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  • richcolvin
  • richcolvin's Avatar
14 Oct 2025 20:13
M19 for Indexing a Spindle using Stepper Motors was created by richcolvin

M19 for Indexing a Spindle using Stepper Motors

Category: General LinuxCNC Questions

I am trying to use the M19 command:

m19 r90 q10 p1 $0

The m3 & m4 commands work as expected, but m19 does not.  Any guidance would be greatly appreciated.

My HAL and INI files are attached (Spindle0.inc renamed to be Spindle.inc.ini so that it could be attached).
  • richcolvin
  • richcolvin's Avatar
08 Oct 2025 19:20
Replied by richcolvin on topic Stepper Motor Speed is too slow

Stepper Motor Speed is too slow

Category: Basic Configuration

These are the files.  The .INC files were renamed to be .INI so that they could be attached.

I've attached one spindle file:  that one and the one for Spindle1 all work exactly as expected.

I also attached only two of the axis files:  U & Y (due to the file limit).
  • richcolvin
  • richcolvin's Avatar
25 Sep 2025 19:04
Stepper Motor Speed does not match MaxVel was created by richcolvin

Stepper Motor Speed does not match MaxVel

Category: Basic Configuration

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
  • ozntyr
  • ozntyr
25 Sep 2025 09:04
5-Axis CNC Setup with LinuxCNC + Mesa Boards was created by ozntyr

5-Axis CNC Setup with LinuxCNC + Mesa Boards

Category: General LinuxCNC Questions

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.
  • phew
  • phew
21 Sep 2025 12:21
LCNC 2.9.5 - How to jog with a wireless xbox bt controller was created by phew

LCNC 2.9.5 - How to jog with a wireless xbox bt controller

Category: Basic Configuration

Hey,

I am trying to set up my xbox controller to jog a three axis machine (y-gantry). Using a bluetooth dongle I had to fiddle around a bit (and install xpadneo) to get the controller to connect to the system but I eventually got there and do see input when pressing buttons/moving the joysticks.

I was digging into LinuxCNC a few years ago but then life happened and I had to put the project on ice up until now. This is my first home-built CNC (wood router) and I am very new to all of this.

My goal is to be able to move the X, Y (gantry) and Z axis using the gaming controller when there is no gcode being executed.

Currently this is a parport setup and the stepper motors are not actually installed on ball screws so I do not mess up anything while testing. I am planning on switching to a mesa card in the near future.
phew@linuxcnc:~$ sudo lsusb
Bus 001 Device 002: ID 2357:0604 TP-Link TP-Link Bluetooth USB Adapter
phew@linuxcnc:~$ sudo dkms status
hid-xpadneo/v0.9-226-ga16acb0, 6.1.0-39-rt-amd64, x86_64: installed
phew@linuxcnc:~$ sudo dmesg | grep -i xbox
[   41.033957] input: Xbox Wireless Controller as /devices/virtual/misc/uhid/0005:045E:0B13.0007/input/input16
[   41.034076] hid-generic 0005:045E:0B13.0007: input,hidraw6: BLUETOOTH HID v5.23 Gamepad [Xbox Wireless Controller] on 98:03:8e:4f:32:fd
[   41.094172] input: Xbox Wireless Controller as /devices/virtual/misc/uhid/0005:045E:0B13.0007/input/input17
[   41.094277] xpadneo 0005:045E:0B13.0007: input,hidraw6: BLUETOOTH HID v11.30 Gamepad [Xbox Wireless Controller] on 98:03:8e:4f:32:fd
[   41.094307] input: Xbox Wireless Controller Consumer Control as /devices/virtual/misc/uhid/0005:045E:0B13.0007/input/input18
[   41.094367] input: Xbox Wireless Controller Keyboard as /devices/virtual/misc/uhid/0005:045E:0B13.0007/input/input19
[   42.076531] xpadneo 0005:045E:0B13.0007: Xbox Wireless Controller [14:cb:65:c7:03:1e] connected
[   42.206305] input: Xbox Wireless Controller as /devices/virtual/misc/uhid/0005:045E:0B13.0007/input/input20
[   42.206585] xpadneo 0005:045E:0B13.0007: input,hidraw6: BLUETOOTH HID v11.30 Gamepad [Xbox Wireless Controller] on 98:03:8e:4f:32:fd
[   42.206615] input: Xbox Wireless Controller Consumer Control as /devices/virtual/misc/uhid/0005:045E:0B13.0007/input/input21
[   42.206743] input: Xbox Wireless Controller Keyboard as /devices/virtual/misc/uhid/0005:045E:0B13.0007/input/input22
[   43.189177] xpadneo 0005:045E:0B13.0007: Xbox Wireless Controller [14:cb:65:c7:03:1e] connected

xyyz.ini (machine basic setup)
# Generated by stepconf 1.1 at Thu Sep 11 20:35:55 2025
# If you make changes to this file, they will be
# overwritten when you run stepconf again

