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  • NWE
  • NWE
03 Dec 2025 23:27 - 05 Dec 2025 08:25
Replied by NWE on topic Ursviken Pullmax Optima 130 press brake retrofit with 4 axis backgage

Ursviken Pullmax Optima 130 press brake retrofit with 4 axis backgage

Category: Show Your Stuff

I think I begin to see into how this 'extra joints' command flow works.

1. My ui will trigger homing via a "Home all" button. NOTE: Y1 and Y2 will need footpedal operation to complete the ram homing and they home simultaneously.

2. When homing is complete, the joint.5.homed pin enables the j5.limit3.enable to enable program control of that servo.

3. My ui sends a position to j5.limit3.in then j5.limit3.out feeds joint.5.posthome-cmd. This seems to be a position value (not velocity). If I am correct, that is what I need here.

4. The position from #3. feeds straight through to joint.5.motor-pos-cmd into j5.pid.input

5. j5.pid.output is a velocity command driving hm2_7i80.0.pwmgen.00.value

6. Feedback is in the form of hm2_7i80.0.encoder.00.position to joint.5.motor-pos-fb and to j5.pid.feedback

I attached a flowchart of this for reference.
  • rodw
  • rodw's Avatar
03 Dec 2025 20:13
Replied by rodw on topic Reduce read-all timing 7i76e + 7i77

Reduce read-all timing 7i76e + 7i77

Category: Advanced Configuration

Also, I did not see where you are disabling Energy Efficient Ethernet.  It is supposed to be disabled by default but this is not always the case. There are some flags that can be set in GRUB but they are driver specific. eg. igb.EEE=0 

I have not tested this but This is a robust way to ensure EEE is disabled on every boot. Create a new systemd service file:
sudo geany /etc/systemd/system/disable-eee.service
  1. Add the following content, replacing enp6s0 with your interface name. This service will run ethtool after the network is up.
[Unit]Description=Disable Energy Efficient Ethernet (EEE)After=network-online.target [Service]Type=oneshotExecStart=/usr/sbin/ethtool --set-eee enp6s0 eee off [Install]WantedBy=multi-user.target
  1. Save and close the file.
Reload the systemd daemon:
sudo systemctl daemon-reload
Enable and start the service:
sudo systemctl enable disable-eee.service
sudo systemctl start disable-eee.service
  • endian
  • endian's Avatar
03 Dec 2025 20:06
Replied by endian on topic Reduce read-all timing 7i76e + 7i77

Reduce read-all timing 7i76e + 7i77

Category: Advanced Configuration

Yes, i read thier manual 1k times.. it is pretty solid extraction of what we all need...

Yes I am recompiling everytime to native NIC driver as common e1000e or rtl8190too ... It works pretty solid for 8khz thread 
8190too are basically free stuff on the market right now it cost few bucks

There are native drivers for beckhoff too but I have never tried them yet ... 

I am not expert in this drivers ..but if it will improve my latency i need them all ...
 
  • rodw
  • rodw's Avatar
03 Dec 2025 20:02
Replied by rodw on topic MonoKrom - QtPyVCP GUI for PlasmaC and Mill

MonoKrom - QtPyVCP GUI for PlasmaC and Mill

Category: QtPyVCP

I can't help here. I had a feeling that a linuxcnc filter was a program that accepted an input file and wrote out an output file so you should be able to run the filter stand alone. The file name will be in the ini file. ref:.linuxcnc.org/docs/html/gui/filter-programs.html
  • rodw
  • rodw's Avatar
03 Dec 2025 19:55
Replied by rodw on topic Reduce read-all timing 7i76e + 7i77

Reduce read-all timing 7i76e + 7i77

Category: Advanced Configuration

@endian, you may be interested to read the ethercat master docs Chapter 4, networking where it explains its interrupt-less network drivers that bypass all of the CPU affinity requirement...
etherlab.org/en_GB/ethercat

Also, ethercat has a number of specific NIC drivers but I seem to remember these are not included in the deb file in their repo and you need to compile from source to obtain them. It looks like they now support the Trixie 6.12 kernel. Driver Source etherlab.org/en_GB/ethercathttps://gitla...vices?ref_type=heads

drivers are loaded by ethercat.conf in place of ec_generic. It would be interesting to see if the  hm2_eth driver could be modified to use the ethercat drivers
  • NWE
  • NWE
03 Dec 2025 19:36
Replied by NWE on topic Ursviken Pullmax Optima 130 press brake retrofit with 4 axis backgage

Ursviken Pullmax Optima 130 press brake retrofit with 4 axis backgage

Category: Show Your Stuff

That helps. I had seen the extra joints feature but didn't know enough about it to realize that is what I need.

