
LINUXCNC_DIR=
LINUXCNC_BIN_DIR=/usr/bin
LINUXCNC_TCL_DIR=/usr/lib/tcltk/linuxcnc
LINUXCNC_SCRIPT_DIR=
LINUXCNC_RTLIB_DIR=/usr/lib/linuxcnc/modules
LINUXCNC_CONFIG_DIR=
LINUXCNC_LANG_DIR=/usr/lib/tcltk/linuxcnc/msgs
INIVAR=inivar
HALCMD=halcmd
LINUXCNC_EMCSH=/usr/bin/wish8.6
LINUXCNC - 2.9.4
Machine configuration directory is '/home/cnc/linuxcnc/configs/sim.axis.gantry'
Machine configuration file is 'gantry.ini'
INIFILE=/home/cnc/linuxcnc/configs/sim.axis.gantry/gantry.ini
VERSION=1.1
PARAMETER_FILE=sim.var
TPMOD=
HOMEMOD=
TASK=milltask
HALUI=
DISPLAY=axis
COORDINATES=XYZY
KINEMATICS=trivkins coordinates=XYZY kinstype=BOTH
Starting LinuxCNC...
Starting LinuxCNC server program: linuxcncsvr
Loading Real Time OS, RTAPI, and HAL_LIB modules
Starting LinuxCNC IO program: io
emc/iotask/ioControl.cc 786: can't load tool table.
linuxcnc TPMOD=tpmod HOMEMOD=homemod EMCMOT=motmod
Found file(REL): ./ethercat.hal
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
Failed to execute SDO download: Input/output error
LCEC: slave 0.0: Failed to execute SDO download (0x2000:0x00, size 2, byte0=112, error -5, abort_code 06010002)
LCEC: failed to configure slave 0.0 sdo 2000:00
Failed to execute SDO download: Input/output error
LCEC: slave 0.0: Failed to execute SDO download (0x2007:0x06, size 1, byte0=5, error -5, abort_code 06020000)
LCEC: failed to configure slave 0.0 sdo 2007:06
Failed to execute SDO download: Input/output error
LCEC: slave 0.0: Failed to execute SDO download (0x2007:0x05, size 1, byte0=5, error -5, abort_code 06020000)
LCEC: failed to configure slave 0.0 sdo 2007:05
Failed to execute SDO download: Invalid argument
LCEC: slave 0.1: Failed to execute SDO download (0x2000:0x00, size 2, byte0=112, error -22, abort_code f67e76d4)
LCEC: failed to configure slave 0.1 sdo 2000:00
Failed to execute SDO download: Invalid argument
LCEC: slave 0.1: Failed to execute SDO download (0x2007:0x06, size 1, byte0=5, error -22, abort_code f67e76d4)
LCEC: failed to configure slave 0.1 sdo 2007:06
Failed to execute SDO download: Invalid argument
LCEC: slave 0.1: Failed to execute SDO download (0x2011:0x00, size 2, byte0=1, error -22, abort_code f67e76d4)
LCEC: failed to configure slave 0.1 sdo 2011:00
Failed to execute SDO download: Invalid argument
LCEC: slave 0.2: Failed to execute SDO download (0x2000:0x00, size 2, byte0=88, error -22, abort_code f67e76d4)
LCEC: failed to configure slave 0.2 sdo 2000:00
Failed to execute SDO download: Invalid argument
LCEC: slave 0.2: Failed to execute SDO download (0x2007:0x06, size 1, byte0=5, error -22, abort_code f67e76d4)
LCEC: failed to configure slave 0.2 sdo 2007:06
Failed to execute SDO download: Invalid argument
LCEC: slave 0.2: Failed to execute SDO download (0x2011:0x00, size 2, byte0=0, error -22, abort_code f67e76d4)
LCEC: failed to configure slave 0.2 sdo 2011:00
Failed to register PDO entry: No such file or directory
LCEC: master 0 PDO entry registration failed
LCEC: failure, clearing config
LCEC: exiting
LCEC: returning -EINVAL
lcec: rtapi_app_main: Invalid argument (-22)
./ethercat.hal:2: waitpid failed /usr/bin/rtapi_app lcec
./ethercat.hal:2: /usr/bin/rtapi_app exited without becoming ready
./ethercat.hal:2: insmod for lcec failed, returned -1
12547
Stopping realtime threads
Unloading hal components
Note: Using POSIX realtime



-----------------------------------------------------------------------
Info report created by linuxcnc_info:
The file:    /tmp/linuxcnc_info.txt
can be posted to a forum or a web site like:
     http://pastebin.com
in order to provide information about the linuxcnc
system and configuration.

