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Marcos wrote:

with PC-based EtherCAT it looks like you first have to make these fundamentals explicit (DC, cycle stability, NIC behavior, jitter) before worrying about pushing the servo thread frequency.

 

Probably depends on the hardware you choose.
I have installed 3 ethercat Linuxcnc systems in the past 12 mo. and have not needed to touch any of the above mentioned tweaks. Everything just worked and is being used daily with no glitches yet. All of them running stock servo-thread of 1 mS.

Now just recently bought a 4 axis ethercat stepper drive, this is the first ethercat hardware I've used that was not fully supported out of the box.

Plus I have two half finished LinuxCNC projects that don't count because they're not yet in use. The ethercat part went together easy enough but other aspects of these two projects are needing more work.

Thanks, it was just a file location error. The new pins are showing up now, but from what I understand, I need to modify the Qdragon UI to use them? Or how can I use these new pins?

Many thanks for the reply. Just SSH'd onto the machine - yes, Intel Ethernet controller. I'll wait for morning (and for the icicles to disappear) and try the recommended settings in that link, and report back.

Have you looked in the bottom beside the battery. its a normal place for the upgrade modules ?

Probably Intel network card, so have a look here for use of ethtool to set the rx to 0
forum.linuxcnc.org/27-driver-boards/4750...i96s-a-little-jitter

Here are the complete files

I've ended up fighting the hal loader.

#

---

# M19 ORIENT – single driver / multi‑sink form
#

---

loadrt orient count=1
addf orient.0 servo-thread

loadrt pid names=pid.o
addf pid.o.do-pid-calcs servo-thread

loadrt mux2 count=1
addf mux2.0 servo-thread
loadrt or2 count=1
addf or2.0 servo-thread

# --- Orient PID tuning ---
setp pid.o.Pgain 0.05
setp pid.o.Igain 0.0005
setp pid.o.Dgain 0.0002
setp pid.o.maxoutput 60
setp pid.o.error-previous-target true
setp orient.0.tolerance 0.05
setp orient.0.angle 0

# --- One signal name, declared once and fanned out ---
net orient-bit spindle.0.orient => orient.0.enable
net orient-bit => or2.0.in1
net orient-bit => mux2.0.sel
# separate signal drives the encoder’s index enable input
net orient-arm-index orient-bit => hm2_7i92.0.encoder.05.index-enable

# --- Run enable OR gate ---
net run-enable or2.0.out => hm2_7i92.0.7i77.0.1.spinena
net spindle-enable => or2.0.in0

# --- Orient angle / feedback wiring ---
net orient-angle spindle.0.orient-angle => orient.0.angle
net spindle-revs hm2_7i92.0.encoder.05.position => orient.0.position

# --- Orient PID loop ---
net orient-cmd orient.0.command => pid.o.command
net orient-fb hm2_7i92.0.encoder.05.velocity-rpm => pid.o.feedback
net orient-out pid.o.output => mux2.0.in1

# --- Normal spindle path and output switch ---
net spindle-output pid.s.output => mux2.0.in0
net spindle-vfd-out mux2.0.out => hm2_7i92.0.7i77.0.1.analogout5

# --- Completion flag back to controller ---
net orient-done orient.0.is-oriented => spindle.0.is-oriented

#Error in file ./spindlecontrol.hal:
# Pin 'orient-bit' does not exist
#Shutting down and cleaning up LinuxCNC…

New Update from my MainUI, would like to hear some opinions.Thanks

I'll hijack this thread, as my use-case is a "mini PC" NUC gen-11 i3, modest performance but which should more than adequate for LinuxCNC. Running 2.9.0 (though able to update... however same behaviour verified with another user here with standard desktop and 2.9.8).

With a Mesa 7i76e (other user: 7i92) - just observing HAL pins, whilst rebuilding an old Boxford 160 set-up I noticed that the HAL Write.Time pin was bubbling around 10,000-12,000 (so, 10us-12us) - which looked quite respectable given that the HM2 is scheduled on servo thread at 1ms. The hm2.read, however, was around 800,000-900,000 (verified on other user's 7i92 also), That, to my uneducated mind is getting a bit close to the limits of the 1ms servo thread. Do other people see similar performance / behaviour with Mesa cards?