Progress at this point:
I used Pncconf to create a common 3 axis mill config with the default mesa cards selected, as my mesa setup does not seem listed. I edited the generated mesa configs to:
1. Match my mesa hardware.
2. Converted the XYZ axis to simulated by zeroing their [JOINT]HOME_ ini parameters and connecting their pos_cmd to pos_fb.
3. Created 6 'extra joints' that I will actually be using.

I still have not figured out how to delete the axis gui without breaking a boatload of stuff. I begin to think I will be fine with allowing axis to load minimized, and have my gladevcp ui load maximized, and maybe also modal so it stays on top. It will be most convenient for the machine operator if my gladevcp never disappears from his touchscreen. I think he knows more about bending steel than I do about computers.
  • LCR
  • LCR
03 Dec 2025 19:10
Replied by LCR on topic Problems with Lichuan Ethercat servo drive

Problems with Lichuan Ethercat servo drive

Category: EtherCAT

Are you seeing a difference between the target position (607A) and the actual position (6064) that is persistent? IE you can force the motor out of position a bit, and it returns to the same incorrect position?  This is different from following error, where the motor does not get to the position. With following error, if you force it, it will get to position and stay. OR if you force it past the target it will end with a following error from the opposite direction. 
  • MaHa
  • MaHa
03 Dec 2025 19:05
Replied by MaHa on topic python module

python module

Category: Flex GUI

One of the last problems to solve. I need to read from the current loaded file, to find some content. If this is possible from the imported testpy file, with a connected pushbutton.

 
  • Sandro
  • Sandro
03 Dec 2025 18:53
Replied by Sandro on topic MonoKrom - QtPyVCP GUI for PlasmaC and Mill

MonoKrom - QtPyVCP GUI for PlasmaC and Mill

Category: QtPyVCP

Hello Rodw,

I’m also using the Plasmac post from SheetCam. I followed your advice and changed the SheetCam setting to output .ngc instead of .tap. Unfortunately, as long as the Monokrom filter is enabled, it doesn’t work—I get the error:

“unknown word where unary operation could be.”

This happens both on my actual machine and with the Monokrom simulation configuration. With QtPlasmaC, I don’t have any issues. Maybe over the weekend I can share a G-code test file that fails for me.

Is there a way to manually apply the Monokrom filter plasma_gcode_preprocessor to a G-code file outside of Monokrom, just to see what the output looks like?
  • Sandro
  • Sandro
03 Dec 2025 18:40
Replied by Sandro on topic Problems with Lichuan Ethercat servo drive

Problems with Lichuan Ethercat servo drive

Category: EtherCAT

Just the usual issue with the Lichuans with the huge following error in CSP mode. I have a config working in CSV mode which I posted a while back. But it would be nice to get this working in CSP mode. From my understanding you got this in check by modifying the cia402.conf with Velocity Feed Forward 60B1h?

This is my full configuration. Please note this is for a hobby machine and I cannot take responsibility for any present or not present safety features. Use at your own risk.

Slave 0 is the Cat IO board which can be found on Aliexpress.
Slave 1 is a DVS 1.8 kW servo motor with 23 bit absolute encoder, which I am using as spindle. I have set the encoder to 17 bit incremental at the moment. The same XML configuration as for the Lichuan servos works for this one as well.
Slaves 2-4 are the Lichuan servos for my three axes.

I was having issues using the Lichuans in csp mode, due to quite a substantial following error. For this reason I have set them to csv mode. This way I was able to do some PID tuning and clamping down the error to a few microns. I was also playing arround with the parameters on the servo drives directly to improve on the following error further. Most parameters did not do a lot in my case. However, P08.15 "Load inertia ratio" helped a lot. For the axes X and Y I have currently set it to about 12 and for Z-axis to about 7.


