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Search Results (Searched for: stepper spindle)

richcolvin

28 Oct 2025 02:05

Replied by richcolvin on topic M19 for Indexing a Spindle using Stepper Motors

M19 for Indexing a Spindle using Stepper Motors

Category: General LinuxCNC Questions

Jean Philippe,

Thank you for sharing these. I greatly appreciate your generosity.

Am I correct I. My thinking that the magic for this is in the spindle.hal file?

Rich

Hakan
Hakan

26 Oct 2025 16:26

Replied by Hakan on topic Stepper online A6 Servo motor as Spindle motor

Stepper online A6 Servo motor as Spindle motor

Category: General LinuxCNC Questions

Here is now a modified cia402 component together with a complete example on how to use PV (Profile Velcotiy) for an EtherCAT spindle drive.

github.com/MetalMusings/cia402pv

Hakan
Hakan

26 Oct 2025 11:46 - 26 Oct 2025 11:47

Replied by Hakan on topic Stepper online A6 Servo motor as Spindle motor

Stepper online A6 Servo motor as Spindle motor

Category: General LinuxCNC Questions

I *could* put my stepper drivers in PV mode. So I am making a modification to the cia402 component to (hopefully) make a stepper motor work as a spindle (how useful). Servo drives also.
Check back in few hours.

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"
    }
  ]
}

Hakan
Hakan

25 Oct 2025 16:35

Replied by Hakan on topic Stepper online A6 Servo motor as Spindle motor

Stepper online A6 Servo motor as Spindle motor

Category: General LinuxCNC Questions

What have you tried? Which Leadshine drive model?
I am going to propose to use PV mode. It is similar to a vfd.
You just give a speed and the driver ramps up and down as needed.
I have not tried it myself, and I don't have a driver to try it so it is up to you.
I foresee that the cia402 component needs modification, it only handles csp and csv.

Will_cnc
Will_cnc

25 Oct 2025 12:24

Stepper online A6 Servo motor as Spindle motor was created by Will_cnc

Stepper online A6 Servo motor as Spindle motor

Category: General LinuxCNC Questions

I have a Stepperonline 1000W servo motor with an EtherCAT servo drive, which I intend to use as a temporary spindle motor until I can upgrade to a higher-power unit.
Currently, I have three axes configured to work with Leadshine servo drives via EtherCAT.How can I configure this servo motor to function as a spindle motor?
Specifically, what needs to be added or modified in the following configuration files:

.INI

.HAL.

.XML

I’ve tried setting it up based on information from other forum posts, but I haven’t had much success so far.

distro88
distro88

23 Oct 2025 18:32 - 23 Oct 2025 18:33

torch moving UP when it should be moving DOWN was created by distro88

torch moving UP when it should be moving DOWN

Category: Plasmac

Hello everyone,

I’m having a strange issue with QtPlasmaC (version 2.9.238 / LinuxCNC 2.9.2) and my PROMA THC 150 connected to a Mesa 7i92 card.

Everything on my machine moves correctly — all axes jog fine, torch on/off works, ARC OK is detected correctly, and the THC UP and DOWN inputs show properly in HAL meter.

However, during cutting:

When the THC UP signal is active, the torch moves up

When the THC DOWN signal is active, the torch moves up instead of down

Both UP and DOWN signals appear normally in HAL meter as true/false.

Here’s my setup:

Controller: Mesa 7i92 + db25 bib (raw pins)

Plasma: PROMA THC 150

QtPlasmaC version: 2.9.238 (LinuxCNC 2.9.2)

QtPlasmaC Mode: External THC (UP/DOWN/ARC OK)

THC wiring: optocoupled to Mesa inputs

Firmware: 7i92_7i76x1D.

I’ll attach my .hal and .ini files below.

