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  • DerKlotz
  • DerKlotz
12 Oct 2025 14:04 - 12 Oct 2025 14:05

Button on Linuxcnc interface that switches an output on Mesa 7i76e on and off

Category: GladeVCP

I used your example.ui and custom_postgui.hal now. Sorry for all... iḿ a total newbie
I used this command in the ini/Display for the ui... correct? Itś stored under that folder
GLADEVCP = /home/cnc/linuxcnc/configs/Fräse/example.ui

Still get errors
UN_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 - 2.9.6
Machine configuration directory is '/home/cnc/linuxcnc/configs/Fräse'
Machine configuration file is 'Fräse.ini'
INIFILE=/home/cnc/linuxcnc/configs/Fräse/Fräse.ini
VERSION=1.1
PARAMETER_FILE=linuxcnc.var
TPMOD=
HOMEMOD=
TASK=milltask
HALUI=halui
DISPLAY=axis
COORDINATES=XYZ
KINEMATICS=trivkins coordinates=XYZ
Starting LinuxCNC...
Starting LinuxCNC server program: linuxcncsvr
Loading Real Time OS, RTAPI, and HAL_LIB modules
Starting LinuxCNC IO program: io
Starting HAL User Interface program: halui
linuxcnc TPMOD=tpmod HOMEMOD=homemod EMCMOT=motmod
Found file(REL): ./Fräse.hal
Found file(REL): ./custom.hal
Starting TASK program: milltask
Starting DISPLAY program: axis
83886083
['halcmd', 'loadusr', '-Wn', 'gladevcp', 'gladevcp', '-c', 'gladevcp', '-d', '-x', '81789071', '/home/cnc/linuxcnc/configs/Fräse/example.ui']
Shutting down and cleaning up LinuxCNC...
Running HAL shutdown script
task: 315 cycles, min=0.000010, max=0.019215, avg=0.009510, 0 latency excursions (> 10x expected cycle time of 0.010000s)
hm2: loading Mesa HostMot2 driver version 0.15
hm2_eth: loading Mesa AnyIO HostMot2 ethernet driver version 0.2
hm2_eth: 10.10.10.10: INFO: Hardware address (MAC): 00:60:1b:10:4c:98
hm2_eth: discovered 7I76E-16
hm2/hm2_7i76e.0: Low Level init 0.15
hm2/hm2_7i76e.0: Smart Serial Firmware Version 43
Board hm2_7i76e.0.7i76.0.0 Hardware Mode 0 = standard
Board hm2_7i76e.0.7i76.0.0 Software Mode 0 = io_spin
Board hm2_7i76e.0.7i76.0.0 Software Mode 1 = io_ana_spin
Board hm2_7i76e.0.7i76.0.0 Software Mode 2 = io_enc_ana_spin_fv
hm2/hm2_7i76e.0: 51 I/O Pins used:
hm2/hm2_7i76e.0:     IO Pin 000 (P1-01): StepGen #0, pin Direction (Output)
hm2/hm2_7i76e.0:     IO Pin 001 (P1-14): StepGen #0, pin Step (Output)
hm2/hm2_7i76e.0:     IO Pin 002 (P1-02): StepGen #1, pin Direction (Output)
hm2/hm2_7i76e.0:     IO Pin 003 (P1-15): StepGen #1, pin Step (Output)
hm2/hm2_7i76e.0:     IO Pin 004 (P1-03): StepGen #2, pin Direction (Output)
hm2/hm2_7i76e.0:     IO Pin 005 (P1-16): StepGen #2, pin Step (Output)