 

  • endian
  • endian's Avatar
03 Dec 2025 18:31
Replied by endian on topic Reduce read-all timing 7i76e + 7i77

Reduce read-all timing 7i76e + 7i77

Category: Advanced Configuration

I think it is higher ladies school ... Customizing the kernel we will lost possibility of regular installation maybe ... Of course we can have own kernel but there will be limitations of any updates... But on other side who will use it from regular users... but I am not expert of kernels at all.. i know just how to create great ethercat topology with low thread time at budget iron..

I am not expert of Lcnc too.. but Lcnc needs two major improvements... Latency of networking(we can use mesa and peer to peer connection) and new 7phase trajectory planner(created by nonRT + RT part)

Both are non trivial and boths are long range run.. 
  • Hakan
  • Hakan
03 Dec 2025 18:27
Replied by Hakan on topic Beckhoff EL2522 lcec xml file

Beckhoff EL2522 lcec xml file

Category: EtherCAT

Should be this file github.com/linuxcnc-ethercat/linuxcnc-et...evices/lcec_el3xxx.c
All drivers are compiled into the lcec component  /usr/lib/linuxcnc/modules/lcec.so

 
  • emresensoy
  • emresensoy
03 Dec 2025 18:08
Replied by emresensoy on topic Beckhoff EL2522 lcec xml file

Beckhoff EL2522 lcec xml file

Category: EtherCAT

Hakan, thank you very much for your answer. I'm curious about something else. For example, there's a built-in driver for the EL3062. Where is this file or driver stored on the hard drive? How can I view its contents?
  • Hakan
  • Hakan
03 Dec 2025 17:51
Replied by Hakan on topic Beckhoff EL2522 lcec xml file

Beckhoff EL2522 lcec xml file

Category: EtherCAT

See if the output of "lcec_configgen" will work. 
  • emresensoy
  • emresensoy
03 Dec 2025 17:44
Beckhoff EL2522 lcec xml file was created by emresensoy

