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[ 4189.236501] EtherCAT ERROR 0-1: Failed to receive AL state datagram: Datagram timed out.
[ 4189.300500] EtherCAT 0: 0 slave(s) responding on main device. Re-scanning on next possibility.
[ 4189.300504] EtherCAT 0: Re-scanning now.
[ 4189.848960] macb 1f00100000.ethernet eth0: Link is Down
[ 4189.849054] EtherCAT 0: Link state of ecm0 changed to DOWN.
[ 4190.184505] EtherCAT WARNING 0: 50 datagrams TIMED OUT!
[ 4191.898355] macb 1f00100000.ethernet eth0: Link is Up - 100Mbps/Full - flow control off
[ 4191.899068] EtherCAT 0: Link state of ecm0 changed to UP.

.hal

.ini

config.txt

# 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

# 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

{
  "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"
    }
  ]
}