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  • CNC_Tux
  • CNC_Tux
16 Sep 2026 07:14
Replied by CNC_Tux on topic XHC-WHB04b-6 freeze in issue fixed !!

XHC-WHB04b-6 freeze in issue fixed !!

Category: Basic Configuration

Hello Linuxcnc Friends,
i abused the WHB04b-6 with a bad behavior and i found some smal bugs again.
Here are now the final and stable version of the drivers for Linuxcnc 2.9.10 and the hal.cc for the guys they want compile by himself to use in other versions

Best Regards
Reinhard


 

File Attachment:

File Name: hal.zip
File Size:8 KB

File Attachment:

File Name: xhc-hb04.zip
File Size:55 KB

File Attachment:

File Name: xhc-whb04b-6.zip
File Size:547 KB
  • rhscdn
  • rhscdn
16 Sep 2026 00:22
Replied by rhscdn on topic XHC-WHB04b-6 freeze in issue fixed !!

XHC-WHB04b-6 freeze in issue fixed !!

Category: Basic Configuration

I've encountered this bug many times. Thanks for posting.
  • rodw
  • rodw's Avatar
15 Sep 2026 20:48
Replied by rodw on topic XHC-WHB04b-6 freeze in issue fixed !!

XHC-WHB04b-6 freeze in issue fixed !!

Category: Basic Configuration

A better solution should be to submit your changes to LinuxCNC as a PR.
  • tuxcnc
  • tuxcnc
15 Sep 2026 14:48 - 15 Sep 2026 14:52
Replied by tuxcnc on topic XHC-WHB04b-6 freeze in issue fixed !!

XHC-WHB04b-6 freeze in issue fixed !!

Category: Basic Configuration

I made a diff with the latest hal.cc from Github and got a 43 kB patch...
Can you make a patch from your sources?
 
  • CNC_Tux
  • CNC_Tux
15 Sep 2026 13:27 - 15 Sep 2026 14:03
XHC-WHB04b-6 freeze in issue fixed !! was created by CNC_Tux

XHC-WHB04b-6 freeze in issue fixed !!

Category: Basic Configuration

Dear Linuxcnc Friends,
the WHB04b-6 driver has a big issue, if you are in Automatic mode and a cnc program in running and you use the jog wheel, will be freeze in the WHB04b-6. That issue is a bug in the hal.cc ! Every move on the jog wheel try the driver to switch into the manual mode and the WHB04b-6 freeze in. I have fixed this issue with AI and compiled the driver new in the Version of Linuxcnc 2.9.10
The Driver works very well and in my Version is the maximum of Jogscale 0.1mm ( to much Jogscale is a crash risk )
You can download here the zip file, unpack and copy with sudo rights to your System in /usr/bin/
Dont forgett to set the rights for execute the files.

The fixed hal.cc is in the attachment, for the guys they want compile by himself.
Best regards
Reinhard 

File Attachment:

File Name: AI_Driver_...4b-6.zip
File Size:601 KB
 
 

File Attachment:

File Name: hal.c
File Size:56 KB

Please rename the attachment hal.c to hal.cc
  • muddiver
  • muddiver
12 Sep 2026 11:09
Replied by muddiver on topic Jumping motion with XHC-WHB04B pendant

Jumping motion with XHC-WHB04B pendant

Category: Basic Configuration

Hi Sascha,

i wanted to thank you, you made my day with your hint, that's what it needed to get the smooth Handwheelfeeling i wanted!

Greets, Tom
  • andypugh
  • andypugh's Avatar
03 Sep 2026 12:46
Replied by andypugh on topic XHC Handrad - Fehler

XHC Handrad - Fehler

Category: Deutsch

There have been changes to the driver in the Master branch, one of which was to remove that "assert" and thus handle an error more elegantly.

github.com/LinuxCNC/linuxcnc/commit/6024...7aa599ef908L465-L542

Not directly helpful, but does seem to suggest you may not be the only one who had that problem.

If you are able to build from source, you could make that change and recompile? (Or start running 2.10)
  • ErwinCNC
  • ErwinCNC
27 Aug 2026 08:54
XHC Handrad - Fehler was created by ErwinCNC

XHC Handrad - Fehler

Category: Deutsch

Hallo, 
seit einigen Tagen verzweifle ich am Handrad XHC WHB04B-6 Funk. Kurz nach dem Start der Maschine erhalte ich in der Konsole folgende Fehlermeldung 
xhc-whb04b-6: hal/user_comps/xhc-whb04b-6/usb.cc:460: bool XhcWhb04b6::Usb::setupAsyncTransfer(): Assertion `0 == r' failed.

