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Danke, das ist schon mal ein Ansatz! 

Im Moment sehe ich da zwei Möglichkeiten:
- Raspberry Pi 5 + ein Parallel Hat von byte2bot
byte2bot.com/products/parallel-port-rasp...gak8F2DJq1o7WoFK2x-g

Verstehe ich das richtig, dass damit die Erzeugung der Signale die an meine Fräse gesendet werden im Raspberry stattfindet, und somit von der Systemauslastung, Latenz, etc.. abhängt?

- Raspberry Pi 5 + MESA 7C81
Während hier die Signale in/von der Mesa Karte erzeugt werden?

In beiden Fällen muss ich die .hal Dateien so anpassen dass die korrekten Pins angesprochen werden, das ist mir klar.

Aber funktioniert das grundsätzlich so, oder liege ich daneben?

Hallo zusammen!

Ich heiße Bernhard, bin Mitte 40 und komme aus dem Osten Österreichs.
Beruflich bin ich in der IT unterwegs, und habe auch etwas Erfahrung mit Linux.

Daher war das ausstatten meiner vor 5 Jahren angeschafften kleinen CNC Fräse (Mutronic Diadrive) mit LinuxCNC logisch, und das funktionierte auch im großen und ganzen sehr gut.

Die letzten 5 Jahre lief ein PC mit einem ASUS Mainboard aus 2005, an dessen Parallel-Port direkt die Fräse hing.

Wie zu erwarten, macht das natürlich irgendwann Probleme. Im Moment wird die Festplatte (SSD) nicht mehr erkannt.
Ich krieg das grundsätzlich zwar sicher wieder hin, aber möchte das eigentlich gleich nutzen um auf aktuelle Hardware umzusteigen.
PCs mit Parallel-Port zu finden die dann auch akzeptabel funktionieren dürfte eher die Nadel im Heuhaufen sein.
Alles was mir so in den letzten Jahren vor die Füße gefallen ist, hat im Latency Test grausam abgeschnitten.

Daher meine Frage an die Wissenden:
Was nehme ich 2025 für Hardware, um eine Fräse anzusteuern die einen Parallel-Port Eingang hat.

Ich lese was von Raspberry Pi, Mesa Karten, ..., blicke aber ehrlich gesagt nicht durch wie das alles zusammenspielt.
Eine Raspberry Lösung fände ich sehr sexy, aber was nehme ich dann als Umsetzer zur Fräse?

Habt ihr eventuell Links zu funktionierenden und dokumentierten Setups, oder Tipps in welche Richtung ich mich weiter schlau machen sollte?

hilfesuchende Grüße,
Bernhard


 

you can get sma cables with a bulkhead adapter at one end. use that cable, attach to where the wifi antenna was, drill a hole in the cabinet and you can then attach your antenna to the extension cable.

Glad you got that sorted John. Just wanted to mention that I did somewhat similar - wanted to "move the WiFi 10ft away to the top of the HMI box" since that's the highest point of the machine.  Looked at external antennas but none had a cable long enough. So have Rpi --> industrial USB hub --> 10ft USB cable to a tiny  8821CU  dongle with the antenna sticking out of the HMI.  Trap for young players: that particular dongle already has a driver included in the Rpi .iso, but that driver absolutely would not work.  Had to follow the directions at the link to compile a special new driver for it.  After a lot of head-scratching and configuration, have the on-board WiFi disabled and the dongle enabled, and it works a treat.  Cheers.

LinuxCNC 2.9.6 has been released.

This is a bug-fix release. Shortly after the release of 2.9.5 it was
noticed that a fix for a graphics bug in Gmoccapy had resulted in the
Axis touch-off dialog box no-longer working for non-zero entries.

This update is for all users, but especially users of the Axis GUI.

Packages for 2.9-uspace for amd64 (PC) for Debian Buster, Bullseye,
Bookworm and Trixie and for arm64 (Raspberry Pi 4/5) for Buster and
Bookworm have been added to the linuxcnc repository. If you installed
from one of our live images or Pi SD-card images then the update
should be available immediately.