hm2/hm2_7i76e.0:     IO Pin 006 (P1-04): IOPort
hm2/hm2_7i76e.0:     IO Pin 007 (P1-17): IOPort
hm2/hm2_7i76e.0:     IO Pin 008 (P1-05): IOPort
hm2/hm2_7i76e.0:     IO Pin 009 (P1-06): IOPort
hm2/hm2_7i76e.0:     IO Pin 010 (P1-07): Smart Serial Interface #0, pin tx0 (Output)
hm2/hm2_7i76e.0:     IO Pin 011 (P1-08): Smart Serial Interface #0, pin rx0 (Input)
hm2/hm2_7i76e.0:     IO Pin 012 (P1-09): IOPort
hm2/hm2_7i76e.0:     IO Pin 013 (P1-10): IOPort
hm2/hm2_7i76e.0:     IO Pin 014 (P1-11): Encoder #0, pin Index (Input)
hm2/hm2_7i76e.0:     IO Pin 015 (P1-12): Encoder #0, pin B (Input)
hm2/hm2_7i76e.0:     IO Pin 016 (P1-13): Encoder #0, pin A (Input)
hm2/hm2_7i76e.0:     IO Pin 017 (P2-01): IOPort
hm2/hm2_7i76e.0:     IO Pin 018 (P2-14): IOPort
hm2/hm2_7i76e.0:     IO Pin 019 (P2-02): IOPort
hm2/hm2_7i76e.0:     IO Pin 020 (P2-15): IOPort
hm2/hm2_7i76e.0:     IO Pin 021 (P2-03): IOPort
hm2/hm2_7i76e.0:     IO Pin 022 (P2-16): IOPort
hm2/hm2_7i76e.0:     IO Pin 023 (P2-04): IOPort
hm2/hm2_7i76e.0:     IO Pin 024 (P2-17): IOPort
hm2/hm2_7i76e.0:     IO Pin 025 (P2-05): IOPort
hm2/hm2_7i76e.0:     IO Pin 026 (P2-06): IOPort
hm2/hm2_7i76e.0:     IO Pin 027 (P2-07): IOPort
hm2/hm2_7i76e.0:     IO Pin 028 (P2-08): IOPort
hm2/hm2_7i76e.0:     IO Pin 029 (P2-09): IOPort
hm2/hm2_7i76e.0:     IO Pin 030 (P2-10): IOPort
hm2/hm2_7i76e.0:     IO Pin 031 (P2-11): IOPort
hm2/hm2_7i76e.0:     IO Pin 032 (P2-12): IOPort
hm2/hm2_7i76e.0:     IO Pin 033 (P2-13): IOPort
hm2/hm2_7i76e.0:     IO Pin 034 (P3-01): IOPort
hm2/hm2_7i76e.0:     IO Pin 035 (P3-14): IOPort
hm2/hm2_7i76e.0:     IO Pin 036 (P3-02): IOPort
hm2/hm2_7i76e.0:     IO Pin 037 (P3-15): IOPort
hm2/hm2_7i76e.0:     IO Pin 038 (P3-03): IOPort
hm2/hm2_7i76e.0:     IO Pin 039 (P3-16): IOPort
hm2/hm2_7i76e.0:     IO Pin 040 (P3-04): IOPort
hm2/hm2_7i76e.0:     IO Pin 041 (P3-17): IOPort
hm2/hm2_7i76e.0:     IO Pin 042 (P3-05): IOPort
hm2/hm2_7i76e.0:     IO Pin 043 (P3-06): IOPort
hm2/hm2_7i76e.0:     IO Pin 044 (P3-07): IOPort
hm2/hm2_7i76e.0:     IO Pin 045 (P3-08): IOPort
hm2/hm2_7i76e.0:     IO Pin 046 (P3-09): IOPort
hm2/hm2_7i76e.0:     IO Pin 047 (P3-10): IOPort
hm2/hm2_7i76e.0:     IO Pin 048 (P3-11): IOPort
hm2/hm2_7i76e.0:     IO Pin 049 (P3-12): IOPort
hm2/hm2_7i76e.0:     IO Pin 050 (P3-13): IOPort
hm2/hm2_7i76e.0: registered
hm2_eth: in hm2_eth_reset
hm2_eth: HostMot2 ethernet driver unloaded
hm2: unloading
Removing HAL_LIB, RTAPI, and Real Time OS modules
Removing NML shared memory segments

