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  • LearningLinuxCNC
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04 Dec 2025 22:57
Replied by LearningLinuxCNC on topic MesaCT and 7i76eu Issues with generated configuration

MesaCT and 7i76eu Issues with generated configuration

Category: Configuration Tools

Here is a generated HAL file X axis configuration.
# Axis: X Joint: 0 Output: 2
# PID Setup
setp pid.x.Pgain [JOINT_0](P)
setp pid.x.Igain [JOINT_0](I)
setp pid.x.Dgain [JOINT_0](D)
setp pid.x.bias [JOINT_0](BIAS)
setp pid.x.FF0 [JOINT_0](FF0)
setp pid.x.FF1 [JOINT_0](FF1)
setp pid.x.FF2 [JOINT_0](FF2)
setp pid.x.deadband [JOINT_0](DEADBAND)
setp pid.x.maxoutput [JOINT_0](MAX_OUTPUT)
setp pid.x.error-previous-target True

# joint-0 enable chain
net joint-0-index-enable <=> pid.x.index-enable
net joint-0-index-enable <=> joint.0.index-enable

net joint-0-enable <= joint.0.amp-enable-out
net joint-0-enable => pid.x.enable

# position command and feedback
net joint-0-pos-cmd <= joint.0.motor-pos-cmd
net joint-0-pos-cmd => pid.x.command

net joint-0-pos-fb <= hm2_[MESA](BOARD).0.stepgen.00.position-fb
net joint-0-pos-fb => joint.0.motor-pos-fb
net joint-0-pos-fb => pid.x.feedback

# PID Output
net joint.0.output <= pid.x.output

# Axis: Z Joint: 1 Output: 3

This is what I had to change it to in order to make it work properly.
# Axis: X Joint: 0 Output: 2
# PID Setup
setp pid.x.Pgain [JOINT_0](P)
setp pid.x.Igain [JOINT_0](I)
setp pid.x.Dgain [JOINT_0](D)
setp pid.x.bias [JOINT_0](BIAS)
setp pid.x.FF0 [JOINT_0](FF0)
setp pid.x.FF1 [JOINT_0](FF1)
setp pid.x.FF2 [JOINT_0](FF2)
setp pid.x.deadband [JOINT_0](DEADBAND)
setp pid.x.maxoutput [JOINT_0](MAX_OUTPUT)
setp pid.x.error-previous-target True
setp pid.x.maxerror 0.0005

# joint-0 enable chain
net joint-0-index-enable <=> pid.x.index-enable
net joint-0-index-enable <=> joint.0.index-enable

net joint-0-enable <= joint.0.amp-enable-out
net joint-0-enable => pid.x.enable
net joint-0-enable => hm2_[MESA](BOARD).0.stepgen.02.enable

# position command and feedback
net joint-0-pos-cmd <= joint.0.motor-pos-cmd
net joint-0-pos-cmd => pid.x.command
net joint-0-vel-cmd <= joint.0.vel-cmd


net joint-0-pos-fb <= hm2_[MESA](BOARD).0.stepgen.02.position-fb
net joint-0-pos-fb => joint.0.motor-pos-fb
net joint-0-pos-fb => pid.x.feedback

# PID Output
net joint.0.output <= pid.x.output
net joint.0.output => hm2_[MESA](BOARD).0.stepgen.02.velocity-cmd
  • LearningLinuxCNC
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04 Dec 2025 20:23 - 04 Dec 2025 20:23
Replied by LearningLinuxCNC on topic Mesa 7i76eu Encoder Questions

Mesa 7i76eu Encoder Questions

Category: Driver Boards

7i76eud.bin firmware did the trick. Interesting this firmware does not show up in the MesaCT list when using the Configuration Tool. It was in the /lib/firmware/hm2/ folder but it was not showing up in the drop down list.
  • LearningLinuxCNC
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04 Dec 2025 02:06
MesaCT and 7i76eu Issues with generated configuration was created by LearningLinuxCNC

MesaCT and 7i76eu Issues with generated configuration

Category: Configuration Tools

It could be that I am an imbecile. However when I used MesaCT as installed per the instructions here using apt gnipsel.com/linuxcnc/mesact/install.html#install-with-apt. I did not get an anywhere near working configuration out of the tool. The stepper configurations were very incomplete. The feedback loop was not closed in fact the PID output was not even sent to the mesa stepper driver. 