[EMC]
MACHINE = xyyz
DEBUG = 0
VERSION = 1.1

[DISPLAY]
DISPLAY = axis
EDITOR = gedit
POSITION_OFFSET = RELATIVE
POSITION_FEEDBACK = ACTUAL
ARCDIVISION = 64
GRIDS = 10mm 20mm 50mm 100mm 1in 2in 5in 10in
MAX_FEED_OVERRIDE = 1.2
MIN_SPINDLE_OVERRIDE = 0.5
MAX_SPINDLE_OVERRIDE = 1.2
DEFAULT_LINEAR_VELOCITY = 10.0
MIN_LINEAR_VELOCITY = 0
MAX_LINEAR_VELOCITY = 50.0
CYCLE_TIME = 0.100
INTRO_GRAPHIC = linuxcnc.gif
INTRO_TIME = 5
PROGRAM_PREFIX = /home/phew/linuxcnc/nc_files
INCREMENTS = 20mm 10mm 5mm 1mm .5mm .1mm .05mm .01mm .005mm

[KINS]
JOINTS = 4
KINEMATICS = trivkins coordinates=XYYZ kinstype=both

[FILTER]
PROGRAM_EXTENSION = .png,.gif,.jpg Greyscale Depth Image
PROGRAM_EXTENSION = .py Python Script
PROGRAM_EXTENSION = .nc,.tap G-Code File
png = image-to-gcode
gif = image-to-gcode
jpg = image-to-gcode
py = python

[TASK]
TASK = milltask
CYCLE_TIME = 0.010

[RS274NGC]
PARAMETER_FILE = linuxcnc.var

[EMCMOT]
EMCMOT = motmod
COMM_TIMEOUT = 1.0
BASE_PERIOD = 50000
SERVO_PERIOD = 1000000

[HAL]
HALUI = halui
HALFILE = xyyz.hal
HALFILE = custom.hal
HALFILE = xbox.hal
POSTGUI_HALFILE = postgui_call_list.hal
MDI_COMMAND = G0 X0
MDI_COMMAND = G0 Y0
MDI_COMMAND = G0 Z0
JOINT_0 = X
JOINT_1 = Y
JOINT_2 = Y
JOINT_3 = Z

[TRAJ]
COORDINATES =  X Y Y Z
LINEAR_UNITS = mm
ANGULAR_UNITS = degree
DEFAULT_LINEAR_VELOCITY = 2.50
MAX_LINEAR_VELOCITY = 25.00

[EMCIO]
EMCIO = io
CYCLE_TIME = 0.100
TOOL_TABLE = tool.tbl

[AXIS_X]
MAX_VELOCITY = 50.0
MAX_ACCELERATION = 25.0
MIN_LIMIT = -0.001
MAX_LIMIT = 800.0

[JOINT_0]
TYPE = LINEAR
HOME = 0.0
MIN_LIMIT = -0.001
MAX_LIMIT = 800.0
MAX_VELOCITY = 50.0
MAX_ACCELERATION = 1875.0
STEPGEN_MAXACCEL = 1875
SCALE = 160
FERROR = 1
MIN_FERROR = .25
HOME_SEQUENCE = 0
HOME_SEARCH_VEL = -20.0
HOME_LATCH_VEL = 2.0
HOME_OFFSET = -1.0
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = YES

[AXIS_Y]
MAX_VELOCITY = 50.0
MAX_ACCELERATION = 25.0
MIN_LIMIT = -0.001
MAX_LIMIT = 1000.0

[JOINT_1]
TYPE = LINEAR
HOME = 0.0
MIN_LIMIT = -0.001
MAX_LIMIT = 1000.0
MAX_VELOCITY = 50.0
MAX_ACCELERATION = 1875.0
STEPGEN_MAXACCEL = 1875
SCALE = 160
FERROR = 1
MIN_FERROR = .25
HOME_SEQUENCE = 1
HOME_SEARCH_VEL = -20.0
HOME_LATCH_VEL = 2.0
HOME_OFFSET = -1.0
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = YES