.hal

# Generated by PNCconf at Wed Oct 22 23:20:44 2025
# Using LinuxCNC version:  Master (2.9)
# If you make changes to this file, they will be
# overwritten when you run PNCconf again

loadrt [KINS]KINEMATICS
loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS num_spindles=[TRAJ]SPINDLES
loadrt hostmot2
loadrt hm2_eth board_ip="10.10.10.10" config="num_encoders=1 num_pwmgens=0 num_stepgens=5 sserial_port_0=00xxxxxx" 
setp    hm2_7i92.0.watchdog.timeout_ns 5000000
loadrt pid names=pid.x,pid.y,pid.y2,pid.z,pid.s
loadrt plasmac

addf hm2_7i92.0.read          servo-thread
addf motion-command-handler   servo-thread
addf motion-controller        servo-thread
addf pid.x.do-pid-calcs       servo-thread
addf pid.y.do-pid-calcs       servo-thread
addf pid.y2.do-pid-calcs       servo-thread
addf pid.z.do-pid-calcs       servo-thread
addf pid.s.do-pid-calcs       servo-thread
addf plasmac                  servo-thread
addf hm2_7i92.0.write         servo-thread
setp hm2_7i92.0.dpll.01.timer-us -50
setp hm2_7i92.0.stepgen.timer-number 1

# ---PLASMA INPUT DEBOUNCE---
#values for these are in custom.hal
loadrt dbounce names=db_breakaway,db_float,db_ohmic,db_arc-ok
addf db_float     servo-thread
addf db_ohmic     servo-thread
addf db_breakaway servo-thread
addf db_arc-ok    servo-thread

# ---JOINT ASSOCIATED WITH THE Z AXIS---
net plasmac:axis-position joint.3.pos-fb => plasmac.axis-z-position

# ---PLASMA INPUTS---
# ---all modes---
net plasmac:float-switch     => db_float.in
net plasmac:breakaway        => db_breakaway.in
net plasmac:ohmic-probe      => db_ohmic.in
net plasmac:ohmic-sense-in   => plasmac.ohmic-sense-in
# ---modes 0 & 1
net plasmac:arc-voltage-in   => plasmac.arc-voltage-in
# ---modes 1 & 2
net plasmac:arc-ok-in        => db_arc-ok.in
# ---mode 2
net plasmac:move-up          <= plasmac.move-up
net plasmac:move-down        <= plasmac.move-down

# ---PLASMA OUTPUTS---
# ---all modes---
net plasmac:ohmic-enable     <= plasmac.ohmic-enable
net plasmac:scribe-arm       <= plasmac.scribe-arm
net plasmac:scribe-on        <= plasmac.scribe-on

# external output signals

# --- PLASMAC:TORCH-ON ---
setp hm2_7i92.0.gpio.030.is_output true
net plasmac:torch-on  =>     hm2_7i92.0.gpio.030.out
setp hm2_7i92.0.gpio.030.invert_output true

# --- PLASMAC:LASER-ON ---
setp hm2_7i92.0.gpio.031.is_output true
net plasmac:laser-on  =>     hm2_7i92.0.gpio.031.out

# --- DOUT-00 ---
setp hm2_7i92.0.gpio.032.is_output true
net dout-00  =>     hm2_7i92.0.gpio.032.out

# --- DOUT-01 ---
setp hm2_7i92.0.gpio.033.is_output true
#qtplasmac uses digital output dout-01:
#net dout-01  =>     hm2_7i92.0.gpio.033.out