                Date: Thu 23 Oct 2025 12:29:51 AEDT
            UTC Date: Thu 23 Oct 2025 01:29:51 UTC
        this program: /usr/bin/linuxcnc_info
              uptime: 12:29:51 up 1:27, 1 user, load average: 4.59, 4.92, 4.60
     lsb_release -sa: Debian Debian GNU/Linux 12 (bookworm) 12 bookworm
            linuxcnc: /usr/bin/linuxcnc
                 pwd: /home/cnc/linuxcnc/configs/sim.axis.gantry
                USER: cnc
             LOGNAME: cnc
                HOME: /home/cnc
              EDITOR:
              VISUAL:
            LANGUAGE: en_AU:en
                TERM: dumb
           COLORTERM:
             DISPLAY: :0.0
             DESKTOP: lightdm-xsession
        display size: 1920x1080 pixels (508x285 millimeters)
                PATH: /usr/bin:/home/cnc/linuxcnc/configs/sim.axis.gantry/bin:/usr/bin:/usr/local/bin:/usr/bin:/bin:/usr/local/games:/usr/games

uname items:
         nodename -n: CNC
      kernel-name -s: Linux
      kernel-vers -v: #1 SMP PREEMPT_RT Debian 6.1.124-1 (2025-01-12)
          machine -m: x86_64
        processor -p: unknown
         platform -i: unknown
      oper system -o: GNU/Linux

/proc items:
             cmdline: BOOT_IMAGE=/boot/vmlinuz-6.1.0-30-rt-amd64 root=UUID=0f3a6e83-8d9a-4590-a5d4-e505f6df4f87 ro quiet
          model name: AMD Ryzen 7 5825U with Radeon Graphics
               cores: 8
             cpu MHz: 3594.461
             parport:
              serial:

Versions:
                 gcc: gcc (Debian 12.2.0-14) 12.2.0
              python: Python 3.11.2
                 git: git version 2.39.5
          git commit: NA
                 tcl: 8.6
                  tk: 8.6
               glade: not_in_PATH

linuxcnc_var all:

     LINUXCNCVERSION: 2.9.4
LINUXCNC_AUX_GLADEVCP: /usr/share/linuxcnc/aux_gladevcp
LINUXCNC_AUX_EXAMPLES: /usr/share/linuxcnc/aux_examples
            REALTIME: /usr/lib/linuxcnc/realtime
                 RTS: uspace
          HALLIB_DIR: /usr/share/linuxcnc/hallib
              PYTHON: /usr/bin/python3

dpkg -l '*linuxcnc*':
Desired=Unknown/Install/Remove/Purge/Hold
| Status=Not/Inst/Conf-files/Unpacked/halF-conf/Half-inst/trig-aWait/Trig-pend
|/ Err?=(none)/Reinst-required (Status,Err: uppercase=bad)
||/ Name                Version           Architecture Description
+++-===================-=================-============-=====================================================================
un  linuxcnc            <none>            <none>       (no description available)
un  linuxcnc-dev        <none>            <none>       (no description available)
un  linuxcnc-doc        <none>            <none>       (no description available)
ii  linuxcnc-doc-de     1:2.9.4           all          motion controller for CNC machines and robots (German documentation)
ii  linuxcnc-doc-en     1:2.9.4           all          motion controller for CNC machines and robots (English documentation)
ii  linuxcnc-doc-es     1:2.9.4           all          motion controller for CNC machines and robots (Spanish documentation)
ii  linuxcnc-doc-fr     1:2.9.4           all          motion controller for CNC machines and robots (French documentation)
ii  linuxcnc-ethercat   1.40.0.g8a607c0-0 amd64        LinuxCNC EtherCAT HAL driver
un  linuxcnc-sim        <none>            <none>       (no description available)
un  linuxcnc-sim-dev    <none>            <none>       (no description available)
ii  linuxcnc-uspace     1:2.9.4           amd64        motion controller for CNC machines and robots
ii  linuxcnc-uspace-dev 1:2.9.4           amd64        PC based motion controller for real-time Linux