If you installed into a normally-installed Debian from the Debian
repositories then hopefully the new version can be queued up for the
next point release. If you can’t wait then it is possible to add the
LinuxCNC repositories to the apt sources. One way to do this and
install the security keys is via the shell script here:
linuxcnc.org/docs/stable/html/getting-st...th_preempt_rt_kernel

At the moment the live-image installer and SD card images will install
2.9.4 but update should be trivial (and possibly automatic)

RTAI is still supported, but in the short term building from source is
likely to be the most expedient way to get 2.9.6 on that platform.

Changelog

qtvcp -Qt5_graphics: issue 2753; preview wrongly uses INI startup code
Merge pull request #3567 from Sigma1912/2_9-Correct_bad_fix_for_2753
Gremlin: Don’t use RS274NGC_STARTUP_CODE when updating the preview
Docs: Address G52 Circular Link #3565

Acknowledgements

As always, we couldn’t do this without the contributions from the
community, so many thanks to:

CMorley
Sigma1912

 

I am finding that

1. the stepper motors for the two spindles work as expected, however
2. the stepper motors for the axes (B, U, V, X, &, & Z) run at a VERY slow speed. 

The latency test on my Raspberry Pi 5 gave:

• Servo Thread
  • Max Interval = 1,013,089nS
  • Max Jitter = 13,089nS
• Base Thread
  • Max Interval = 46,407nS
  • Max Jitter = 24,074nS

I ran the Step Timing Calculator to set the BASE_PERIOD based on using StepperOnline DM542T drivers.

• Step Length = 2.5µS
• Step Space = 2.5µS
• Direction Setup = 5µS
• Direction Hold = 5µS

The recommended BASE_PERIOD = 26.57µS.

When I run LinuxCNC based on this configuration, the value for the parameter, hm2_yi92.0.stepgen.02.maxvel = 1.

Regardless, the stepper motor does NOT run at 1 rev / sec.

---

Attached are the HAL, INI, and include files for

• Spindle0 (Spindle1 is the same)
• Axis X (axes Y, Z, B, U, & V are the same)

The X Axis is set as Joint 0, Channel 02.

---

Help would be GREATLY appreciated!

Thank you and kind regards,
Rich

Hi everyone,I’ve been working on a CNC project for a while and I’d like some advice before committing to hardware. Here’s my situation:

• I originally built a 3-axis CNC router running on GRBL (ESP32) + a custom PCB. I used that setup for a long time and gained good experience with it.
• Later, I decided to upgrade to 5-axis by adding A and C axes to the same GRBL-based system. While it functions, I quickly discovered a limitation: ESP32 GRBL doesn’t support TCP, so the machine can’t act as a proper 5-axis system.
• Because of this, I started looking into LinuxCNC. At first I wanted to use my Raspberry Pi 5, but I read that the Pi version of LinuxCNC can’t really handle full 5-axis control.
• I then tried installing LinuxCNC on an old laptop, but since it has no parallel port, I searched for hardware solutions that use Ethernet. That’s how I found Mesa boards.

From what I’ve gathered so far:

• The 7i76 series supports 5 axes and spindle control, but its encoder inputs are only for the spindle, not for axes.
• The 7i95 series seems more suitable because it supports encoder inputs for the axes as well. My thinking was that even though steppers usually work fine, it would be good to have encoder feedback to check for missed steps.

Where I’m at now:

• When testing LinuxCNC setup, I couldn’t find any 7i95 options in PNCconf, which left me confused.
• My current hardware: 2.2 Nm NEMA 23 steppers with DM556 drivers on all axes (6 motors total, since Y has dual rails).
• I don’t have encoders yet, I was waiting to see which types are actually supported by the mesa boards.
• As another option, I do have a couple of 400 W Delta B3 servos, but not enough to equip all axes. I’ve considered using them if steppers turn out too weak, but that would mean buying more servos.
• My main goal with encoders is simply to check for missed steps on the steppers.