# external input signals

# --- MIN-HOME-X ---
net min-home-x     <=  hm2_7i92.0.gpio.018.in

# --- MIN-HOME-Y ---
net min-home-y     <=  hm2_7i92.0.gpio.019.in

# --- MIN-HOME-Y2 ---
net min-home-y2     <=  hm2_7i92.0.gpio.020.in

# --- MAX-HOME-Z ---
net max-home-z     <=  hm2_7i92.0.gpio.021.in

# --- PLASMAC:FLOAT-SWITCH ---
net plasmac:float-switch     <=  hm2_7i92.0.gpio.022.in

# --- PLASMAC:BREAKAWAY ---
net plasmac:breakaway     <=  hm2_7i92.0.gpio.023.in

# --- PLASMAC:ARC-OK-IN ---
net plasmac:arc-ok-in     <=  hm2_7i92.0.gpio.024.in

# --- PLASMAC:MOVE-UP ---
net plasmac:move-up     <=  hm2_7i92.0.gpio.025.in

# --- PLASMAC:MOVE-DOWN ---
net plasmac:move-down     <=  hm2_7i92.0.gpio.026.in

# --- ESTOP-EXT ---
net estop-ext     <=  hm2_7i92.0.gpio.027.in_not


#*******************
#  AXIS X JOINT 0
#*******************

setp   pid.x.Pgain     [JOINT_0]P
setp   pid.x.Igain     [JOINT_0]I
setp   pid.x.Dgain     [JOINT_0]D
setp   pid.x.bias      [JOINT_0]BIAS
setp   pid.x.FF0       [JOINT_0]FF0
setp   pid.x.FF1       [JOINT_0]FF1
setp   pid.x.FF2       [JOINT_0]FF2
setp   pid.x.deadband  [JOINT_0]DEADBAND
setp   pid.x.maxoutput [JOINT_0]MAX_OUTPUT
setp   pid.x.error-previous-target true
# This setting is to limit bogus stepgen
# velocity corrections caused by position
# feedback sample time jitter.
setp   pid.x.maxerror 0.012700

net x-index-enable  =>  pid.x.index-enable
net x-enable        =>  pid.x.enable
net x-pos-cmd       =>  pid.x.command
net x-pos-fb        =>  pid.x.feedback
net x-output        <=  pid.x.output

# Step Gen signals/setup

setp   hm2_7i92.0.stepgen.00.dirsetup        [JOINT_0]DIRSETUP
setp   hm2_7i92.0.stepgen.00.dirhold         [JOINT_0]DIRHOLD
setp   hm2_7i92.0.stepgen.00.steplen         [JOINT_0]STEPLEN
setp   hm2_7i92.0.stepgen.00.stepspace       [JOINT_0]STEPSPACE
setp   hm2_7i92.0.stepgen.00.position-scale  [JOINT_0]STEP_SCALE
setp   hm2_7i92.0.stepgen.00.step_type        0
setp   hm2_7i92.0.stepgen.00.control-type     1
setp   hm2_7i92.0.stepgen.00.maxaccel         [JOINT_0]STEPGEN_MAXACCEL
setp   hm2_7i92.0.stepgen.00.maxvel           [JOINT_0]STEPGEN_MAXVEL

# ---closedloop stepper signals---

net x-pos-cmd    <= joint.0.motor-pos-cmd
net x-vel-cmd    <= joint.0.vel-cmd
net x-output     => hm2_7i92.0.stepgen.00.velocity-cmd
net x-pos-fb     <= hm2_7i92.0.stepgen.00.position-fb
net x-pos-fb     => joint.0.motor-pos-fb
net x-enable     <= joint.0.amp-enable-out
net x-enable     => hm2_7i92.0.stepgen.00.enable

# ---setup home / limit switch signals---

net min-home-x     =>  joint.0.home-sw-in
net min-home-x     =>  joint.0.neg-lim-sw-in
net x-pos-limit     =>  joint.0.pos-lim-sw-in