[JOINT_2]
TYPE = LINEAR
HOME = 0.0
MIN_LIMIT = -0.001
MAX_LIMIT = 1000.0
MAX_VELOCITY = 50.0
MAX_ACCELERATION = 1875.0
STEPGEN_MAXACCEL = 1875
SCALE = 160
FERROR = 1
MIN_FERROR = .25
HOME_SEQUENCE = 1
HOME_SEARCH_VEL = -20.0
HOME_LATCH_VEL = 2.0
HOME_OFFSET = -1.0
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = YES

[AXIS_Z]
MAX_VELOCITY = 25.0
MAX_ACCELERATION = 10.0
MIN_LIMIT = -150.0
MAX_LIMIT = 0.001

[JOINT_3]
TYPE = LINEAR
HOME = 0.0
MIN_LIMIT = -150.0
MAX_LIMIT = 0.001
MAX_VELOCITY = 25.0
MAX_ACCELERATION = 1000.0
STEPGEN_MAXACCEL = 1875
SCALE = 160
FERROR = 1
MIN_FERROR = .25
HOME_SEQUENCE = 2
HOME_SEARCH_VEL = 20.0
HOME_LATCH_VEL = -2.0
HOME_OFFSET = 1.0
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = YES

xyyz.hal:
loadrt [KINS]KINEMATICS kinstype=both
loadrt [EMCMOT]EMCMOT base_period_nsec=[EMCMOT]BASE_PERIOD servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS
loadrt hal_parport cfg="1 out+in"
setp parport.0.reset-time 5000
loadrt stepgen step_type=0,0,0,0
loadrt pwmgen output_type=1

addf parport.0.read base-thread
addf stepgen.make-pulses base-thread
addf pwmgen.make-pulses base-thread
addf parport.0.write base-thread
addf parport.0.reset base-thread

addf stepgen.capture-position servo-thread
addf motion-command-handler servo-thread
addf motion-controller servo-thread
addf stepgen.update-freq servo-thread
addf pwmgen.update servo-thread

net x-home-raw parport.0.pin-11-in
net x-home-raw => joint.0.home-sw-in
#net x-home-raw => joint.0.neg-lim-sw-in
# net x-home-raw => joint.0.pos-lim-sw-in  # optional

net y0-home-raw parport.0.pin-12-in
net y0-home-raw => joint.1.home-sw-in
#net y0-home-raw => joint.1.neg-lim-sw-in

net y1-home-raw parport.0.pin-13-in
net y1-home-raw => joint.2.home-sw-in
#net y1-home-raw => joint.2.neg-lim-sw-in

net z-home-raw parport.0.pin-15-in
net z-home-raw => joint.3.home-sw-in
#net z-home-raw => joint.3.neg-lim-sw-in

setp stepgen.0.position-scale [JOINT_0]SCALE
setp stepgen.0.steplen 1
setp stepgen.0.stepspace 0
setp stepgen.0.dirhold 40000
setp stepgen.0.dirsetup 40000
setp stepgen.0.maxaccel [JOINT_0]STEPGEN_MAXACCEL
net xpos-cmd  joint.0.motor-pos-cmd => stepgen.0.position-cmd
net xpos-fb   stepgen.0.position-fb => joint.0.motor-pos-fb
net xstep     stepgen.0.step => parport.0.pin-02-out
net xdir      stepgen.0.dir  => parport.0.pin-03-out
net xenable   joint.0.amp-enable-out => stepgen.0.enable

net y-enable joint.1.amp-enable-out
net y-enable => stepgen.1.enable
net y-enable => stepgen.2.enable

setp stepgen.1.position-scale [JOINT_1]SCALE
setp stepgen.1.steplen 1
setp stepgen.1.stepspace 0
setp stepgen.1.dirhold 40000
setp stepgen.1.dirsetup 40000
setp stepgen.1.maxaccel [JOINT_1]STEPGEN_MAXACCEL
net ypos-cmd  joint.1.motor-pos-cmd => stepgen.1.position-cmd
net ypos-fb   stepgen.1.position-fb => joint.1.motor-pos-fb
net y0step    stepgen.1.step => parport.0.pin-04-out
net y0dir     stepgen.1.dir  => parport.0.pin-05-out

