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@ davids
hmm i not even sure where i would start with that, seems pretty unique. I would maybe wait until the latest pyside6 version is released with docs on setting up the machine simulation and try there and report back. I am working on the docs now and then will be uploading the installation requirements for pyside6 for testers, will be a couple days while i try and find time to finish up the doc reconfiguration for bookworm/trixie separation.

@ dredivan

I just pushed an update on the develop branch for bookworm version that specifies the jog buttons to display based on the display>geometry= setting in the ini file, if you update and specify your desired axis buttons there for jogging it will be correct now.

Hi Lcvette,
Following up on your offer in this thread to test the multi-axis plotting / simulation branch — I'd like to put my machine forward as a test case. It's a different geometry from dredivan's MPCNC, so flagging that up front in case it's useful (or not) for what you're prototyping.
Machine: — 4-axis cylindrical/polar additive system tower-crane style. Not a wrapped-rotary gantry; the entire arm rotates around a stationary work area.

Configuration:

LinuxCNC 2.9.8 on Raspberry Pi 5 (Bookworm + PREEMPT_RT)
Mesa 7i96S
KINEMATICS = trivkins coordinates=XBZA kinstype=1 (joints 0–3 = X, B, Z, A)

Axes:

A — base rotation, 0–360° continuous, carries the entire Z tower + X arm + B head
Z — vertical linear, 0–2470 mm, rides up the rotating tower
X — radial linear, 952–2760 mm (radial distance from tower center to B housing — not Cartesian X)
B — end-of-arm rotation, ±90°, rotates about a vertical axis at the end of the X arm; B=0 means the 652 mm tool arm is aligned with the X arm (radially outward)

G-code is pre-computed in polar/cylindrical space by the CAM post-processor and emitted as dense waypoints in G93 inverse-time.

Sample line:
G93 G1 X2054.287 Z6 A118.183 B11.055 F423.731

→ B housing at radius 2054.287 mm, height 6 mm, base 118.183° CW, tool arm tilted +11.055° from radial; move duration ≈ 1/423.731 min ≈ 0.14 s.
Stock backplots render this as joint space and produce nonsense, which is why a wrapped/transformed preview would be a big deal for us. If the test branch can accept a custom transform (or already exposes a forward-kinematics hook for the canon), I can supply realistic .ngc files and run them on the actual machine.

let me know how I can be useful. Hope we can find a way for me to be a tester for your multi axis plotter!
— David

put all AX5xxx first and any other devices behind it ... if translator created the config it is pure master swap to linuxcnc master which is probably OK... but I am just a man and its just a software ...

check sizes of ethercat IDN in the SM and maybe subindexes ...

check if all you have 0x01 ... if they are not change them

share .xml config its tricky to tell you more if there is just small part of the dmesg outcome...

EtherCAT ERROR 0-7: Failed to set SAFEOP state, slave refused state change (PREOP + ERROR).
EtherCAT ERROR 0-7: AL status message 0x0045: "MBX_SOE".

move(means cut off where it is and put it at the bottom of the file) in init commands from anywhere to the bottom like below -

EtherCAT ERROR 0-0: Failed to set OP state, slave refused state change (SAFEOP + ERROR).
EtherCAT ERROR 0-0: AL status message 0x001A: "Synchronization error".

which ethercat driver you are using for control the AX ? generic or native 

@Andrax
I'll try it, thanks.

@Maha
like @Aciera, I didn't think that was how M6/G43 worked, but I'll try it (again).  I've tried putting G43 on the next line after the Tn M6 (or M6 Tn) line, but that didn't seem to make a difference.

@Aciera
Thanks for pointing that out.  I think I tried the RETAIN_G43 when I first noticed an issue during the G10 L2 WCS flip testing a couple weeks ago.  I know I haven't turned that on/off during this last round of fiddling.

Among the many things confusing me is the F360 post for LCNC turning.  right at the beginning of the post file is this:

But the post outputs no G43 at all - neither on the same line or the next.  Something to sort out once I get G43 working.

I'll try everyone's suggestions this evening and report back.  As usual, I'm grateful for the assistance.

How did you get linuxcnc originally? What version are you using?
What mods would you like to do?

Hey zusammen,ich hänge gerade ein bisschen fest und hoffe, jemand von euch kann mir einen Schubs in die richtige Richtung geben ,Ich habe eine Maho 500 W4 mit einem Servomotor, der analog im Closed Loop läuft. An der Maschine ist ein 3-gängiges Getriebe verbaut:
1:1 (ca. 650–5000 U/min)
Neutral
Untersetzung (ca. 20–649 U/min)

Ist wohl ähnlich wie bei dem User Dowerna hier aus dem Forum.Mein Problem: Ich bekomme den Gangwechsel in LinuxCNC einfach nicht sauber umgesetzt. Ich hab mir das mit der[/code]

so G43 in a line with M6, sets G49

Not sure I understand this right but 'M6 Tn G43' certainly works fine for me.

@spumco
Have you tried without 'RETAIN_G43 = 1' in the ini file? (you have one line commenting it out and another later on activating it)

It should, just try it, it is a small download and easy to try

In one picture you have the encoder inputs connected, this may affect test results.

Here is the encoder input circuit, you can check if the 26LS32 is faulty by seeing of the
outputs follow the input state. (the outputs are inverted from the TTL input levels)

 



 

Thanks, I downloaded and installed it.
The latest changes to my configuration were as follows: I have a machine with a rack-and-pinion system. It has a good control board and cable. The XXYYZ configuration, Matrixkins—I backported it myself from the source code, adapting it for 5-motor control. The configuration has been tested and works.

To ensure the minimum Z-axis step size was acceptable for scanning, I switched the step divider from 8000 to 25000. For my speeds, I had to reduce the value
[EMCMOT]
#edited 2026-03-21 due to jitter tuning not exceeding 2800 (previously 8000) - base_period reduced from 20000
EMCMOT = motmod
COMM_TIMEOUT = 1.0
BASE_PERIOD = 10000
SERVO_PERIOD = 1000000

What did this lead to? Version 2.8.4 with these same parameters works like a charm. The version you sent displays a message at startup - -
Unexpected realtime delay on task 0 with period 10000
This Message will only display once per session....


then goes through homing

+ and when attempting to move the Y-axis, the Y-motor emergency protection trips (torque overload). Obviously, something is wrong with my Matrixkins. Apparently, my participation in testing is causing more problems than it’s helping.

Just wanted to send a quick thank you to Rodw and Jerry. I have managed to go through the first part of the video and the cyber black hole of networking has been cleared up somewhat. Will advise my success or lack therof when I have a chance to sit down and go over things. Wayne

You can check for G43 in Linuxcnc status. Eg Axis:


 


M6 turns off G43, 
so G43 in a line with M6, sets G49 

I'm not entirely sure about this either.
At least G10 only affects the currently selected coordinate system. As soon as you switch, your shift disappears.
It could be the same with G43, since you're applying the length correction to G53.

Just try it out.

Discord seems to be aimed at gamers that like flashy colors.