#*******************
#  AXIS Y JOINT 1
#*******************

setp   pid.y.Pgain     [JOINT_1]P
setp   pid.y.Igain     [JOINT_1]I
setp   pid.y.Dgain     [JOINT_1]D
setp   pid.y.bias      [JOINT_1]BIAS
setp   pid.y.FF0       [JOINT_1]FF0
setp   pid.y.FF1       [JOINT_1]FF1
setp   pid.y.FF2       [JOINT_1]FF2
setp   pid.y.deadband  [JOINT_1]DEADBAND
setp   pid.y.maxoutput [JOINT_1]MAX_OUTPUT
setp   pid.y.error-previous-target true
# This setting is to limit bogus stepgen
# velocity corrections caused by position
# feedback sample time jitter.
setp   pid.y.maxerror 0.012700

net y-index-enable  =>  pid.y.index-enable
net y-enable        =>  pid.y.enable
net y-pos-cmd       =>  pid.y.command
net y-pos-fb        =>  pid.y.feedback
net y-output        <=  pid.y.output

# Step Gen signals/setup

setp   hm2_7i92.0.stepgen.01.dirsetup        [JOINT_1]DIRSETUP
setp   hm2_7i92.0.stepgen.01.dirhold         [JOINT_1]DIRHOLD
setp   hm2_7i92.0.stepgen.01.steplen         [JOINT_1]STEPLEN
setp   hm2_7i92.0.stepgen.01.stepspace       [JOINT_1]STEPSPACE
setp   hm2_7i92.0.stepgen.01.position-scale  [JOINT_1]STEP_SCALE
setp   hm2_7i92.0.stepgen.01.step_type        0
setp   hm2_7i92.0.stepgen.01.control-type     1
setp   hm2_7i92.0.stepgen.01.maxaccel         [JOINT_1]STEPGEN_MAXACCEL
setp   hm2_7i92.0.stepgen.01.maxvel           [JOINT_1]STEPGEN_MAXVEL

# ---closedloop stepper signals---

net y-pos-cmd    <= joint.1.motor-pos-cmd
net y-vel-cmd    <= joint.1.vel-cmd
net y-output     => hm2_7i92.0.stepgen.01.velocity-cmd
net y-pos-fb     <= hm2_7i92.0.stepgen.01.position-fb
net y-pos-fb     => joint.1.motor-pos-fb
net y-enable     <= joint.1.amp-enable-out
net y-enable     => hm2_7i92.0.stepgen.01.enable

# ---setup home / limit switch signals---

net min-home-y     =>  joint.1.home-sw-in
net min-home-y     =>  joint.1.neg-lim-sw-in
net y-pos-limit     =>  joint.1.pos-lim-sw-in

#*******************
#  Tandem AXIS Y2 JOINT 2
#*******************

setp   pid.y2.Pgain     [JOINT_2]P
setp   pid.y2.Igain     [JOINT_2]I
setp   pid.y2.Dgain     [JOINT_2]D
setp   pid.y2.bias      [JOINT_2]BIAS
setp   pid.y2.FF0       [JOINT_2]FF0
setp   pid.y2.FF1       [JOINT_2]FF1
setp   pid.y2.FF2       [JOINT_2]FF2
setp   pid.y2.deadband  [JOINT_2]DEADBAND
setp   pid.y2.maxoutput [JOINT_2]MAX_OUTPUT
setp   pid.y2.error-previous-target true
# This setting is to limit bogus stepgen
# velocity corrections caused by position
# feedback sample time jitter.
setp   pid.y2.maxerror 0.012700

net y2-index-enable  =>  pid.y2.index-enable
net y2-enable        =>  pid.y2.enable
net y2-pos-cmd       =>  pid.y2.command
net y2-pos-fb        =>  pid.y2.feedback
net y2-output        <=  pid.y2.output

# Step Gen signals/setup for tandem axis

setp   hm2_7i92.0.stepgen.04.dirsetup        [JOINT_2]DIRSETUP
setp   hm2_7i92.0.stepgen.04.dirhold         [JOINT_2]DIRHOLD
setp   hm2_7i92.0.stepgen.04.steplen         [JOINT_2]STEPLEN
setp   hm2_7i92.0.stepgen.04.stepspace       [JOINT_2]STEPSPACE
setp   hm2_7i92.0.stepgen.04.position-scale  [JOINT_2]STEP_SCALE
setp   hm2_7i92.0.stepgen.04.step_type        0
setp   hm2_7i92.0.stepgen.04.control-type     1
setp   hm2_7i92.0.stepgen.04.maxaccel         [JOINT_2]STEPGEN_MAXACCEL
setp   hm2_7i92.0.stepgen.04.maxvel           [JOINT_2]STEPGEN_MAXVEL