Nach dem was ich bisher herausgefunden konnte scheint es ein Problem auf USB-Ebene zu sein. Die einfachen Optionen (USB Port 2.0, *.rules Datei anpassen habe ich bereits versucht - leider ohne Erfolg. 

Auffällig häufig tritt der Fehler beim drehen am Handrad auf. Die Achsauswahl, diverse Tasten können mehrfach problemlos gedrückt werden und werden in der HALSHOW auch korrekt angezeigt. Beim drehen am Handrad tritt der Fehler relativ schnell auf. Deshalb bin ich nicht sicher ob es sich wirklich um ein USB Problem handelt. 

Meine Maschine läuft auf einem Pi5 8GB mit einer Mesa 7i96s und einer GMOCCAPY Oberfläche 2.9.10. Mechanisch ist es eine Gantry XYY2Z. 

Hat jemand dieses Handrad erfolgreich im Betrieb und kann mir eine "geprüfte" HAL Datei, *.rules Datei zur Verfügung stellen? Einfach um Fehler in meiner Konfiguration ausschließen zu können. 

Vielen Dank 

Grüße Erwin

 
  • spumco
  • spumco
21 Jun 2026 17:44
Replied by spumco on topic Ethercat installation from repositories - how to step by step

Ethercat installation from repositories - how to step by step

Category: EtherCAT

[Forum/internet is being really unresponsive, bear with me]

Thanks gents for having a look.  Here's the terminal outputs:

You need to use sudo for systemctl and journalctl. Can you redo and share?
Warning: Spoiler!


Is your /etc/ethercat.conf properly set?
Yes.  Added MAC addr for enp2s0 and "generic"

check the output of these command
mill@debian:~$ sudo dkms status | grep -i ethercat
[sudo] password for mill: 
ethercat/1.6.9: added

mill@debian:~$ uname -r
6.12.86+deb13-rt-amd64

mill@debian:~$ lsmod | grep ec_
typec_ucsi             69632  1 ucsi_acpi
typec                 114688  1 typec_ucsi
roles                  16384  1 typec_ucsi
usb_common             16384  3 xhci_hcd,usbcore,typec_ucsi

mill@debian:~$ sudo modprobe ec_master
modprobe: FATAL: Module ec_master not found in directory /lib/modules/6.12.86+deb13-rt-amd64

So it looks like something didn't get installed properly despite just pasting the linuxcnc-ethercat apt stuff from GH instructions.
  • jarcysgru
  • jarcysgru
16 Jun 2026 13:49 - 16 Jun 2026 19:59
Replied by jarcysgru on topic WHB04B-4 nie działa płynnie

WHB04B-4 nie działa płynnie

Category: General LinuxCNC Questions

Cześć wszystkim,

mam problem z moim przewodowym wisiorkiem XHC WHB04B-4. Kiedy próbuję przesunąć topory za pomocą koła ręcznego, ruch wcale nie jest płynny — zacina się, zacinają się i poruszają w szarpany/drżący sposób.

Co ważne, zauważalne jest opóźnienie, gdy przestaję kręcić kierownicą. Oś porusza się jeszcze przez krótką chwilę po tym, jak już przestałem kręcić kołem, jakby impulsy były buforowane.

Wcześniej miałem dokładnie tę samą frezarkę działającą na LinuxCNC 2.7.14 i wisiorka działała idealnie płynnie bez żadnych problemów. Problem pojawił się po aktualizacji systemu do wersji 2.9.8.

Sama maszyna działa bez zarzutu i płynnie podczas wykonywania programów G-code lub biegania przez interfejs graficzny. Problem pojawia się tylko przy użyciu kierownicy MPG.

Oto szczegóły mojej konfiguracji:
- LinuxCNC wersja 2.9.8 (zaktualizowana z 2.7.14)
- Kontroler ruchu: Mesa 7i92
- Płytka rozdzielcza (breakout): SSK-MB2
- Sterowniki: ZDM-2HA865 (sterownik zamkniętej pętli)
- Silniki: NEMA 34 Zamknięte pętle silników krokowych (5Nm, 6A)
- Typ maszyny: 3-osiowa frezarka CNC
- Połączenie: przewodowe połączenie USB bezpośrednio z komputerem

Podejrzewam, że to konflikt z halui.mode.teleop lub błędnie skonfigurowane ustawienia trybu prędkości/pozycji w moim niestandardowym pliku WHB04B HAL z powodu zmian architektonicznych 2.7–2.9, ale nie jestem pewien, jak to rozwiązać w moim zestawie Mesa.