setp stepgen.2.position-scale [JOINT_2]SCALE
setp stepgen.2.steplen 1
setp stepgen.2.stepspace 0
setp stepgen.2.dirhold 40000
setp stepgen.2.dirsetup 40000
setp stepgen.2.maxaccel [JOINT_2]STEPGEN_MAXACCEL
net y1pos-cmd joint.2.motor-pos-cmd => stepgen.2.position-cmd
net y1pos-fb  stepgen.2.position-fb => joint.2.motor-pos-fb
net y1step    stepgen.2.step => parport.0.pin-06-out
net y1dir     stepgen.2.dir  => parport.0.pin-07-out

setp stepgen.3.position-scale [JOINT_3]SCALE
setp stepgen.3.steplen 1
setp stepgen.3.stepspace 0
setp stepgen.3.dirhold 40000
setp stepgen.3.dirsetup 40000
setp stepgen.3.maxaccel [JOINT_3]STEPGEN_MAXACCEL
net zpos-cmd joint.3.motor-pos-cmd => stepgen.3.position-cmd
net zpos-fb  stepgen.3.position-fb => joint.3.motor-pos-fb
net zstep    stepgen.3.step => parport.0.pin-08-out
net zdir     stepgen.3.dir  => parport.0.pin-09-out
net zenable  joint.3.amp-enable-out => stepgen.3.enable

net estop-out <= iocontrol.0.user-enable-out
net estop-out => iocontrol.0.emc-enable-in


xbox.hal
loadusr -W hal_input -KRAL Xbox

loadrt scale count=3
addf scale.0 servo-thread
addf scale.1 servo-thread
addf scale.2 servo-thread

setp scale.0.gain 50.0   # X
setp scale.1.gain 50.0   # Y
setp scale.2.gain 50.0   # Z

loadrt mult2 count=3
addf mult2.0 servo-thread
addf mult2.1 servo-thread
addf mult2.2 servo-thread

loadrt conv_bit_float
addf conv-bit-float.0 servo-thread

net xbox-x-raw input.0.abs-x-position => scale.0.in
net xbox-y-raw input.0.abs-y-position => scale.1.in
net xbox-z-raw input.0.abs-ry-position => scale.2.in

net xbox-x-scaled scale.0.out => mult2.0.in0
net xbox-y-scaled scale.1.out => mult2.1.in0
net xbox-z-scaled scale.2.out => mult2.2.in0

net xbox-jog-bit input.0.btn-a => conv-bit-float.0.in
net xbox-jog-float conv-bit-float.0.out => mult2.0.in1
net xbox-jog-float => mult2.1.in1
net xbox-jog-float => mult2.2.in1

net xbox-x-vel mult2.0.out => joint.0.jog-scale   # X
net xbox-y-vel mult2.1.out => joint.1.jog-scale   # Y (Y0)
net xbox-y-vel => joint.2.jog-scale                      # Y (Y1)
net xbox-z-vel mult2.2.out => joint.3.jog-scale   # Z

# Press [A]-button to enable joints
net xbox-jog-bit => joint.0.jog-enable
net xbox-jog-bit => joint.1.jog-enable
net xbox-jog-bit => joint.2.jog-enable
net xbox-jog-bit => joint.3.jog-enable

setp joint.0.jog-vel-mode TRUE
setp joint.1.jog-vel-mode TRUE
setp joint.2.jog-vel-mode TRUE
setp joint.3.jog-vel-mode TRUE

net xbox-x-vel => halui.axis.x.analog
net xbox-y-vel => halui.axis.y.analog
net xbox-z-vel => halui.axis.z.analog

With this setup I can see input from the controller in halshow:

 

However, joint.*.vel-cmd always stays 0 and obviously the stepper motors are not spinning. Also I am not sure what mode I have to use, but I also tried setting halui.mode.manual and halui.mode.teleop using the [Set] button in halshow, but this did not change anything.

Setting it up like this will not allow the machine to start when the Xbox Controller is not connected as it expects the controller to be found. The controller will shut itself off if not being used for a certain period of time and this will also result in an error popping up in axis ui.

I think my current approach is way more complicated and clumsy than it actually needs to be, but the learning curve seems to be pretty steep for me and therefore I probably resorted to using way more AI generated code than I should have.

How do I
  1. set this up correctly so the Xbox Controller input can actually controll the X, Y and Z axis?
  2. set this up in a way so the controller does not need to be connected in order for the machine to start and won't result in an error when the controller disconnects for some reason
Any help is appreciated!
 
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