# ---closedloop stepper signals---

net y2-pos-cmd    <= joint.2.motor-pos-cmd
net y2-vel-cmd    <= joint.2.vel-cmd
net y2-output     => hm2_7i92.0.stepgen.04.velocity-cmd
net y2-pos-fb     <= hm2_7i92.0.stepgen.04.position-fb
net y2-pos-fb     => joint.2.motor-pos-fb
net y2-enable     <= joint.2.amp-enable-out
net y2-enable     => hm2_7i92.0.stepgen.04.enable

# ---setup home / limit switch signals---

net min-home-y2     =>  joint.2.home-sw-in
net min-home-y2     =>  joint.2.neg-lim-sw-in
net y2-pos-limit     =>  joint.2.pos-lim-sw-in

#*******************
#  AXIS Z JOINT 3
#*******************

setp   pid.z.Pgain     [JOINT_3]P
setp   pid.z.Igain     [JOINT_3]I
setp   pid.z.Dgain     [JOINT_3]D
setp   pid.z.bias      [JOINT_3]BIAS
setp   pid.z.FF0       [JOINT_3]FF0
setp   pid.z.FF1       [JOINT_3]FF1
setp   pid.z.FF2       [JOINT_3]FF2
setp   pid.z.deadband  [JOINT_3]DEADBAND
setp   pid.z.maxoutput [JOINT_3]MAX_OUTPUT
setp   pid.z.error-previous-target true
# This setting is to limit bogus stepgen
# velocity corrections caused by position
# feedback sample time jitter.
setp   pid.z.maxerror 0.012700

net z-index-enable  =>  pid.z.index-enable
net z-enable        =>  pid.z.enable
net z-pos-cmd       =>  pid.z.command
net z-pos-fb        =>  pid.z.feedback
net z-output        <=  pid.z.output

# Step Gen signals/setup

setp   hm2_7i92.0.stepgen.03.dirsetup        [JOINT_3]DIRSETUP
setp   hm2_7i92.0.stepgen.03.dirhold         [JOINT_3]DIRHOLD
setp   hm2_7i92.0.stepgen.03.steplen         [JOINT_3]STEPLEN
setp   hm2_7i92.0.stepgen.03.stepspace       [JOINT_3]STEPSPACE
setp   hm2_7i92.0.stepgen.03.position-scale  [JOINT_3]STEP_SCALE
setp   hm2_7i92.0.stepgen.03.step_type        0
setp   hm2_7i92.0.stepgen.03.control-type     1
setp   hm2_7i92.0.stepgen.03.maxaccel         [JOINT_3]STEPGEN_MAXACCEL
setp   hm2_7i92.0.stepgen.03.maxvel           [JOINT_3]STEPGEN_MAXVEL

# ---closedloop stepper signals---

net z-pos-cmd    <= joint.3.motor-pos-cmd
net z-vel-cmd    <= joint.3.vel-cmd
net z-output     => hm2_7i92.0.stepgen.03.velocity-cmd
net z-pos-fb     <= hm2_7i92.0.stepgen.03.position-fb
net z-pos-fb     => joint.3.motor-pos-fb
net z-enable     <= joint.3.amp-enable-out
net z-enable     => hm2_7i92.0.stepgen.03.enable

# ---setup home / limit switch signals---

net max-home-z     =>  joint.3.home-sw-in
net z-neg-limit     =>  joint.3.neg-lim-sw-in
net max-home-z     =>  joint.3.pos-lim-sw-in

