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  • PCW
  • PCW's Avatar
30 Oct 2025 19:11
Replied by PCW on topic 7i96s Pinout/Wiring Help

7i96s Pinout/Wiring Help

Category: General LinuxCNC Questions

1. No 7I96S step/dir pin should ever be wired to 5V or ground.
This directly shorts out the drivers and if done for more
than a short time will damage the driver chips.

2. Not sure what you mean by this:
I wired them to Raspberry Pi GPIO using external 10k pull-ups.

3. Are the pins you have trouble with encoder pins (TB2 pins)
or isolated input pins?

P1 pinout is standard header pinout
pin one is marked with the Square

1 2
3 4
5 6
7 8
 etc

Note that mesaflash show equivalent DB25 pins
(if you use the latest mesaflash you can show HDR26 pins
with the --dbname hdr26 option)
  • maruf1777
  • maruf1777
30 Oct 2025 18:39
7i96s Pinout/Wiring Help was created by maruf1777

7i96s Pinout/Wiring Help

Category: General LinuxCNC Questions

Hello everyone
I am encountering an issue that appears to be EMI-related despite applying the usual mitigation steps.
EMI / System Setup:
VFD in steel enclosure
Input EMI filter
Ferrite rings on VFD output and all related cables
Shielded spindle/motor cables (grounded both ends)
AC/VFD cabling physically separated from DC lines
High-current DC cables are shielded and routed separately
Control Setup:
I am using the 7i96S encoder pins for MPG inputs (I have no motor or spindle encoders).
I do not have any unused OUT pins and only 4 available IN pins.
To get X, Y, Z, X1, X10, and X100 signals, I wired them to Raspberry Pi GPIO using external 10k pull-ups.
Issue
After wiring the MPG inputs, some of the pins intermittently remain latched HIGH or LOW, making jog selection unreliable. This problem has occurred twice, and both times it started after spindle-speed testing.
Earlier in setup, I believe I damaged one of the 7i96S step/dir channels. After that, instead of wiring STEP- and DIR- to GND and STEP+ / DIR+ to the respective inputs, I reversed them — STEP+ and DIR+ to +5V and STEP- / DIR- to the Mesa pins.I have since added additional ferrites and shielding, Ferrites on servo lines, data cables, and MPG cable
Steel mesh added to enclosure ventilation fans but the issue persists.
I am now planning to use the P1 pins on the 7i96S for X/Y/Z and X1/X10/X100 inputs instead.
W6 jumper is OFF.
Questions
  1. The MPG has extra wires that appear intended to power LEDs or similar features. Can these be safely powered from the 5V rail, or is that risky for the inputs?
  2. Where exactly are pin 1 and pin 2 physically located on the P1 expansion header?
  3. Which P1 pins are appropriate to use for these MPG signals?
  4. May I safely use 5V for the MPG input power in this configuration?
  5. Any recommendations to avoid EMI issues when using these inputs on the 7i96S?

    Thank you for your help.

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  • Will_cnc
  • Will_cnc
30 Oct 2025 11:00
Replied by Will_cnc on topic Stepper online A6 Servo motor as Spindle motor

Stepper online A6 Servo motor as Spindle motor

Category: General LinuxCNC Questions

sudo halcompile --install cia402pv.comp

cnc@raspberrypi:~$ sudo halcompile --install cia402pv.comp
Traceback (most recent call last):
File "/usr/bin/halcompile", line 1553, in <module>
main()
File "/usr/bin/halcompile", line 1523, in main
process(f, mode, outfile)
File "/usr/bin/halcompile", line 1363, in process
a, b = parse(filename)
^^^^^^^^^^^^^^^
File "/usr/bin/halcompile", line 434, in parse
f = open(filename).read()
^^^^^^^^^^^^^^
FileNotFoundError: [Errno 2] No such file or directory: 'cia402pv.comp'
  • tommylight
  • tommylight's Avatar
30 Oct 2025 00:18
Replied by tommylight on topic Raspberry PI4/5 I2C support for non realtime IO/ADC/LCD

Raspberry PI4/5 I2C support for non realtime IO/ADC/LCD

Category: General LinuxCNC Questions

@LangdonS,
He does that always, just have a browse through his posts.
@Oli,
Danke schon.
  • langdons
  • langdons's Avatar
29 Oct 2025 23:33
Replied by langdons on topic Raspberry PI4/5 I2C support for non realtime IO/ADC/LCD

Raspberry PI4/5 I2C support for non realtime IO/ADC/LCD

Category: General LinuxCNC Questions

Cool!