Debug file information:
Note: Using POSIX realtime
note: MAXV     max: 25.000 units/sec 1500.000 units/min
note: LJOG     max: 25.000 units/sec 1500.000 units/min
note: LJOG default: 6.000 units/sec 360.000 units/min
note: jog_order='XYZ'
note: jog_invert=set()
[GladeVCP][[36mINFO[0m]  Logging to: [33m/home/cnc/gladevcp.log[0m (logger.py:106)
[GladeVCP.QTVCP.QT_ISTAT][[33mWARNING[0m]  INI Parsing Error, No DEFAULT_SPINDLE_0_SPEED Entry in DISPLAY, Using: 200 (qt_istat.py:532)
[GladeVCP.QTVCP.QT_ISTAT][[33mWARNING[0m]  INI Parsing Error, No MIN_SPINDLE_0_SPEED Entry in DISPLAY, Using: 100 (qt_istat.py:532)
[GladeVCP.QTVCP.QT_ISTAT][[33mWARNING[0m]  INI Parsing Error, No MAX_SPINDLE_0_SPEED Entry in DISPLAY, Using: 2500 (qt_istat.py:532)
[GladeVCP.QTVCP.QT_ISTAT][[33mWARNING[0m]  INI Parsing Error, No MAX_SPINDLE_0_OVERRIDE Entry in DISPLAY, Using: 1 (qt_istat.py:532)
[GladeVCP.QTVCP.QT_ISTAT][[33mWARNING[0m]  INI Parsing Error, No MIN_SPINDLE_0_OVERRIDE Entry in DISPLAY, Using: 0.5 (qt_istat.py:532)
custom_postgui.hal:4: setp requires 2 arguments, 1 given

(gladevcp:117656): Gdk-WARNING **: 16:03:36.296: GdkWindow 0x5000003 unexpectedly destroyed
/usr/lib/python3/dist-packages/gi/overrides/Gtk.py:1689: Warning: invalid (NULL) pointer instance
  return _Gtk_main(*args, **kwargs)
/usr/lib/python3/dist-packages/gi/overrides/Gtk.py:1689: Warning: g_signal_handler_disconnect: assertion 'G_TYPE_CHECK_INSTANCE (instance)' failed
  return _Gtk_main(*args, **kwargs)

(gladevcp:117656): Gdk-CRITICAL **: 16:03:36.296: gdk_frame_clock_end_updating: assertion 'GDK_IS_FRAME_CLOCK (frame_clock)' failed
**** GLADE VCP ERROR:    X Protocol Error: 3
117585
117633
Stopping realtime threads
Unloading hal components
Note: Using POSIX realtime
 
  • Aciera
  • Aciera's Avatar
12 Oct 2025 11:54

Button on Linuxcnc interface that switches an output on Mesa 7i76e on and off

Category: GladeVCP

My Ini already had the POSTGUI_HALFILE = custom_postgui.hal

In my Display Section ii this ->
GLADEVCP= -u ./hitcounter.py /home/cnc/linuxcnc/configs/Fräse/test.ui

BUT i receive the "hitcounter.py" error from my post before

Today i did a Sudo ... update and upgrade. During the upgrade i got these errors. Somewhere there the problem?


Not sure why you keep hacking away at your setup.

Any particular reason for not trying the example.ui I have attached?
  • DerKlotz
  • DerKlotz
12 Oct 2025 11:06 - 12 Oct 2025 11:36

Button on Linuxcnc interface that switches an output on Mesa 7i76e on and off

Category: GladeVCP

My Ini already had the POSTGUI_HALFILE = custom_postgui.hal

In my Display Section ii this ->
GLADEVCP= -u ./hitcounter.py /home/cnc/linuxcnc/configs/Fräse/test.ui

BUT i receive the "hitcounter.py" error from my post before

Today i did a Sudo ... update and upgrade. During the upgrade i got these errors. Somewhere there the problem?
dpkg: error processing package linux-image-6.1.0-40-rt-amd64 (--configure):
 installed linux-image-6.1.0-40-rt-amd64 package post-installation script subpro
cess returned error exit status 1
Setting up libgs10-common (10.0.0~dfsg-11+deb12u8) ...
Setting up libtiff-dev:amd64 (4.5.0-6+deb12u3) ...
dpkg: dependency problems prevent configuration of linux-image-rt-amd64:
 linux-image-rt-amd64 depends on linux-image-6.1.0-40-rt-amd64 (= 6.1.153-1); ho
wever:
  Package linux-image-6.1.0-40-rt-amd64 is not configured yet.