Dołączam pliki .ini i .hal (w tym niestandardową konfigurację komponentu HAL xhc-whb04b).

Czy ktoś mógłby mnie pokierować, jak zacząć płynnie biegać? Z góry dziękuję za pomoc!
 

File Attachment:

File Name: my_LinuxCN...6-16.hal
File Size:8 KB

File Attachment:

File Name: my_LinuxCN...6-16.ini
File Size:6 KB

File Attachment:

File Name: xhc-whb04b...6-16.hal
File Size:5 KB

In linuxcnc version 2.7.14 I had the milling machine only on the SSK-MB2 board
  • Sascha H.
  • Sascha H.'s Avatar
29 May 2026 18:44
Replied by Sascha H. on topic Jumping motion with XHC-WHB04B pendant

Jumping motion with XHC-WHB04B pendant

Category: Basic Configuration

You can try this in your hal-file:
setp axis.x.jog-accel-fraction 0.4
setp axis.y.jog-accel-fraction 0.4
setp axis.z.jog-accel-fraction 0.4

This reduces the acceleration of the axes when moving with the pendant.
  • MaHa
  • MaHa
26 May 2026 19:16
Replied by MaHa on topic Jumping motion with XHC-WHB04B pendant

Jumping motion with XHC-WHB04B pendant

Category: Basic Configuration

Just talking from my experience, on my machine i got good result with ilowpass / multiply stepsize

setting for all axis:
MAX_ACCELERATION = 1100.0

If set Stepsize on mpg to 100 or less, it works very good. Even stepsize 500 worked, larger was not safe.
jog-counts and jog-scale can be set for all axis, only the enabled axis will move finally.
This config was made many years ago, thats all i remember

# The stepsize selected is always multiplied by 0.001
# ilowpass − Low-pass filter with integer inputs and outputs
# mult2 − Product of two inputs
loadrt ilowpass
loadrt mult2
addf ilowpass.0 servo-thread
addf mult2.xhc servo-thread

# Lowpass Filtering for mpg
setp ilowpass.0.gain 0.01

# IMPORTANT to keep ratio ilowpass.0.scale mult2.xhc.in1
setp ilowpass.0.scale 1000
setp mult2.xhc.in1 0.001

net jog-counts_in  <=  xhc-hb04.jog.counts => ilowpass.0.in
net jog-counts_out <=  ilowpass.0.out      => joint.0.jog-counts axis.x.jog-counts joint.1.jog-counts axis.y.jog-counts joint.2.jog-counts axis.z.jog-counts
net jog-scale      <= xhc-hb04.jog.scale   => mult2.xhc.in0
net scale_div_1000 <=  mult2.xhc.out       => joint.0.jog-scale axis.x.jog-scale joint.1.jog-scale axis.y.jog-scale joint.2.jog-scale axis.z.jog-scale

# Switch to mode.manual
net man_mode       <= xhc-hb04.button-mode => halui.mode.manual
 
  • andrax
  • andrax's Avatar
26 May 2026 07:50
Replied by andrax on topic Jumping motion with XHC-WHB04B pendant

Jumping motion with XHC-WHB04B pendant

Category: Basic Configuration

Yes, I experience this effect as well. It is caused by the fact that, when using the handwheel, you are constantly commanding a new target position for the axis. Even if you are only moving in small increments—0.01 mm or 1.00 mm at a time—the acceleration and deceleration ramps are still being applied. If these ramps are set too short, the axis accelerates and decelerates with every single increment, which is what causes the rattling sound.
You could address this by generally lengthening the ramps—though this would impact your machine's overall dynamics—or you could implement a specific solution within your XHC HAL configuration
  • Ismacr63
  • Ismacr63
25 May 2026 21:35
Replied by Ismacr63 on topic Jumping motion with XHC-WHB04B pendant

Jumping motion with XHC-WHB04B pendant

Category: Basic Configuration

I can't help with a fix, but it might help to work out where the fix belongs.
Try plotting the position-cmd in Halscope to see if the problem is in the commands from the WHB or is inside HAL itself.

I'm attaching a short video and my configuration files. I've been trying to use Halscope but I still don't quite understand it. Tomorrow with more time I'll give it another try.

youtube.com/shorts/L8vz-2Y_pZM?feature=share
  • andrax
  • andrax's Avatar
25 May 2026 17:30
Replied by andrax on topic Jumping motion with XHC-WHB04B pendant

Jumping motion with XHC-WHB04B pendant

Category: Basic Configuration

You may have set the deceleration and acceleration ramps too steeply 
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