Always a good idea to make code available to others in case future users want to achieve what you did!
  • nanowhat
  • nanowhat
29 Oct 2025 04:28
Replied by nanowhat on topic Loading 32 bit shared library with GladeVCP/python on a Raspberry Pi

Loading 32 bit shared library with GladeVCP/python on a Raspberry Pi

Category: General LinuxCNC Questions

I'm going to write a separate 32 bit executable that loads the shared library, and presents a named pipe that I can access via Python.
  • nanowhat
  • nanowhat
29 Oct 2025 02:27
Loading 32 bit shared library with GladeVCP/python on a Raspberry Pi was created by nanowhat

Loading 32 bit shared library with GladeVCP/python on a Raspberry Pi

Category: General LinuxCNC Questions

I need to load a 32 bit shared library from GladeVCP/python to communicate with an existing machine. This shared library is only available as a 32 bit library for ARM systems, and I want to see if this will run on a Raspberry Pi. I don't have access to the source, so I can't recompile arm64.

Is there any way to do this, or do I have to run on a x86_64 machine?
  • Chad
  • Chad
26 Oct 2025 10:12
Remora SPI: Bad SPI payload, estop won’t reset, SKR 1.4 + RPi4 – config below was created by Chad

Remora SPI: Bad SPI payload, estop won’t reset, SKR 1.4 + RPi4 – config below

Category: Computers and Hardware

Hi,
I’m trying to get Remora to work with a Raspberry Pi 4 Compute Module (on the official IO board) and a BTT SKR 1.4 (LPC1768) board via SPI (using EXP2 directly).No matter what I do, I keep getting “bad spi payload” errors and I can’t reset estop in LinuxCNC. The estop status toggles randomly, sometimes reporting errors like “fffff”, “3a”, “71”, then “0”, but it never clears or lets me enable the machine.Here’s what I’ve already tried:
  • Double/triple-checked config files (.hal/.ini/config.txt) for base/servo thread values and SPI freq
  • Tried SPI_FREQ values from 40000 down to 2500
  • Used multiple different SD cards, freshly copied firmware/config.txt every time
  • Swapped and powered from two different power supplies, always with common ground
  • Used short (10–20 cm) jumper wires and a dedicated IDC ribbon cable between RPi CM4 IO board and SKR (connected to SPI0 CS0)
  • Confirmed CS line matches config and wiring
  • Tried wiring both loosened and via the screw-terminal “HAT”
  • Tested with two different RPi modules
  • Flashed the correct Remora firmware for LPC1768, config.txt matches hardware
Symptoms – what I see:
  • LinuxCNC starts, RPi and SKR both power up
  • E-stop never disengages, status bits change randomly
  • Console/log shows many “bad spi payload” errors, with hex codes changing each time
  • Stepper drivers do not respond, SPI module loads but does not work
My setup:
  • Raspberry Pi 4 Compute Module on official IO board
  • BTT SKR 1.4 (LPC1768) with Remora firmware
  • Connecting via SPI (EXP2 header), CS0
  • Cables all short, tried IDC and normal dupont/jumper types
Questions:
  • Is there anything obvious I’m missing in configs or wiring?
  • Has anyone had this persist even with good IDC cable and CM4?
  • Any proven working “plug-and-play” cable or adapter for this combo?
  • Are there common hardware quirks or firmware issues with this setup?
  • Would using a logic analyzer or scope help, and what to look for?
I’m attaching my 
.hal
, 
.ini
 and 
config.txt
 files plus a photo of my wiring. Any advice, example configs, or troubleshooting steps would be greatly appreciated!