dpkg: error processing package linux-image-rt-amd64 (--configure):
 dependency problems - leaving unconfigured
Setting up libgs10:amd64 (10.0.0~dfsg-11+deb12u8) ...
Setting up ghostscript (10.0.0~dfsg-11+deb12u8) ...
Processing triggers for libc-bin (2.36-9+deb12u13) ...
Processing triggers for man-db (2.11.2-2) ...
Processing triggers for initramfs-tools (0.142+deb12u3) ...
update-initramfs: Generating /boot/initrd.img-6.1.0-40-rt-amd64
raspi-firmware: missing /boot/firmware, did you forget to mount it?
run-parts: /etc/initramfs/post-update.d//z50-raspi-firmware exited with return c
ode 1
dpkg: error processing package initramfs-tools (--configure):
 installed initramfs-tools package post-installation script subprocess returned 
error exit status 1
Errors were encountered while processing:
 linux-image-6.1.0-40-rt-amd64
 linux-image-rt-amd64
 initramfs-tools
E: Sub-process /usr/bin/dpkg returned an error code (1)

Error during glade install
~$ sudo apt install glade
[sudo] password for cnc: 
Reading package lists... Done
Building dependency tree... Done
Reading state information... Done
glade is already the newest version (3.40.0-3+b1).
The following packages were automatically installed and are no longer required:
  linux-headers-6.1.0-30-amd64 linux-headers-6.1.0-30-common
Use 'sudo apt autoremove' to remove them.
0 upgraded, 0 newly installed, 0 to remove and 0 not upgraded.
3 not fully installed or removed.
After this operation, 0 B of additional disk space will be used.
Do you want to continue? [Y/n] y
Setting up initramfs-tools (0.142+deb12u3) ...
update-initramfs: deferring update (trigger activated)
Setting up linux-image-6.1.0-40-rt-amd64 (6.1.153-1) ...
/etc/kernel/postinst.d/dkms:
dkms: running auto installation service for kernel 6.1.0-40-rt-amd64.
dkms: autoinstall for kernel: 6.1.0-40-rt-amd64.
/etc/kernel/postinst.d/initramfs-tools:
update-initramfs: Generating /boot/initrd.img-6.1.0-40-rt-amd64
raspi-firmware: missing /boot/firmware, did you forget to mount it?
run-parts: /etc/initramfs/post-update.d//z50-raspi-firmware exited with return c
ode 1
run-parts: /etc/kernel/postinst.d/initramfs-tools exited with return code 1
dpkg: error processing package linux-image-6.1.0-40-rt-amd64 (--configure):
 installed linux-image-6.1.0-40-rt-amd64 package post-installation script subpro
cess returned error exit status 1
dpkg: dependency problems prevent configuration of linux-image-rt-amd64:
 linux-image-rt-amd64 depends on linux-image-6.1.0-40-rt-amd64 (= 6.1.153-1); ho
wever:
  Package linux-image-6.1.0-40-rt-amd64 is not configured yet.

dpkg: error processing package linux-image-rt-amd64 (--configure):
 dependency problems - leaving unconfigured
Processing triggers for initramfs-tools (0.142+deb12u3) ...
update-initramfs: Generating /boot/initrd.img-6.1.0-40-rt-amd64
raspi-firmware: missing /boot/firmware, did you forget to mount it?
run-parts: /etc/initramfs/post-update.d//z50-raspi-firmware exited with return c
ode 1
dpkg: error processing package initramfs-tools (--configure):
 installed initramfs-tools package post-installation script subprocess returned 
error exit status 1
Errors were encountered while processing:
 linux-image-6.1.0-40-rt-amd64
 linux-image-rt-amd64
 initramfs-tools
E: Sub-process /usr/bin/dpkg returned an error code (1)
  • Aciera
  • Aciera's Avatar
12 Oct 2025 01:30

Button on Linuxcnc interface that switches an output on Mesa 7i76e on and off

Category: GladeVCP

I'm sorry, I forgot the ini file part:

[DISPLAY] section:
GLADEVCP = example.ui


[HAL]
POSTGUI_HALFILE = example_postgui.hal
  • bnet
  • bnet's Avatar
11 Oct 2025 15:40

Fanuc Serial Pulse Coders - Red cap servos, mesa 7i76e, how to?