My questions to the community:

1. Am I on the right track with the 7i95 + LinuxCNC setup for a 5-axis machine with encoder feedback?
2. Would you recommend a different Mesa board or configuration for this?
3. Are there any guides/resources for setting up a 4+ axis machine with Mesa boards and LinuxCNC?

Thanks in advance for any advice!Ozan T.

 [justify]Hello, I am looking for some advice here while still learning about Linuxcnc.I have robot arm with 6 custom drives and I would like to integrate it more with Linuxcnc and use kinematics module. Currently it is driven in joint space with mesa 6i25 via step/dir interface. From what I saw there are multiple ways to get joint positions into Linuxcnc. Have to tell here that encoders are in some way absolute as they use batteries and on power on send current position over uart and from that point and further on just behave as incremental and send A and B pulses (these pulses are added in software to first read out position). Position read is handled in drives. I am thinking about best way to transfer 6 encoder readings to Linuxcnc. Have to check with gear ratio but data from encoders would be at least 24 bits(with multiple turns) and lets fix it to be 4 bytes per encoder. Another thing is that this communication should be isolated from drives as step/dir are also isolated from drives.

My questions are :


1. Do I need this enc data only for handling robot joints limits and for first start up position read (as all loops are closed into drives)?

2. Are these encoders data needed every 1mS for servo tread (in respect that I want to move robot in Cartesian space)?

3. What would be constraints on timing and synchronization of these 6 encoder readings?
  
   My idea is to use one additional mcu (stm32) to do "fast" communication with 6 drives (via uart, spi, i2c or can but most probably uart(RS485) with speeds in range from 1Mbps to 2Mbps ), do acquisition of 6 encoder channels and send it Linuxcnc. Mcu could issue 6 read commands "simultaneously"  on 6 UARTs, wait for all responses (ISR with control logic in drives works at 16KHz so worst case ~62uS delayed response concerning priorities), pack data and send to Linuxcnc.

4.  Which one would be best/easiest to use? Mesa smart serial, Mesa PktUART, pc serial port with custom protocol, ethernet -> UDP or something else?

- PC serial port seems to be slow with max speed of 1115200 - 128000bps, have to do isolation

- Mesa smart serial, as I see no isolation (if I want to use it just with bare 6i25 + RS422 chip, perhaps there are some add on boards which offer isolation? ) and concerning post from 29 Aug 2021 18:33 #219118
"
Replied by PCW on topic Mesa Smart Serial Interface Questions (expanding and/or encoder card options)

PWM would be possible on sserial as would encoders.
    encoders use a lot of bits so it's not too practical to do multiple
    encoders on a remote sserial card due to the current 96 bit
    packet size limit (this has been expanded to 224 bits but no current
    sserial remotes use more that 96 in and 96 out)
    "
    If I use stm32 for acquisition of all enc data, I would need 6 encoder * 32 bits -> 192 bits in total (possibly little more), is there new firmware for packet size of 224bits already available for 6i25?  If so where I can find it?  If I don't want to use stm32 then I need fpga firmware (or mesa board) with at least 6 smart serial blocks but in this case each one of 6 drives would have to cummunicate over smart serial, not sure here if drives could follow smart serial timings due other higher priority tasks (as read on forum after sending request mesa serial is expecting reply in some time ~20uS(not sure in which phase discovery or...)      
    - stmbl code available
    - arduino code availale (work in progress as stated)

- Mesa PktUART, as I read available speeds can go very high around 10Mbps, have to provide isolation, Rx buffer size of 1024 bytes, would implementation be straight-forward or there could be some issues?
  I would still plan to use it with stm32 which collects 6 position data (24bytes) and send it via PktUART. Only issue here would be number of available UARTs on stm32 but possibly this could be resolved with remapping RX/TX pins.
  I suppose concerning fpga space, firmware for PktUART could be made along with 6 step gen for 6i25?