.hal file:
# Load the realtime components loadrt [KINS]KINEMATICS loadrt [EMCMOT]EMCMOT base_period_nsec=[EMCMOT]BASE_PERIOD servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS loadrt remora-spi SPI num=0 CS_num=0 SPI [remora]SPI_FREQ=20000 # estop loopback, SPI comms enable and feedback net user-enable-out <= iocontrol.0.user-enable-out => remora.SPI.enable net user-request-enable <= iocontrol.0.user-request-enable => remora.SPI-reset net remora-status <= remora.SPI-status => iocontrol.0.emc-enable-in # add the remora and motion functions to threads addf remora.read servo-thread addf motion-command-handler servo-thread addf motion-controller servo-thread addf remora.update-req servo-thread addf remora.write servo-thread # Joint 0 setup setp remora.joint.0.scale [JOINT_0]SCALE setp remora.joint.0.maxaccel [JOINT_0]STEPGEN_MAXACCEL net x:pos-cmd <= joint.0.motor-pos-cmd => remora.joint.0.pos-cmd net x:pos-fb <= remora.joint.0.pos-fb => joint.0.pos-fb net x:enable <= joint.0.amp-enable-out => remora.joint.0.enable # Joint 1 setup setp remora.joint.1.scale [JOINT_1]SCALE setp remora.joint.1.maxaccel [JOINT_1]STEPGEN_MAXACCEL net y:pos-cmd <= joint.1.motor-pos-cmd => remora.joint.1.pos-cmd net y:pos-fb <= remora.joint.1.pos-fb => joint.1.pos-fb net y:enable <= joint.1.amp-enable-out => remora.joint.1.enable # Joint 2 setup setp remora.joint.2.scale [JOINT_2]SCALE setp remora.joint.2.maxaccel [JOINT_2]STEPGEN_MAXACCEL net z:pos-cmd <= joint.2.motor-pos-cmd => remora.joint.2.pos-cmd net z:pos-fb <= remora.joint.2.pos-fb => joint.2.pos-fb net z:enable <= joint.2.amp-enable-out => remora.joint.2.enable

.ini file:
# Basic LinuxCNC config for testing of Remora firmware [EMC] MACHINE = Remora-XYZ DEBUG = 0 VERSION = 1.1 [DISPLAY] DISPLAY = axis EDITOR = gedit POSITION_OFFSET = RELATIVE POSITION_FEEDBACK = ACTUAL ARCDIVISION = 64 GRIDS = 10mm 20mm 50mm 100mm MAX_FEED_OVERRIDE = 1.2 MIN_SPINDLE_OVERRIDE = 0.5 MAX_SPINDLE_OVERRIDE = 1.2 DEFAULT_LINEAR_VELOCITY = 50.00 MIN_LINEAR_VELOCITY = 0.00 MAX_LINEAR_VELOCITY = 200.00 DEFAULT_ANGULAR_VELOCITY = 36.00 MAX_ANGULAR_VELOCITY = 45.00 INTRO_GRAPHIC = linuxcnc.gif INTRO_TIME = 5 PROGRAM_PREFIX = ~/linuxcnc/nc_files INCREMENTS = 50mm 10mm 5mm 1mm .5mm .1mm .05mm .01mm [KINS] JOINTS = 3 #KINEMATICS =trivkins coordinates=XYZ kinstype=BOTH KINEMATICS = trivkins coordinates=XYZ [FILTER] PROGRAM_EXTENSION = .py Python Script py = python [TASK] TASK = milltask CYCLE_TIME = 0.010 [RS274NGC] PARAMETER_FILE = linuxcnc.var [EMCMOT] EMCMOT = motmod COMM_TIMEOUT = 1.0 COMM_WAIT = 0.010 BASE_PERIOD = 25000 SERVO_PERIOD = 1000000 [HAL] HALFILE = remora-xyz.hal POSTGUI_HALFILE = postgui_call_list.hal [TRAJ] COORDINATES = X Y Z LINEAR_UNITS = mm ANGULAR_UNITS = degree CYCLE_TIME = 0.010 DEFAULT_LINEAR_VELOCITY = 50.00 MAX_LINEAR_VELOCITY = 200.00 NO_FORCE_HOMING = 1 [EMCIO] EMCIO = io CYCLE_TIME = 1.00 TOOL_TABLE = tool.tbl [AXIS_X] MAX_VELOCITY = 250 MAX_ACCELERATION = 750.0 MIN_LIMIT = -5.0 MAX_LIMIT = 300.0 [JOINT_0] TYPE = LINEAR HOME = 0.0 MIN_LIMIT = -5.0 MAX_LIMIT = 300.0 MAX_VELOCITY = 250.0 MAX_ACCELERATION = 750.0 STEPGEN_MAXACCEL = 2000.0 SCALE = 80.0 FERROR = 2 MIN_FERROR = 2.0 HOME_OFFSET = 2.0 HOME_SEARCH_VEL = 0 HOME_LATCH_VEL = 0 HOME_SEQUENCE = 0 [AXIS_Y] MAX_VELOCITY = 250.0 MAX_ACCELERATION = 750.0 MIN_LIMIT = -0.01 MAX_LIMIT = 300.0 [JOINT_1] TYPE = LINEAR HOME = 0.0 MIN_LIMIT = -5.0 MAX_LIMIT = 300.0 MAX_VELOCITY = 250.0 MAX_ACCELERATION = 750.0 STEPGEN_MAXACCEL = 2000.0 SCALE = 80.0 FERROR = 5 MIN_FERROR = 5.0 HOME_OFFSET = 0.0 HOME_SEARCH_VEL = 0 HOME_LATCH_VEL = 0 HOME_SEQUENCE = 0 [AXIS_Z] OFFSET_AV_RATIO = 0.2 MAX_VELOCITY = 5.0 MAX_ACCELERATION = 200.0 MIN_LIMIT = -280 MAX_LIMIT = 280 [JOINT_2] TYPE = LINEAR HOME = 0.0 MIN_LIMIT = -280 MAX_LIMIT = 280 MAX_VELOCITY = 5.0 MAX_ACCELERATION = 200.0 STEPGEN_MAXACCEL = 3000.0 SCALE = 400.0 FERROR = 5 MIN_FERROR = 1.0 HOME_OFFSET = 0.0 HOME_SEARCH_VEL = 0 HOME_LATCH_VEL = 0 HOME_SEQUENCE = 0