Category: Driver Boards

I have removed and disassembled the Fanuc encoders, retaining the central shaft that mounts to the tapered encoder mount on the motor's shaft. I turned down a section of this shaft to 15mm which is the bore size of the clamping collar of the new encoders. The encoders are hollow all the way through so I can still tighten the screw that mounts the encoder shaft to the motor. 

 

Turns out that the new encoder mount flanges happen to line up with some holes on the old Fanuc encoder bearing housing, so I repurposed those to serve as the encoder mounts. All mounted on the machine now, everything fits under the original red caps, with one tight fit under the smaller turret motor.

 

Unfortunately I have been unsuccessful in configuring the drives (AB Ultra3000) to engage in self-sensing commutation. I have tried everything I can think of including: 

-swapping motor phases (every possible combination) to ensure motor direction phase relationship and encoder direction match
-adjusting self-sensing current
-swapping A / B encoder phases to see if they were backwards with relation to the motor while also trying the various motor phase connections in this A / B swapped configuration
-double checking and experimenting with Pulses Per Revolution and the corresponding Lines Per Revolution data at the drive. Encoder is listed as PPR while drive data input is LPR as it counts the rising and falling edges therefore PPR*4=LPR

Now I'm wondering if my motor configuration settings have something to do with it (within the Ultraware configurator, some numbers such as Inductance had to be guessed as I do not know how to measure that and havent found info on that yet), but it seems like an unlikely cause. 

No matter what I do I get E39 (self-sensing startup error) a short period of self-sensing testing upon enabling the drive. 

The motor in question is free to spin for the self-sensing routine. 

Which brings me to another problem: the X-axis is HEAVILY loaded as it is a slant bed without counter spring. Currently a brake is on, so if I were to figure out this self-sensing and make it work, or even generate commutation pulses from the incremental encoder data, any startup sensing would have to take place with the X-Axis brake released and have the motor engaged in holding torque so that the whole thing doesnt come crashing down. 

I think I should have bought encoders with commutation outputs   I assumed that the self-sensing commutation would work as perscribed but for some reason I cant get it to work. 

Now I'm starting to wonder if I should run the the buffered encoder outs (that the Ultra3000 provides) into LinuxCNC via the extra Mesa cards I got and use BLDC to generate commutation pulses, send them out to the drives. The only issue is the startup sensing: how would BLDC command the Step/Dir drives to move in order to find the index pulse if the step/dir drives need the commutation signals to run in the first place? 

If anyone has any ideas, even half-baked, I'd love to hear them. 

The Conquest continues. 



 
  • DerKlotz
  • DerKlotz
11 Oct 2025 14:15 - 11 Oct 2025 14:59

Button on Linuxcnc interface that switches an output on Mesa 7i76e on and off

Category: GladeVCP

When i start linuxcnc with just setp gladevcp.table1" in the postgui i receive this error message

Starting DISPLAY program: axis
module 'hitcounter' skipped - import error: No module named 'hitcounter'
71303171
['halcmd', 'loadusr', '-Wn', 'gladevcp', 'gladevcp', '-c', 'gladevcp', '-d', '-x', '79691919', '-u', './hitcounter.py', '/home/cnc/linuxcnc/configs/Fräse/test.glade']
Shutting down and cleaning up LinuxCNC...
Running HAL shutdown script


Any ideas how to fix it?