I will post up my configuration files from the output shortly. 
  • PCW
  • PCW's Avatar
04 Dec 2025 02:03 - 04 Dec 2025 20:41
Replied by PCW on topic Mesa 7i76eu Encoder Questions

Mesa 7i76eu Encoder Questions

Category: Driver Boards

If you don't have an added parallel daughtercard, you should normally not change the
installed firmware.

The default 7I76EU firmware is 7i76eud.bin, to re-install:

mesaflash --device 7i76eu --addr [card_ip_address] --write 7i76eud.bin --reload

where [card_ip_address]  is either 192.168.1.121 or 10.10.10.10 depending on how you
have the card setup.

 
  • LearningLinuxCNC
  • LearningLinuxCNC's Avatar
04 Dec 2025 01:54
Mesa 7i76eu Encoder Questions was created by LearningLinuxCNC

Mesa 7i76eu Encoder Questions

Category: Driver Boards

I have a 7i76eu that I am using on a new lathe conversion. I must have something wrong with firmware or something on the 7i76eu. The configuration is set up with 3 encoders is what it says. I only have one encoder connected to the 7i76 on tb3. It is configured as single ended jumpers w11 w12 and w16 all set to the left position (up in my case). When I look at the inputs in halshow the A signal is showing up as the A signal on encoder 0, the B signal is showing up as the A signal on encoder 1 and the index signal is showing up as the A signal on encoder 2.

What do I have incorrect here. My mesa setup is a 7i76eu with just a 7i73 pendant smart serial card. I have one spindle drive, one encoder that I am using on the 7i76 two steppers and several io.

I downloaded the firmware pack from Mesa. I installed one that just had the 7i76in the name but no other cards. Which firmware should I use in this case? 

Not sure if this is a config or a firmware mismatch issue. Any help would be appreciated.
  • rodw
  • rodw's Avatar
04 Dec 2025 01:38
Replied by rodw on topic Reduce read-all timing 7i76e + 7i77

Reduce read-all timing 7i76e + 7i77

Category: Advanced Configuration

Working through this,

irqbalance was not installed by default in Debian since Debian 9 Stretch because the kernel now does its own rebalancing. In some case irqbalance has caused  instabilities. Accordingly any advice about irqbalance is obsolete. If you have installed it, you should purge it
sudo apt purge irqbalance

Also cpufrequtils is deprecated in Trixie and has been replaced by the  linux-cpupower package. to set your governor to performance, use ( I think)
sudo apt install linux-cpupower
sudo cpupower frequency-set --governor performance
  • rodw
  • rodw's Avatar
03 Dec 2025 20:13
Replied by rodw on topic Reduce read-all timing 7i76e + 7i77

Reduce read-all timing 7i76e + 7i77

Category: Advanced Configuration

Also, I did not see where you are disabling Energy Efficient Ethernet.  It is supposed to be disabled by default but this is not always the case. There are some flags that can be set in GRUB but they are driver specific. eg. igb.EEE=0 

I have not tested this but This is a robust way to ensure EEE is disabled on every boot. Create a new systemd service file:
sudo geany /etc/systemd/system/disable-eee.service
  1. Add the following content, replacing enp6s0 with your interface name. This service will run ethtool after the network is up.
[Unit]Description=Disable Energy Efficient Ethernet (EEE)After=network-online.target [Service]Type=oneshotExecStart=/usr/sbin/ethtool --set-eee enp6s0 eee off [Install]WantedBy=multi-user.target
  1. Save and close the file.
Reload the systemd daemon:
sudo systemctl daemon-reload
Enable and start the service:
sudo systemctl enable disable-eee.service
sudo systemctl start disable-eee.service
  • endian
  • endian's Avatar
03 Dec 2025 20:06
Replied by endian on topic Reduce read-all timing 7i76e + 7i77

Reduce read-all timing 7i76e + 7i77

Category: Advanced Configuration

Yes, i read thier manual 1k times.. it is pretty solid extraction of what we all need...

Yes I am recompiling everytime to native NIC driver as common e1000e or rtl8190too ... It works pretty solid for 8khz thread 
8190too are basically free stuff on the market right now it cost few bucks

There are native drivers for beckhoff too but I have never tried them yet ... 

I am not expert in this drivers ..but if it will improve my latency i need them all ...
 