#  ---motion control signals---

net in-position               <=  motion.in-position
net machine-is-enabled        <=  motion.motion-enabled

#  ---digital in / out signals---

net dout-00     <=  motion.digital-out-00
#qtplasmac uses digital output dout-01:
#net dout-01     <=  motion.digital-out-01
#  ---estop signals---

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


# ---QTPLASMAC TOOLCHANGE PASSTHROUGH---
net tool:change iocontrol.0.tool-change  => iocontrol.0.tool-changed
net tool:prep   iocontrol.0.tool-prepare => iocontrol.0.tool-prepared



.ini 
[code]# Generated by PNCconf at Wed Oct 22 23:20:44 2025
# Using LinuxCNC version:  Master (2.9)
# If you make changes to this file, they will be
# overwritten when you run PNCconf again

[EMC]
MACHINE = test-2
DEBUG = 0
VERSION = 1.1

[DISPLAY]
DISPLAY = qtvcp qtplasmac
POSITION_OFFSET = RELATIVE
POSITION_FEEDBACK = ACTUAL
MAX_FEED_OVERRIDE = 2.000000
INTRO_GRAPHIC = linuxcnc.gif
INTRO_TIME = 5
PROGRAM_PREFIX = /home/x/linuxcnc/nc_files
INCREMENTS = 10mm 1mm .1mm .01mm .001mm
POSITION_FEEDBACK = ACTUAL
DEFAULT_LINEAR_VELOCITY = 6.000000
MAX_LINEAR_VELOCITY = 25.000000
MIN_LINEAR_VELOCITY = 0.500000
DEFAULT_ANGULAR_VELOCITY = 12.000000
MAX_ANGULAR_VELOCITY = 180.000000
MIN_ANGULAR_VELOCITY = 1.666667
GEOMETRY = xyz
CYCLE_TIME = 100

[FILTER]
PROGRAM_EXTENSION = .ngc,.nc,.tap GCode File (*.ngc, *.nc, *.tap)
ngc = qtplasmac_gcode
nc  = qtplasmac_gcode
tap = qtplasmac_gcode

[TASK]
TASK = milltask
CYCLE_TIME = 0.010

[RS274NGC]
PARAMETER_FILE = linuxcnc.var
RS274NGC_STARTUP_CODE = G21 G40 G49 G80 G90 G92.1 G94 G97 M52P1
SUBROUTINE_PATH = ./:../../nc_files
USER_M_PATH = ./:../../nc_files


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

[HMOT]
# **** This is for info only ****
CARD0=hm2_7i92.0

[HAL]
HALUI = halui
HALFILE = test-2.hal
HALFILE = qtplasmac_comp.hal
HALFILE = custom.hal
POSTGUI_HALFILE = custom_postgui.hal
SHUTDOWN = shutdown.hal

[HALUI]

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

[TRAJ]
SPINDLES = 3
COORDINATES =  XYYZ
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_VEL & MAX_ACC need to be twice the corresponding joint value
MAX_VELOCITY = 50.0
MAX_ACCELERATION = 1500.0
OFFSET_AV_RATIO = 0.5
MIN_LIMIT = -0.01
MAX_LIMIT = 2000.0

[JOINT_0]
TYPE = LINEAR
HOME = 0.0
FERROR = 10.0
MIN_FERROR = 1.0
MAX_VELOCITY = 25.0
MAX_ACCELERATION = 750.0
# The values below should be 25% larger than MAX_VELOCITY and MAX_ACCELERATION
# If using BACKLASH compensation STEPGEN_MAXACCEL should be 100% larger.
STEPGEN_MAXVEL = 31.25
STEPGEN_MAXACCEL = 937.50
P = 1000.0
I = 0.0
D = 0.0
FF0 = 0.0
FF1 = 1.0
FF2 = 0.0
BIAS = 0.0
DEADBAND = 0.0
MAX_OUTPUT = 0.0
# these are in nanoseconds
DIRSETUP   = 10000
DIRHOLD    = 10000
STEPLEN    = 5000
STEPSPACE  = 5000
STEP_SCALE = 100.0
MIN_LIMIT = -0.01
MAX_LIMIT = 2000.0
HOME_OFFSET = 0.000000
HOME_SEARCH_VEL = -1.000000
HOME_LATCH_VEL = 0.500000
HOME_FINAL_VEL = 0.000000
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = YES
HOME_SEQUENCE = 2
#******************************************