I found this  github.com/LinuxCNC/linuxcnc/blob/2.9/configs/sim/hitcounter.py
I created a file hitcounter.py in /home/cnc/linuxcnc/configs/Fräse/ with the contend from the link

A little different error

Starting DISPLAY program: axis
77594627
['halcmd', 'loadusr', '-Wn', 'gladevcp', 'gladevcp', '-c', 'gladevcp', '-d', '-x', '75497615', '-u', './hitcounter.py', '/home/cnc/linuxcnc/configs/Fräse/test.glade']
Shutting down and cleaning up LinuxCNC...
  • Aciera
  • Aciera's Avatar
11 Oct 2025 07:29

Button on Linuxcnc interface that switches an output on Mesa 7i76e on and off

Category: GladeVCP

You don't need a handler for what you want.

Here is an example that creates a led connected to 'halui.machine.is-on' and a button connected to 'halui.machine.on'  

 

File Attachment:

File Name: example.ui
File Size:2 KB


 

File Attachment:

File Name: example_postgui.hal
File Size:0 KB
  • andypugh
  • andypugh's Avatar
10 Oct 2025 20:03

Button on Linuxcnc interface that switches an output on Mesa 7i76e on and off

Category: GladeVCP

If your Glade UI element is of type "Hal button" then the HAL pin will be created automatically and no handler file is needed.

(This is stated with 93% confidence, I don't have easy access to a LinuxCNC machine at the moment to test this assertion)
  • DerKlotz
  • DerKlotz
10 Oct 2025 18:50

Button on Linuxcnc interface that switches an output on Mesa 7i76e on and off

Category: GladeVCP

Can you help me understand how Glade and Handler work? I've already created the switch and the LED. How do I now connect them so that pin 17 switches on and off? I'm completly stuck.
  • Aciera
  • Aciera's Avatar
10 Oct 2025 17:26

Button on Linuxcnc interface that switches an output on Mesa 7i76e on and off

Category: GladeVCP

Note that you can use either a handler or the postgui halfile to make the connections.
  • Aciera
  • Aciera's Avatar
10 Oct 2025 17:25

Button on Linuxcnc interface that switches an output on Mesa 7i76e on and off

Category: GladeVCP

That does not work because you have forgotten to give a signal name after the 'net' command.

I entered the command in postgui. This does not start linuxcnc. Do I have the correct command from Halshow for postgui.hal?

Not sure I understand this correctly but halshow does not make any distinction between postgui and regular hal files.
The regular hal files are read before the gui has loaded so if any gui related halpins are used in these files you will get a startup error because those pins are missing. The postgui halfile is read after the GUi and the custom panels have loaded.
  • DerKlotz
  • DerKlotz
10 Oct 2025 16:58

Button on Linuxcnc interface that switches an output on Mesa 7i76e on and off

Category: GladeVCP

I only became a Glade user today... so I don't have any experience yet. Please take a look at the attachments. I have the following questions:
Do I have to enter something in Glade -> Light Button -> Signals -> Handler? Do I enter this handler in postgui?
I entered the command in postgui. This does not start linuxcnc. Do I have the correct command from Halshow for postgui.hal?
  • Aciera
  • Aciera's Avatar
10 Oct 2025 15:12 - 10 Oct 2025 15:15

Button on Linuxcnc interface that switches an output on Mesa 7i76e on and off

Category: GladeVCP

You'll need to make the hal connections in the postgui_hal file. Have a look at the millturn sim confi, (uses an xml instead of a glade file but the setup is the same.
github.com/LinuxCNC/linuxcnc/tree/master...xis/vismach/millturn
  • DerKlotz
  • DerKlotz
10 Oct 2025 15:05 - 10 Oct 2025 15:06

Button on Linuxcnc interface that switches an output on Mesa 7i76e on and off

Category: GladeVCP

Hello,
I would like to have a header on my Linuxcnc interface that switches Pin17=hm2_7i76e.0.7i76.0.0.output-00 on and off on my Mesa7i76e. So far, I have created an LED and a button in Glade. This already appears on the Linuxcnc interface, but no control content is stored. How do I proceed? I tried to do some preliminary work on the Glade page, but failed. What do I need to do and where?
Thank you
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