I'll dig deeper and Wireshark the set-up. I should say that my particular environment the NUC wired interface is hooked to the Mesa, and I use WiFi for internet. Other user is dedicated wired interface to the machine without internet.

I just realised I still had SPI_clk_div set to 16, after setting it back to 32 or 64, the errors are gone, but i'm at square one again, no error on e-stop deactivate.

Witam kupiłem taką samą kartę i czekam na przesyłkę.
Moje pytanie to jakim napięciem zasilasz tą kartę , w opisie podają 24V max i czy tylko to wystarczy ?

Ja es ist Hobby aber viel Material abnehmen auf einmal das erfordert ein stabile Maschiene das Endschen ist mehr was für kleine Teile .
Alu zu fräsen kann auch zu einer Heraufforderung werden Alu ist nicht gleich Alu .
Egal welch Fräsmotor man nimmt man lehrnt dazu.
Wenn das Hobby größe Teile erfordert kommt man um eine Fräse zb Deckel FP 1 nicht drum herum.

Gruß
Jürgen

I made some progress, SPI wasnt likely working properly before, as I had chosen PB9 for the pru-reset. Turns out PB9's timer is already occupied so no PWM. I change to PB15 which is usable for PWM and now i'm getting a 

When trying to unlock the e-Stop.

Hallo zusammen,ich stehe aktuell am Ende der Büro- bzw. Softwarearbeit meines Retrofits und bin nun auf der Suche nach einem geeigneten Plugin für gmoccapy.
Mein Ziel ist es, ähnlich wie bei ShopMill von Siemens oder vergleichbaren Lösungen, Programme mit Unterstützung erstellen zu können – idealerweise so, dass man bei Zyklen Schritt für Schritt nach den benötigten Parametern gefragt wird.Wichtig wäre mir außerdem, dass sich das Ganze möglichst gut in gmoccapy integrieren lässt, da ich die Softkeys bereits als Hardware in mein Bedienpult eingebaut habe und diese natürlich sinnvoll nutzen möchte.
Das Plugin sollte zudem mit LinuxCNC 2.9.4 kompatibel sein.Ich habe bereits versucht, NativeCAM zu installieren, bin dabei jedoch leider nicht zum Erfolg gekommen. Die vorgegebenen sudo-Befehle haben bei mir nicht wie erwartet funktioniert und meine Linux-Kenntnisse sind noch recht begrenzt, da dies mein erster Retrofit unter Linux ist. Entsprechend fehlen mir teilweise noch die Zusammenhänge, um das manuell korrekt einzubinden.Daher meine Frage an euch:
Kennt jemand ein passendes Plugin oder hat Tipps, wie ich eine solche zyklusbasierte Programmierunterstützung unter gmoccapy realisieren kann?Vielen Dank schon mal für eure Hilfe!

 Hello everyone,I’m currently finishing the office/software side of my retrofit project and I’m now looking for a suitable plugin for gmoccapy.
My goal is to create programs with guided support similar to Siemens ShopMill or comparable solutions – ideally with cycle dialogs that ask for the required parameters step by step.It is important that the solution integrates well with gmoccapy, as I have already implemented the softkeys as physical hardware in my control panel and would like to make proper use of them.
The plugin should also be compatible with LinuxCNC 2.9.4.I already tried installing NativeCAM but unfortunately didn’t succeed. The provided sudo commands did not work as expected and my Linux knowledge is still quite limited, since this is my first retrofit using Linux. Because of that, I’m struggling to manually integrate it and fully understand the dependencies.So my question to the community:
Does anyone know a suitable plugin or have tips on how to achieve this kind of cycle-based programming support in gmoccapy?Thanks in advance for any help!

Those latency values should work, perfectly normal for linuxcnc.

What I see is in your syslogThe slaves were not able to synchronize their time in 5 sec.
I have had that problem myself and didn't solve it, it just went away one day.
The ethercat master sends a synchronize request every 1 msec, so 5000 requests are sent.
What I understand is that this initial synchronization is a slow process and sometimes 5000 requests is not enough.
What I read is that TwinCAT can send tens of thousands of synchronization requests when needed.

As an experiment you can increase this value to 50000, 10 times more, why hold back when experimenting?
It is this value in ethercat/master/fsm_slave_config.cChange toCompile the ethercat master, install it and make sure the new version runs.
And try again.
Interesting to hear if that works.