#******************************************
[AXIS_Y]
# MAX_VEL & MAX_ACC need to be twice the corresponding joint value
MAX_VELOCITY = 50.0
MAX_ACCELERATION = 1500.0
OFFSET_AV_RATIO = 0.5
MIN_LIMIT = -0.01
MAX_LIMIT = 3000.0

[JOINT_1]
TYPE = LINEAR
HOME = 0.0
FERROR = 10.0
MIN_FERROR = 1.0
MAX_VELOCITY = 25.0
MAX_ACCELERATION = 750.0
# The values below should be 25% larger than MAX_VELOCITY and MAX_ACCELERATION
# If using BACKLASH compensation STEPGEN_MAXACCEL should be 100% larger.
STEPGEN_MAXVEL = 31.25
STEPGEN_MAXACCEL = 937.50
P = 1000.0
I = 0.0
D = 0.0
FF0 = 0.0
FF1 = 1.0
FF2 = 0.0
BIAS = 0.0
DEADBAND = 0.0
MAX_OUTPUT = 0.0
# these are in nanoseconds
DIRSETUP   = 10000
DIRHOLD    = 10000
STEPLEN    = 5000
STEPSPACE  = 5000
STEP_SCALE = 100.0
MIN_LIMIT = -0.01
MAX_LIMIT = 3000.0
HOME_OFFSET = 0.000000
HOME_SEARCH_VEL = -1.000000
HOME_LATCH_VEL = 0.500000
HOME_FINAL_VEL = 0.000000
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = YES
HOME_SEQUENCE = -3

[JOINT_2]
TYPE = LINEAR
HOME = 0.0
FERROR = 10.0
MIN_FERROR = 1.0
MAX_VELOCITY = 25.0
MAX_ACCELERATION = 750.0
# The values below should be 25% larger than MAX_VELOCITY and MAX_ACCELERATION
# If using BACKLASH compensation STEPGEN_MAXACCEL should be 100% larger.
STEPGEN_MAXVEL = 31.25
STEPGEN_MAXACCEL = 937.50
P = 1000.0
I = 0.0
D = 0.0
FF0 = 0.0
FF1 = 1.0
FF2 = 0.0
BIAS = 0.0
DEADBAND = 0.0
MAX_OUTPUT = 0.0
# these are in nanoseconds
DIRSETUP   = 10000
DIRHOLD    = 10000
STEPLEN    = 5000
STEPSPACE  = 5000
STEP_SCALE = 100.0
MIN_LIMIT = -0.01
MAX_LIMIT = 3000.0
HOME_OFFSET = 0.000000
HOME_SEARCH_VEL = -1.000000
HOME_LATCH_VEL = 0.500000
HOME_FINAL_VEL = 0.000000
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = YES
HOME_SEQUENCE = -3
#******************************************

#******************************************
[AXIS_Z]
# MAX_VEL & MAX_ACC need to be twice the corresponding joint value
MAX_VELOCITY = 50.0
MAX_ACCELERATION = 1500.0
OFFSET_AV_RATIO = 0.5
MIN_LIMIT = -200.0
MAX_LIMIT = 0.01

