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You can try this in your hal-file:

This reduces the acceleration of the axes when moving with the pendant.

Also ich hab mal geschaut.
Standartmäßig gibt es meistens max 3 Kanal für die typischen ABZ Encoder.
Gegenfrage: was hast du vor, evtl. gibt es eine andere Lösung?

According to the docs, shutdown.ngc only gets run when exiting normally.  Machine-off state does not trigger it, and neither does a PC crash.

I think on-abort.ngc should work without explicitly remapping.  A quick test could confirm:

• Create a test abort.ngc file with something in it to test (i.e. halcmd to set a pin value)
• Add the file to you INI
• Create user M-code (M1xx) which creates some sort of call to the abort.
  • All of my M66 checks in the various tool-change (or similar) sequences have something like:

  • [*]M66 P9 L3 Q2                                        ; Check ATC door open sensor
    O100 if [#5399 LT 0]
          M65 P8                                          ; Turn off ATC door open solenoid
        (abort, ATC door not open)                      ; Abort if the sensor does not activate in 2 seconds
      O100 endif
    [*]

You could make the abort.ngc be the bash script, or you could create another M1xx bash script and use abort.ngc to call that M-code.

Once you've got everything set up, open halshow and add the hal pin you want to twiddle using abort.ngc.  Call the M-code which will abort and see if the hal pin changes state.

The conversion interface parts depend on the signal levels needed

for RS-422 (going into a line receiver on the drive ) where 3V signals into a load are OK,
any RS422 driver will work (say 26LS31 equivalent for 4 channels/chip)

If you wish to drive optocoupled drive input that expect 5V signals, you would need
a driver with 5V outputs. AFAIK the only 4 channel RS-422 drivers that do this are
the ISL32174,ISL34172 and MAX3042 (The MAX parts are expensive)

Another option for 5V signals is to use a combination of ACT driver chips with inverting
and non-inverting  outputs, say a 74ACT540 and a 74ACT541.

Hello guys,

Here is a little update. Since my last post, I had a detailed look at my picture gallery, specifically at the pictures of an EL5021 terminal I bought and disassembled back in early 2025. The original plan back then was to add an axial resistor in order to get it to read 11µA encoder signals. I quickly realized that wouldn't work, took some pictures, reassembled it, and returned it to the seller.

Last weekend, I took another detailed look at the PCB of the EL5021 and recognized the interpolator IC Beckhoff is using: an iC-Haus iC-NQI. For my own interpolator solution, I had actually copied the typical application circuit straight from that datasheet. That's why I immediately reordered an EL5021 terminal off eBay, opened it up, and properly reverse-engineered it today.
Beckhoff is actually following this required application circuit almost exactly ( Datasheet iC-NQI, Page 24, Figure 30 ). They are also using 4.7k Ohm resistors for RS1 and RS2. Those have to be swapped for 50k Ohm ones (I will test if these are too big; possibly 43k or 47k are better suited), and lastly the 120 Ohm resistors need to be removed. This way, the EL5021 terminal should be able to read 11µA sensors. By adding a 120 Ohm axial resistor across each input channel (A & /A, B & /B, and C & /C), the EL5021 can again be used for 1V signals. In theory, it would also support TTL signals, but that is outside the scope of this test.

Other than that, I vibe-coded a CiA402 dashboard tab for LinuxCNC to be able to see any problems with the Danfoss VFD directly in one place, without needing to decode the status word or the command word. The Danfoss VFD is now also able to read the frequency of an inductive sensor, internally calculates the motor speed, and reports that speed back via a PDO as feedback speed.

Additionally, the decision was made not to keep the original relay-based DC gearmotor solution, but to switch to two Beckhoff EL7332 terminals. Details about that coming soon™.

I'll test the functionality of the modified EL5021 terminal and keep you posted Wishing you all a great weekend!

Does a shutdown hal file only run on exiting out of Linuxcnc, or would it run when ever the machine is disabled to the machine off (F2) state? That sounds like the simplest way if it the shutdown hal is exicuted when ever the machine is put to the off state.

Will the on_abort.ngc work without remap? I'm assuming that the file should not have any motion causing codes in it. Are there any restrictions as to what commands can be executed in it? If I can execute some custom M-codes in it, that should be good enough for my purposes.

It sounds like the maybe Ethernet on the host has power management or enabled or something similar

what does:

ethtool --show-eee [ethernet device name]

report?

[ethernet device name] is the name of the Ethernet device connected to the 7I76E,
something like eth0 or eno1. You can get the device name from a the results of
the command

ip a



 

This problem has always been there, it is a new build I just completed last week and I have gotten this error from the start.

How do I read this variable the pictures attac

OK, the /INIT LED is illuminated on the 7I76E which means this is not a 7I76E power issue
but either a host or 7I76E network issue. (The /INIT LED indicates a watchdog bite)

Is this a new problems or has it always been there?

Gibt es so eine Lösung evtl. auch gleich mit mehreren Kanälen?
Da kommen ja doch einige Module zusammen bei 3 oder 4 Achsen...

Jupp,
txd = transmid Data
rxd = receive data

du willst ja nur Senden, also txd
Board ist eigentlich egal, z.b. das hier:
Amazon

Ah ok, vielen lieben Dank!
Das sind dann die Konverter mit dem MAX490, und hier dann nur TXD, Y und Z (Senden) anschließen, richtig?

Just checking back here - any progress or example of using an Ethercat drive with carousel.comp?

Thank you MrRodW, I've followed your install and as mentioned this only happens when the upgrade is initiated. I did try the spoiler route even though the secure boot is disabled with no luck as far as a different result.
Again I am able to get it all installed and recognizing my machine Master and Ethercat Slaves. I'll try and proceed without the upgrades see if I can get to some motion.
I am building a PM940 conversion using Rtelligent devices RS 750E for XY & hopefully A and RS1000E w/brake for the Z.
Thanks again all assistance is greatly appreciated,
Samuel