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  • spumco
  • spumco
Yesterday 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 
  • andypugh
  • andypugh's Avatar
25 May 2026 17:12
Replied by andypugh 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.
  • cstorksen
  • cstorksen
17 May 2026 10:08
Replied by cstorksen on topic XHC WHB04B-6 - lost RF warning

XHC WHB04B-6 - lost RF warning

Category: Computers and Hardware

Hi,

I am having the same problem, with the same controller , only 4 axis . Same id, and same symptoms. I am running linuxCNC 2.9.8, I have tried to change the ID in the .rules file, but no luck.
Did anyone resolve this, any suggestions?
  • Ismacr63
  • Ismacr63
13 May 2026 20:30
Jumping motion with XHC-WHB04B pendant was created by Ismacr63

Jumping motion with XHC-WHB04B pendant

Category: Basic Configuration

I have an XHC-WHB04B pendant set up and everything works pretty well, except that when I turn the wheel in continuous mode it moves in jerks/jumps, while in step mode it moves smoothly. Is there any way to avoid the jumps in continuous mode?
  • jarcysgru
  • jarcysgru
27 Apr 2026 11:00 - 27 Apr 2026 11:31
WHB04B-4 nie działa płynnie was created by jarcysgru

WHB04B-4 nie działa płynnie

Category: General LinuxCNC Questions

Witam mam linuxcnc 2.9.8 płyta Mesa7i92 z SSK-MB2 jest to frezarka trzy osie X Y Z programy ngc działają prawidłowo.
Uruchomiłem WHBO4B-4 na przewodzie i nie do końca działa prawidłowo czyli gdy kręcę kółkiem i gdy przestanę oś idzie dalej .
Proszę co mam nie tak ustawione.
Załączam moją konfigurację.
  

File Attachment:

File Name: mojakonfiguracja.rar
File Size:9 KB

 

File Attachment:

File Name: my_LinuxCN...27-2.hal
File Size:8 KB

 

File Attachment:

File Name: my_LinuxCN...hine.ini
File Size:5 KB

 

File Attachment:

File Name: xhc-whb04b-6.hal
File Size:2 KB
  • Lcvette
  • Lcvette's Avatar
14 Apr 2026 15:35 - 14 Apr 2026 15:35
Replied by Lcvette on topic Probe Basic and XHC-WHB04B-6 jogging issue

Probe Basic and XHC-WHB04B-6 jogging issue

Category: QtPyVCP

That's great news, glad you got it sorted out!
  • spacemanspiffee
  • spacemanspiffee's Avatar
14 Apr 2026 03:49
Replied by spacemanspiffee on topic Probe Basic and XHC-WHB04B-6 jogging issue

Probe Basic and XHC-WHB04B-6 jogging issue

Category: QtPyVCP

Update on my situation.

I was able to solve my jog pendant issues. 

There were two changes I made:

1. halui signals:

Probe Basic
# ---HALUI signals---

net axis-select-x halui.axis.x.select
# net jog-x-pos halui.axis.x.plus
# net jog-x-neg halui.axis.x.minus
# net jog-x-analog halui.axis.x.analog
net x-is-homed halui.joint.0.is-homed
net axis-select-y halui.axis.y.select
# net jog-y-pos halui.axis.y.plus
# net jog-y-neg halui.axis.y.minus
# net jog-y-analog halui.axis.y.analog
net y-is-homed halui.joint.1.is-homed
net axis-select-z halui.axis.z.select
# net jog-z-pos halui.axis.z.plus
# net jog-z-neg halui.axis.z.minus
# net jog-z-analog halui.axis.z.analog
net z-is-homed halui.joint.2.is-homed
# net jog-selected-pos halui.axis.selected.plus
# net jog-selected-neg halui.axis.selected.minus
net spindle-manual-cw halui.spindle.0.forward
net spindle-manual-ccw halui.spindle.0.reverse
net spindle-manual-stop halui.spindle.0.stop
net machine-is-on halui.machine.is-on
# net jog-speed halui.axis.jog-speed
net MDI-mode halui.mode.is-mdiAxis# ---HALUI signals---

#net axis-select-x halui.axis.x.select
net jog-x-pos halui.axis.x.plus
net jog-x-neg halui.axis.x.minus
net jog-x-analog halui.axis.x.analog
#net x-is-homed halui.joint.0.is-homed
#net axis-select-y halui.axis.y.select
net jog-y-pos halui.axis.y.plus
net jog-y-neg halui.axis.y.minus
net jog-y-analog halui.axis.y.analog
#net y-is-homed halui.joint.1.is-homed
#net axis-select-z halui.axis.z.select
net jog-z-pos halui.axis.z.plus
net jog-z-neg halui.axis.z.minus
net jog-z-analog halui.axis.z.analog
#net z-is-homed halui.joint.2.is-homed
net jog-selected-pos halui.axis.selected.plus
net jog-selected-neg halui.axis.selected.minus
#net spindle-manual-cw halui.spindle.0.forward
#net spindle-manual-ccw halui.spindle.0.reverse
#net spindle-manual-stop halui.spindle.0.stop
#net machine-is-on halui.machine.is-on
net jog-speed halui.axis.jog-speed
#net MDI-mode halui.mode.is-mdi

For some reason I had ended up with the exact opposite lines commented between the new probe basic and the old axis configs (probably had used a toggle comment command in vs code accidentally). I swapped the commenting in the probe basic hal file to match the old axis file.

2. pendant.hal and pin conflicts
I had some pin conflicts between pendant.hal and the postgui hal that probe basic uses. I had originally changed them in the pendant.hal file to preserve probe basic postgui hal file. Now, I am using the pendant.hal file that worked with the old axis config and I modified the conflicting pins in the post gui hal file from probe basic.

Between those two changes, the pendant is now functioning just how it was on the old axis configuration.
So now I have a functioning pendant and a functioning ATC using probe basic as the UI.

Next to get my ATC rack made and get my probe working.
  • Lcvette
  • Lcvette's Avatar
14 Apr 2026 01:21
Replied by Lcvette on topic Probe Basic and XHC-WHB04B-6 jogging issue

Probe Basic and XHC-WHB04B-6 jogging issue

Category: QtPyVCP

You may have a timer issue, I know others had conflict with the timer and hbo4 pregnant, I would investigate that.

Aside from that I'm not sure what would cause that except maybe a setting for the pregnant specific that may require a change?

Hopefully someone else can come in with knowledge on it. My wired jog pendant uses velocity mode when the speed is to fast for motion and the pulses begin to stack up, this stupid a runaway axis condition.
  • rodw
  • rodw's Avatar
11 Apr 2026 03:54
Replied by rodw on topic iMach3 P2-S Stops Working

iMach3 P2-S Stops Working

Category: General LinuxCNC Questions

I consider any of the Mesa SmartSerial boards to be 'direct I/O' as that method of connection is rock-solid and there's no human-perceptible lag or latency.  Which means a hand-held MPG with a 7i73 inside (for the digital display) will be be just as responsive as the panel-mounted stuff I built.

Well there are wireless pendants that wire into direct I/O (but they are not USB) that will give equivalent response
www.wixhctech.com/product/23.html
They use a lot of I/O but you can get versions that use digital inputs (which I have used) that save a few inputs
 
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