[JOINT_3]
TYPE = LINEAR
HOME = 0.0
FERROR = 10.0
MIN_FERROR = 1.0
MAX_VELOCITY = 25.0
MAX_ACCELERATION = 750.0
# The values below should be 25% larger than MAX_VELOCITY and MAX_ACCELERATION
# If using BACKLASH compensation STEPGEN_MAXACCEL should be 100% larger.
STEPGEN_MAXVEL = 31.25
STEPGEN_MAXACCEL = 937.50
P = 1000.0
I = 0.0
D = 0.0
FF0 = 0.0
FF1 = 1.0
FF2 = 0.0
BIAS = 0.0
DEADBAND = 0.0
MAX_OUTPUT = 0.0
# these are in nanoseconds
DIRSETUP   = 10000
DIRHOLD    = 10000
STEPLEN    = 5000
STEPSPACE  = 5000
STEP_SCALE = 100.0
MIN_LIMIT = -200.0
MAX_LIMIT = 0.01
HOME_OFFSET = 0.000000
HOME_SEARCH_VEL = -1.000000
HOME_LATCH_VEL = 0.500000
HOME_FINAL_VEL = 0.000000
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = YES
HOME_SEQUENCE = 1
#******************************************



Any help or working HAL example with PROMA 150 + Mesa hardware would be greatly appreciated!

Thank you in advance

[/code]

sconisbee
sconisbee

19 Oct 2025 20:13

Replied by sconisbee on topic Remora - ethernet NVEM / EC300 / EC500 cnc board

Remora - ethernet NVEM / EC300 / EC500 cnc board

Category: Computers and Hardware

Good Evening,

I'm relatively new to LinuxCNC having come from Mach 3 on mills previously. Having found mach3 limited for lathes I have moved over to LinuxCNC. I have been/have converted an old Boxford 240 TCL to run on new steppers, and LinuxCNC running on a Pi5 connected to an ec300 running the remora firmware.

Everything in general is working fine, except the spindle encoder. Annoyingly, it is not a quadrature encoder. It is a 100ppr slotted disk with an additional index pulse. Currently, this is feeding directly into the Pi5, which is reading the 100ppr but missing the index.

So, my plan is to move the encoder and index over to the ec300. While i understand that the ec300 has a dedicated index input, I am unsure on using an encoder with remora. I've read the docs, and have run through this thread but my head is spinning trying to get things straight.

Does the EC300 have the ability for a hardware encoder? if not, software would work too, I'm just not sure how to set up the encoder component as I do not have a B phase.

On the hardware side, I'm going to have to work out some electronics as the encoder as it stands is running on 3.3v with schmitt triggers for conditioning. So I will have to come up with something to level shift this to 24v.

Any help that could be given on the remora side of things would be greatly appreciated.

jpg
jpg

19 Oct 2025 15:12

Replied by jpg on topic M19 for Indexing a Spindle using Stepper Motors

M19 for Indexing a Spindle using Stepper Motors

Category: General LinuxCNC Questions

Hello, here is a functional version for port // that may help.

richcolvin

15 Oct 2025 03:52

Replied by richcolvin on topic M19 for Indexing a Spindle using Stepper Motors

M19 for Indexing a Spindle using Stepper Motors

Category: General LinuxCNC Questions

Thank you Peter. I reviewed the link you provided, but is there a document or manual which describes how to set this up?

PCW

14 Oct 2025 21:06

Replied by PCW on topic M19 for Indexing a Spindle using Stepper Motors

M19 for Indexing a Spindle using Stepper Motors

Category: General LinuxCNC Questions

www.linuxcnc.org/docs/html/gcode/m-code.html#mcode:m19

Says:

Spindle orientation requires a quadrature encoder with an index to sense the spindle shaft position and direction of rotation.

The need for an encoder can be worked around by using a StepGen with the index feature but that would still require
a once per turn signal for initial alignment.

richcolvin

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

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

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

the stepper motors for the two spindles work as expected, however
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:

Am I on the right track with the 7i95 + LinuxCNC setup for a 5-axis machine with encoder feedback?
Would you recommend a different Mesa board or configuration for this?
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.

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