Print file information:
RUN_IN_PLACE=no
LINUXCNC_DIR=
LINUXCNC_BIN_DIR=/usr/bin
LINUXCNC_TCL_DIR=/usr/lib/tcltk/linuxcnc
LINUXCNC_SCRIPT_DIR=
LINUXCNC_RTLIB_DIR=/usr/lib/linuxcnc/modules
LINUXCNC_CONFIG_DIR=
LINUXCNC_LANG_DIR=/usr/lib/tcltk/linuxcnc/msgs
INIVAR=inivar
HALCMD=halcmd
LINUXCNC_EMCSH=/usr/bin/wish8.6
LINUXCNC - 2.9.4
Machine configuration directory is '/home/cnc/linuxcnc/configs/sim.axis.gantry'
Machine configuration file is 'gantry.ini'
INIFILE=/home/cnc/linuxcnc/configs/sim.axis.gantry/gantry.ini
VERSION=1.1
PARAMETER_FILE=sim.var
TPMOD=
HOMEMOD=
TASK=milltask
HALUI=
DISPLAY=axis
COORDINATES=XYZY
KINEMATICS=trivkins coordinates=XYZY kinstype=BOTH
Starting LinuxCNC...
Starting LinuxCNC server program: linuxcncsvr
Loading Real Time OS, RTAPI, and HAL_LIB modules
Starting LinuxCNC IO program: io
emc/iotask/ioControl.cc 786: can't load tool table.
linuxcnc TPMOD=tpmod HOMEMOD=homemod EMCMOT=motmod
Found file(REL): ./ethercat.hal
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
LCEC: slave 0.D1: FAILURE: FAILURE: more input PDO entries configured than your hardware supports.
Axis 1 has 13 PDO entries, vs a configured limit of 8.  You will need to edit your XML
configuration and either remove some <modParam name="enable*"> entries or increase 
<modParam name="ciaTxPDOEntryLimit">. Check your CiA 402 slave's hardware manual to determine the
correct limit.

Enabled features that impact this limit are:

  -  <modParam name="enableActualCurrent" value="true">
  -  <modParam name="enableActualFollowingError" value="true">
  -  <modParam name="enableActualTorque" value="true">
  -  <modParam name="enableErrorCode" value="true">
  -  <modParam name="enablePositionDemand" value="true">
  -  <modParam name="enableProbeStatus" value="true">
  -  <modParam name="enableTorqueDemand" value="true">
  -  <modParam name="enableVelocityDemand" value="true">

In addition, disabling unneeded CiA 402 modes may help, as some implicitly add additional PDO entries:

  -  <modParam name="enablePP" value="true">
  -  <modParam name="enablePV" value="true">
  -  <modParam name="enableCSP" value="true">
  -  <modParam name="enableCSV" value="true">
  -  <modParam name="enableCST" value="true">
  -  <modParam name="enableHM" value="true">
  -  <modParam name="enableTQ" value="true">

HAL: ERROR: thread 'servo-thread' not found
./ethercat.hal:3: addf failed
17208
Stopping realtime threads
Unloading hal components
Note: Using POSIX realtime

<masters>
  <master idx="0">
    <slave idx="0" type="basic_cia402" vid="0x000001dd" pid="0x10306081" name="D1">
      <modParam name="ciaRxPDOEntryLimit" value="8"/>
      <modParam name="ciaTxPDOEntryLimit" value="8"/>
      <modParam name="enablePP" value="false"/>
      <modParam name="enablePV" value="false"/>
      <modParam name="enableTQ" value="false"/>
      <modParam name="enableHM" value="false"/>
      <modParam name="enableIP" value="disabled"/>
      <modParam name="enableCSP" value="true"/>
      <modParam name="enableCSV" value="false"/>
      <modParam name="enableCST" value="false"/>
      <modParam name="enableActualCurrent" value="false"/>
      <modParam name="enableActualFollowingError" value="true"/>
      <modParam name="enableActualTorque" value="true"/>
      <modParam name="enableDigitalInput" value="true"/>
      <modParam name="digitalInChannels" value="16"/>
      <modParam name="enableDigitalOutput" value="true"/>
      <modParam name="digitalOutChannels" value="16"/>
      <modParam name="enableErrorCode" value="true"/>
      <modParam name="enableFollowingErrorWindow" value="true"/>
      <modParam name="enableHomeAccel" value="true"/>
      <modParam name="enableInterpolationTimePeriod" value="false"/>
      <modParam name="enableMaximumAcceleration" value="true"/>
      <modParam name="enableMaximumDeceleration" value="true"/>
      <modParam name="enableMaximumMotorRPM" value="false"/>
      <modParam name="enableMaximumTorque" value="false"/>
      <modParam name="enableMotorRatedCurrent" value="false"/>
      <modParam name="enableMotorRatedTorque" value="false"/>
      <modParam name="enablePositionDemand" value="false"/>
      <modParam name="enablePositioningTime" value="false"/>
      <modParam name="enablePositioningWindow" value="false"/>
      <modParam name="enableProbeStatus" value="false"/>
      <modParam name="enableProfileAccel" value="false"/>
      <modParam name="enableProfileDecel" value="false"/>
      <modParam name="enableProfileMaxVelocity" value="false"/>
      <modParam name="enableProfileVelocity" value="false"/>
      <modParam name="enableTargetTorque" value="false"/>
      <modParam name="enableTorqueDemand" value="false"/>
      <modParam name="enableTorqueSlope" value="false"/>
      <modParam name="enableVelocityDemand" value="false"/>
      <modParam name="enableVelocityErrorTime" value="false"/>
      <modParam name="enableVelocityErrorWindow" value="false"/>
      <modParam name="enableVelocityThresholdWindow" value="false"/>
    </slave>
  </master>
</masters>