- Ethernet -> UDP seems to me as good option as it provides isolation and could be handled with available stm32 + W5500 and
  seems that there is some source code already available

 www.forum.linuxcnc.org/38-general-linuxc...or-linuxcnc?start=10

 forum.linuxcnc.org/24-hal-components/287...rduino-over-ethernet
 
Thanks[/justify]

I've been working on an EtherCAT build for a couple of months now, and wanted to avoid posting here, but it seems I have hit a wall.
For some background: I am completely new to LinuxCNC but wanted to build an EtherCAT AXYZ cnc with Cia402 drives. I got an EK1100, EL1008, and EL2008, and my brother gave me a ClearPath-EC Teknic Cia402 (CoE) drive. I had a raspberry pi 5 available, so I am testing my configuration on that right now. I used the Pre-packaged rasp-pi install (Debian 12) with LinuxCNC from the linuxcnc website, and had very little trouble following Rod's installation from repositories. From there I had a lot of trouble, but got a configuration based off of the sim.axis config working with the EtherCAT slaves, and was able to test I/O with no trouble. 
Now, as I am attempting to incorporate the drive, but I can't get it into the OP state. The EtherCAT master recognizes it, and I can define pdos, but sdo 0x2000 and 0x2011 seem to just not exist, which I currently think has to do with the problem. I'm still having trouble wrapping my head around this, so let me know if there's anything else you need to help me. I would really appreciate the help!

teknic.com/files/downloads/ClearPath-EC_User_Manual.pdf

I apologise for the previous answer by the previous user, it really doesn't address your issue..
I'd go for this
www.hardkernel.com/shop/odroid-h4-plus/

I've been using the H3 Plus for a few years and had no issues with it. The only thing you need to do is use the non-kernel realtek drivers for the nic. I'm pretty sure Rod from the forum also uses one.

Waveshare also have this setup
www.waveshare.com/product/raspberry-pi/b...ule-box.htm?___SID=U

I'm currently running a mill with the C box but you're situation would be better suited to the A box.
I like the fact the case and connectors are well integrated, full size HDMI ports, all but the power switch, Serial console connector, and the connector to power it from a non-usb supply (meanwell would be a good choice) are on one side.
The only caveat is that the NIC is a realtek based one, but as long as the cnc stuff goes thru the RPi interface everything should be ok.

Langdons would please provide an answer relevant to the question, the user was looking for a small form factor PC, almost a similar size as a RPi5.

Hi I has problem with my setup  ini file  I do not understand the behavior of this if I use 200 step for the scale in my z axle and then G0Z-100 and the movment stop at 40 mm 
step 300 = 60 mm
step 400 =  81mm
step 500 = 78 mm
step 600 = 59 mm
Why can´'t I hit 100 mm in my set up I tryed many diferent value of steps with 50 increasment  
computer = Raspberry Pi 5 ,breakoutboard db25 cinese make , stepperdriver DM542  , 1/4 800 steps , motors 200 steps
are there any kind to help me in the right direction
yours sinserly Krister



   

JacobRush wrote:

tagged on the PC ethernet port with subinterfaces (or however linux does it these days its been a minute) and exposing those segments as untagged to the devices.
 

That's what I figured.

If I were to run LinuxCNC on a raspberry pi (whatever variant), I could potentially handle the UI (buttons, maybe some LEDs, the MPG) through the GPIO pins, and move the digital/analog I/O to ethercat devices, which would completely eliminate the Mesa hardware. That would still require ethercat on one VLAN and general purpose ethernet on another.

I might try it each way and see what works.

7C81 RPI FPGA board
1.5" RPI GPIO cable for 7C80 and 7C81
DIN Tray 107MM X 102MMFor 7C81, 7I94, 7I94T

The Raspberry PI, standoffs, and fans are NOT included.

Works perfectly. Selling because I bought a MASSO 3G Touch.

$75 plus shipping.
 
 

 

Quick question guys, are you having any issues when touching off ?
Similar to this
forum.linuxcnc.org/21-axis/57208-touch-off-ok-button-greyed-out

Now working, many thanks!