  • rodw
  • rodw's Avatar
03 Dec 2025 19:55
Replied by rodw on topic Reduce read-all timing 7i76e + 7i77

Reduce read-all timing 7i76e + 7i77

Category: Advanced Configuration

@endian, you may be interested to read the ethercat master docs Chapter 4, networking where it explains its interrupt-less network drivers that bypass all of the CPU affinity requirement...
etherlab.org/en_GB/ethercat

Also, ethercat has a number of specific NIC drivers but I seem to remember these are not included in the deb file in their repo and you need to compile from source to obtain them. It looks like they now support the Trixie 6.12 kernel. Driver Source etherlab.org/en_GB/ethercathttps://gitla...vices?ref_type=heads

drivers are loaded by ethercat.conf in place of ec_generic. It would be interesting to see if the  hm2_eth driver could be modified to use the ethercat drivers
  • endian
  • endian's Avatar
03 Dec 2025 18:31
Replied by endian on topic Reduce read-all timing 7i76e + 7i77

Reduce read-all timing 7i76e + 7i77

Category: Advanced Configuration

I think it is higher ladies school ... Customizing the kernel we will lost possibility of regular installation maybe ... Of course we can have own kernel but there will be limitations of any updates... But on other side who will use it from regular users... but I am not expert of kernels at all.. i know just how to create great ethercat topology with low thread time at budget iron..

I am not expert of Lcnc too.. but Lcnc needs two major improvements... Latency of networking(we can use mesa and peer to peer connection) and new 7phase trajectory planner(created by nonRT + RT part)

Both are non trivial and boths are long range run.. 
  • rodw
  • rodw's Avatar
03 Dec 2025 09:27
Replied by rodw on topic Reduce read-all timing 7i76e + 7i77

Reduce read-all timing 7i76e + 7i77

Category: Advanced Configuration

I don't think you can improve much on this without building the kernel from source and changing some of the config parameters. (which is not hard)
here are a couple of links I had saved
ubuntu.com/blog/real-time-kernel-tuning
eci.intel.com/docs/3.3/development/perfo...e/rt_scheduling.html
I did try installing the Intel tools but they did not like Trixie.

the only other idea I explored was to use time sensitive networking (TSN) protocols en.wikipedia.org/wiki/Time-Sensitive_Networking
But I think this would require writing a new hm2-eth driver (hm2-tsn?) and changes to the mesa hardware to support it.
This should solve the issue where networking does not currently support real time (networks are inherently store and forward so never designed for RT comms) but its not a trivial project. This would require TSN capable network cards but these are available at reasonable cost but the common entry level i225/i226 cards do not support TSN. ref: www.intel.com/content/www/us/en/support/...rs-up-to-2-5gbe.html I did find some for USD $70 to $150
  • endian
  • endian's Avatar
03 Dec 2025 04:03
Replied by endian on topic Reduce read-all timing 7i76e + 7i77

Reduce read-all timing 7i76e + 7i77

Category: Advanced Configuration

If gentelmen have any other tips for reducing latency .. share it please

I did changes for my machine and it runs for few days at 3khz without problem...

Reading the datas take less then 250us with timeout 100000ns and 250us is now limit... + Other stuff in the thread and we are under the 300us

Motion is smoother by the sound and scope profile and compensation of position in the velocity mode is faster==smoother ... It is real difference now

 
  • PCW
  • PCW's Avatar
02 Dec 2025 20:46 - 02 Dec 2025 20:53
Replied by PCW on topic Reduce read-all timing 7i76e + 7i77

Reduce read-all timing 7i76e + 7i77

Category: Advanced Configuration

That's a great condensed source of network latency reducing tips

Only quibble I would have is that:

setp hm2_7i76e.0.read.timeout 100000  

Is not correct as the hm2 read timeout is scaled in percent of the servo period

EDIT: actually that is correct as values larger than 100 are interpreted as ns

But a 100 usec margin is very small on most systems and will likely result in many
unnecessarily dropped packets .

Default is 80% of servo period and this is fine normally




 
  • endian
  • endian's Avatar
02 Dec 2025 19:14
Replied by endian on topic Reduce read-all timing 7i76e + 7i77

Reduce read-all timing 7i76e + 7i77

Category: Advanced Configuration

Rod share your tips please or add them to my guide ... I really like to learn something new about this topic!

Thanks
  • rodw
  • rodw's Avatar
02 Dec 2025 12:15
Replied by rodw on topic Reduce read-all timing 7i76e + 7i77

Reduce read-all timing 7i76e + 7i77

Category: Advanced Configuration

Excellent info. I've started working on a similar procedure.There are a few more optimisations but I'll test before sharing anything.
Now PREEMPT_RT is in the mainline, there are a lot of articles emerging about  RT tuning.
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