config.txt:
{
  "Board": "BIGTREETECH SKR v1.3 & v1.4",
  "Threads": [
    { "Thread": "Base", "Frequency": 40000 },
    { "Thread": "Servo", "Frequency": 1000 }
  ],
  "Modules": [
    {
      "Thread": "Servo",
      "Type": "Reset Pin",
      "Comment": "Reset pin",
      "Pin": "1.31"
    },
    {
      "Thread": "Base",
      "Type": "SPI",
      "Comment": "SPI interface to Raspberry Pi",
      "CS Pin": "0.16"
    },
    {
      "Thread": "Base",
      "Type": "Stepgen",
      "Comment": "X - Joint 0 step generator",
      "Joint Number": 0,
      "Step Pin": "2.2",
      "Direction Pin": "2.6",
      "Enable Pin": "2.1"
    },
    {
      "Thread": "Base",
      "Type": "Stepgen",
      "Comment": "Y - Joint 1 step generator",
      "Joint Number": 1,
      "Step Pin": "0.19",
      "Direction Pin": "0.20",
      "Enable Pin": "2.8"
    },
    {
      "Thread": "Base",
      "Type": "Stepgen",
      "Comment": "Z - Joint 2 step generator",
      "Joint Number": 2,
      "Step Pin": "0.22",
      "Direction Pin": "2.11",
      "Enable Pin": "0.21"
    }
  ]
}
  • unknown
  • unknown
24 Oct 2025 06:41 - 24 Oct 2025 10:14
Replied by unknown on topic Proposal RPi Linuxcnc Image Based on Raspi OS All welcome/encoraged to comment

Proposal RPi Linuxcnc Image Based on Raspi OS All welcome/encoraged to comment

Category: Installing LinuxCNC

Current state of Trixie:
Images build fine & boot, with non rt kernel.

6.12.47 kernel crashes
6.12.47 headers cant' be installed due to gcc version issues

6.12.34 kernel is good
6.12.34 headers can't be installed due to gcc version issues

Issues installing Linuxcnc built from image below wont install due to version issues with a lot of packages.

Using Trixie image downloads.raspberrypi.com/raspios_arm64/...-trixie-arm64.img.xz can have 6.12.34 kernel & headers installed.

I'll have to do some greater investigation.

Wanna know a secret, I did a big stupid, didn't realise the image was armf instead of arm64.

Current state of Bookworm.
All appears to be good, build process needs some tweaks, login screen and having xfce the default desktop plus a few little more odds and sods. Basically it works, just would like it a little more user friendly. Good thing regarding this build system is you can set your OS settings when using RPi-Imager, something that was not possible with the earlier build system.

Non necessary stuff (eyecandy), would like to have a linuxcnc themed splash screen (plymouth theming), login background (lightdm config) and desktop background. Just some Linuxcnc "branding".
  • eoverton
  • eoverton
24 Oct 2025 05:18
Replied by eoverton on topic Remora with STM32H753ZI

Remora with STM32H753ZI

Category: Computers and Hardware

How close are you, and how can I help? It's been three or four years since I worked on an ST ARM core, but I do work in the embedded world all the time, and I'm happy to be of assistance. With a little bit of digging, I can probably even find my old ST background debug dongle and the tools to support it.

