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Replacing RichAuto A11 handle with PC control (LinuxCNC/Mach/UCCNC) on AC servo
- usmandeveloper
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06 Jul 2026 08:57 #347552
by usmandeveloper
Replacing RichAuto A11 handle with PC control (LinuxCNC/Mach/UCCNC) on AC servo was created by usmandeveloper
Hi everyone,
I'm working on a KEGEMA-branded CNC router (1300x2500mm working area) that currently runs on a RichAuto DSP A11 handheld controller. I'd like to bypass the handle and control the machine directly from a PC (jog, home, run G-code, start/pause) — similar to what was done in this thread:
forum.linuxcnc.org/30-cnc-machines/35371...troller-richauto-a11
I've read that thread carefully and it's been very helpful, but my setup differs in one important way: my machine uses AC servo motors, not steppers.
Machine specs
Working size: 1300x2500x200mm
Spindle: 6kw HQD air-cooled
Spindle inverter/VFD: 7.5kw Fuling (brand: Folinn on the unit itself)
Axis motors: Leadshine 750W AC servo motors + matching Leadshine AC servo drivers (model marking "L7", 750W, one per axis: X, Y1, Y2, Z — Y1/Y2 appear to be a dual-motor gantry setup)
Reducer: Shimpo (Japan)
Control: RichAuto DSP A11 handheld controller
What I've already confirmed
Inside the control cabinet, the A11's interface board has clearly labeled screw terminals (not just a blind 50-pin harness like in the thread above):
INPUT SIGNAL row: X1 (XH/X-home), X2 (YH/Y-home), X3 (ZH/Z-home), X4 (TS/tool setter), X5-X8 spare, 24V/GND/SHIELD
OUTPUT row: Y5-Y8 + GND (relay outputs — dust collector, water pump, etc.)
Separate 4-pin terminal blocks per axis labeled X_AXIS, Y_AXIS, Z_AXIS, C_AXIS, each with 5V / PULSE / DIR / SHIELD
Each axis terminal block has its own cable running directly to its Leadshine servo driver's CN1 connector
Since these are screw terminals (not a sealed connector), my plan is to add a second wire in parallel at each terminal (tap-off) rather than disturb the existing A11 wiring, so the A11 handle stays functional as a fallback.
What I'm unsure about / looking for help on
Pulse/Dir signal type from Leadshine 750W AC servo drivers (L7 series) — are these standard 5V single-ended step/dir inputs, or differential (like the RS422 signals in the referenced thread)? Trying to confirm from the datasheet before wiring anything.
Recommended motion controller for a 4-axis (X, Y1, Y2 as dual Y, Z) AC servo setup — Mesa 7i96 vs 7i76e vs something else? Do I need differential drivers (like the AM26L31CN used in the referenced thread) between the A11 board and the controller card?
Dual Y-axis (gantry) handling — should Y1 and Y2 be wired as one LinuxCNC axis with a single driver output, or does anyone have experience keeping them as two synced axes?
Spindle speed control — my board also has S0-S3 speed-select terminals (7-speed selection, not analog 0-10V). Anyone dealt with converting this to continuous VFD speed control from LinuxCNC/Mach, or is it easier to just leave spindle speed control on the VFD's own panel?
Any gotchas specific to RichAuto A11 + AC servo (vs. stepper) retrofits that I should know before starting?
Happy to share more photos of the interface board and servo drivers if useful. Any pointers, schematics, or "here's what worked/didn't work for me" experiences would be hugely appreciated.
Thanks in advance!
I'm working on a KEGEMA-branded CNC router (1300x2500mm working area) that currently runs on a RichAuto DSP A11 handheld controller. I'd like to bypass the handle and control the machine directly from a PC (jog, home, run G-code, start/pause) — similar to what was done in this thread:
forum.linuxcnc.org/30-cnc-machines/35371...troller-richauto-a11
I've read that thread carefully and it's been very helpful, but my setup differs in one important way: my machine uses AC servo motors, not steppers.
Machine specs
Working size: 1300x2500x200mm
Spindle: 6kw HQD air-cooled
Spindle inverter/VFD: 7.5kw Fuling (brand: Folinn on the unit itself)
Axis motors: Leadshine 750W AC servo motors + matching Leadshine AC servo drivers (model marking "L7", 750W, one per axis: X, Y1, Y2, Z — Y1/Y2 appear to be a dual-motor gantry setup)
Reducer: Shimpo (Japan)
Control: RichAuto DSP A11 handheld controller
What I've already confirmed
Inside the control cabinet, the A11's interface board has clearly labeled screw terminals (not just a blind 50-pin harness like in the thread above):
INPUT SIGNAL row: X1 (XH/X-home), X2 (YH/Y-home), X3 (ZH/Z-home), X4 (TS/tool setter), X5-X8 spare, 24V/GND/SHIELD
OUTPUT row: Y5-Y8 + GND (relay outputs — dust collector, water pump, etc.)
Separate 4-pin terminal blocks per axis labeled X_AXIS, Y_AXIS, Z_AXIS, C_AXIS, each with 5V / PULSE / DIR / SHIELD
Each axis terminal block has its own cable running directly to its Leadshine servo driver's CN1 connector
Since these are screw terminals (not a sealed connector), my plan is to add a second wire in parallel at each terminal (tap-off) rather than disturb the existing A11 wiring, so the A11 handle stays functional as a fallback.
What I'm unsure about / looking for help on
Pulse/Dir signal type from Leadshine 750W AC servo drivers (L7 series) — are these standard 5V single-ended step/dir inputs, or differential (like the RS422 signals in the referenced thread)? Trying to confirm from the datasheet before wiring anything.
Recommended motion controller for a 4-axis (X, Y1, Y2 as dual Y, Z) AC servo setup — Mesa 7i96 vs 7i76e vs something else? Do I need differential drivers (like the AM26L31CN used in the referenced thread) between the A11 board and the controller card?
Dual Y-axis (gantry) handling — should Y1 and Y2 be wired as one LinuxCNC axis with a single driver output, or does anyone have experience keeping them as two synced axes?
Spindle speed control — my board also has S0-S3 speed-select terminals (7-speed selection, not analog 0-10V). Anyone dealt with converting this to continuous VFD speed control from LinuxCNC/Mach, or is it easier to just leave spindle speed control on the VFD's own panel?
Any gotchas specific to RichAuto A11 + AC servo (vs. stepper) retrofits that I should know before starting?
Happy to share more photos of the interface board and servo drivers if useful. Any pointers, schematics, or "here's what worked/didn't work for me" experiences would be hugely appreciated.
Thanks in advance!
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- tommylight
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25 Jul 2026 03:15 #348045
by tommylight
Replied by tommylight on topic Replacing RichAuto A11 handle with PC control (LinuxCNC/Mach/UCCNC) on AC servo
This is the second time i am reading this, most if it is your statements, not questions, the only actual question i can find is about the dual Y axis, and that can be done in multiple ways, from using the same output for both, to have two separate outputs with two separate home switches and the added possibility of tramming the axis every time the machine homes.
The Mesa 7i96S should be all that is needed from what i gather, but you will not have position feedback to LinuxCNC and that is fine, but if you do want that and the drives have encoder outputs, you can add a Mesa 7i85 or 7i85S as it has 4 encoder inputs, and there is another one on the 7i96S for the spindle feedback.
The Mesa 7i96S should be all that is needed from what i gather, but you will not have position feedback to LinuxCNC and that is fine, but if you do want that and the drives have encoder outputs, you can add a Mesa 7i85 or 7i85S as it has 4 encoder inputs, and there is another one on the 7i96S for the spindle feedback.
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