I presently have a strong interest in seeing this project through to completion. I have been standardizing my computer controlled systems on a Bigtreetech Manta M8P board, which basically is a breakout board for a Raspberry Pi CM4 with an ST32H723ZET6 on it to run the lower-level stuff. I've had very good luck with it using it for Klipper/Mainsail/Crowsnest to run a 3D printer. And since the stepper drivers I want to use to drive the motors on my milling machine drop right in, I'd like to bridge LinuxCNC to it. The higher current drivers (like variants of the TMC5160) use SPI, so I'd need that driver. And it'd be nice to be able to poll a few GPIO's so I can move the mill bed with a joystick for setup. But it shouldn't be *that* difficult, I don't think.

Just let me know if/how I can contribute.
  • unknown
  • unknown
23 Oct 2025 17:56
Replied by unknown on topic 7i92H

7i92H

Category: General LinuxCNC Questions

Mesa have a product called spinx or similar, converts digital pwm to isolated analogue out.

The new image I'm working is created using the same utility that Raspberry Pi company uses to create their own images, so basically raspios with a real time kernel and Linuxcnc pre installed. Far more raspios than the previous.
  • Will_cnc
  • Will_cnc
23 Oct 2025 08:09
Leadshine EL8 Servo motor clonking sound and motion was created by Will_cnc

Leadshine EL8 Servo motor clonking sound and motion

Category: EtherCAT

Current Setup:
  • Raspberry Pi 5
    • 3 × Leadshine EL8 Servo Drives and 400W Motors

      Problem:
      I’ve recently set up LinuxCNC on a Raspberry Pi 5 and configured it to use the Probe Basic user interface.I’m experiencing an issue where the servo drives occasionally disconnect. The main symptom is that the motors sometimes make a “clonking” sound while running, as if there’s a mechanical fault and judder under movement . Power-cycling the system (turning it off and back on) sometimes clears the issue, and the motors then run normally.
      Could this problem be caused by poor latency on the Raspberry Pi 5, or possibly by the EtherCAT network going out of sync?Any advice or suggestions on how to resolve this issue would be greatly appreciated.

  • unknown
  • unknown
22 Oct 2025 21:44
Replied by unknown on topic 7i92H

7i92H

Category: General LinuxCNC Questions

As an addendum to the above post, I'm working on a new Raspberry Pi image, suitable for both the 4 & 5 based on the raspios, that has all the nice setup features of a standard raspios image.

I'm hoping to create both a Bookworm & Trixie image.
  • unknown
  • unknown
22 Oct 2025 21:41
Replied by unknown on topic 7i92H

7i92H

Category: General LinuxCNC Questions

A Raspberry Pi has its own I/O pins (albeit limited to 3.3V); connection via ethernet seems a bit stupid.


 


That is horribly bad advice. When using the GPIO pins on an RPi you require a base & servo thread, as you would with a PC with a Parallel port. Using a Mesa Ethernet card, in the case of OP, or a Mesa SPI card you only require a servo thread.
I use a RPi5 with a Mesa 7i92 & 7i76(plus some other smart serial cards) and I am very happy with it.

Yes the RPi5 requires an external PSU (does that really need to be mentioned ?) but some mini PC's require an external as well. Lenovo is one brand that comes to mind, I think the power blocks are similar to the Laptop power blocks.

Thin Clients may also be an option HP T630 are not so expensive on the second hand market and have a Quad core CPU,
www.parkytowers.me.uk/thin/hp/t630/
  • langdons
  • langdons's Avatar
22 Oct 2025 20:56 - 23 Oct 2025 20:26
Replied by langdons on topic 7i92H

7i92H

Category: General LinuxCNC Questions

A Raspberry Pi has its own I/O pins (albeit limited to 3.3V); connection via ethernet seems a bit of a waste of the Pi's functionality, at least so far as I/O is concerned.

Is the ethernet NIC in the Raspberry Pi as good as a PC motherboard's NIC?

Mini PCs can be a bit annoying to to the space constraints.

Keep in mind that while PC can run off of AC line voltage, a Pi needs a separate power supply.

If your PC power supply is good, you can siphon off power for other stuff, though there is some risk involved with doing so.
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