Beckhoff EL2522 lcec xml file

Category: EtherCAT

There is no builtin driver for EL2522,
I need help to convert ethercat xml output to lcec xml
Thanks,
<EtherCATInfo>
    <!-- Slave 6 -->
    <Vendor>
      <Id>2</Id>
    </Vendor>
    <Descriptions>
      <Devices>
        <Device>
          <Type ProductCode="#x09da3052" RevisionNo="#x00160000">EL2522</Type>
          <Name><![CDATA[EL2522 2K. Pulse Train Ausgang]]></Name>
          <Sm Enable="1" StartAddress="#x1000" ControlByte="#x26" DefaultSize="128" />
          <Sm Enable="1" StartAddress="#x1080" ControlByte="#x22" DefaultSize="128" />
          <Sm Enable="1" StartAddress="#x1100" ControlByte="#x24" DefaultSize="28" />
          <Sm Enable="1" StartAddress="#x1280" ControlByte="#x20" DefaultSize="16" />
          <RxPdo Sm="2" Fixed="1" Mandatory="1">
            <Index>#x1600</Index>
            <Name>PTO RxPDO-Map Control Ch.1</Name>
            <Entry>
              <Index>#x7000</Index>
              <SubIndex>1</SubIndex>
              <BitLen>1</BitLen>
              <Name>Frequency select</Name>
              <DataType>BOOL</DataType>
            </Entry>
            <Entry>
              <Index>#x7000</Index>
              <SubIndex>2</SubIndex>
              <BitLen>1</BitLen>
              <Name>Disable ramp</Name>
              <DataType>BOOL</DataType>
            </Entry>
            <Entry>
              <Index>#x7000</Index>
              <SubIndex>3</SubIndex>
              <BitLen>1</BitLen>
              <Name>Go counter</Name>
              <DataType>BOOL</DataType>
            </Entry>
            <Entry>
              <Index>#x0000</Index>
              <BitLen>13</BitLen>
            </Entry>
            <Entry>
              <Index>#x7000</Index>
              <SubIndex>17</SubIndex>
              <BitLen>16</BitLen>
              <Name>Frequency value</Name>
              <DataType>UINT16</DataType>
            </Entry>
          </RxPdo>
          <RxPdo Sm="2" Fixed="1" Mandatory="1">
            <Index>#x1603</Index>
            <Name>PTO RxPDO-Map Target Ch.1</Name>
            <Entry>
              <Index>#x7000</Index>
              <SubIndex>18</SubIndex>
              <BitLen>32</BitLen>
              <Name>Target counter value</Name>
              <DataType>UINT32</DataType>
            </Entry>
          </RxPdo>
          <RxPdo Sm="2" Fixed="1" Mandatory="1">
            <Index>#x1605</Index>
            <Name>PTO RxPDO-Map Control Ch.2</Name>
            <Entry>
              <Index>#x7010</Index>
              <SubIndex>1</SubIndex>
              <BitLen>1</BitLen>
              <Name>Frequency select</Name>
              <DataType>BOOL</DataType>
            </Entry>
            <Entry>
              <Index>#x7010</Index>
              <SubIndex>2</SubIndex>
              <BitLen>1</BitLen>
              <Name>Disable ramp</Name>
              <DataType>BOOL</DataType>
            </Entry>
            <Entry>
              <Index>#x7010</Index>
              <SubIndex>3</SubIndex>
              <BitLen>1</BitLen>
              <Name>Go counter</Name>
              <DataType>BOOL</DataType>
            </Entry>
            <Entry>
              <Index>#x0000</Index>
              <BitLen>13</BitLen>
            </Entry>
            <Entry>
              <Index>#x7010</Index>
              <SubIndex>17</SubIndex>
              <BitLen>16</BitLen>
              <Name>Frequency value</Name>
              <DataType>UINT16</DataType>
            </Entry>
          </RxPdo>
          <RxPdo Sm="2" Fixed="1" Mandatory="1">
            <Index>#x1608</Index>
            <Name>PTO RxPDO-Map Target Ch.2</Name>
            <Entry>
              <Index>#x7010</Index>
              <SubIndex>18</SubIndex>
              <BitLen>32</BitLen>
              <Name>Target counter value</Name>
              <DataType>UINT32</DataType>
            </Entry>
          </RxPdo>
          <RxPdo Sm="2" Fixed="1" Mandatory="1">
            <Index>#x160b</Index>
            <Name>ENC RxPDO-Map Control Ch.1</Name>
            <Entry>
              <Index>#x0000</Index>
              <BitLen>2</BitLen>
            </Entry>
            <Entry>
              <Index>#x7020</Index>
              <SubIndex>3</SubIndex>
              <BitLen>1</BitLen>
              <Name>Set counter</Name>
              <DataType>BOOL</DataType>
            </Entry>
            <Entry>
              <Index>#x0000</Index>
              <BitLen>12</BitLen>
            </Entry>
            <Entry>
              <Index>#x7020</Index>
              <SubIndex>16</SubIndex>
              <BitLen>1</BitLen>
              <Name>Reserved</Name>
              <DataType>BOOL</DataType>
            </Entry>
            <Entry>
              <Index>#x7020</Index>
              <SubIndex>17</SubIndex>
              <BitLen>32</BitLen>
              <Name>Set counter value</Name>
              <DataType>UINT32</DataType>
            </Entry>
          </RxPdo>
          <RxPdo Sm="2" Fixed="1" Mandatory="1">
            <Index>#x160d</Index>
            <Name>ENC RxPDO-Map Control Ch.2</Name>
            <Entry>
              <Index>#x0000</Index>
              <BitLen>2</BitLen>
            </Entry>
            <Entry>
              <Index>#x7030</Index>
              <SubIndex>3</SubIndex>
              <BitLen>1</BitLen>
              <Name>Set counter</Name>
              <DataType>BOOL</DataType>
            </Entry>
            <Entry>
              <Index>#x0000</Index>
              <BitLen>12</BitLen>
            </Entry>
            <Entry>
              <Index>#x7030</Index>
              <SubIndex>16</SubIndex>
              <BitLen>1</BitLen>
              <Name>Reserved</Name>
              <DataType>BOOL</DataType>
            </Entry>
            <Entry>
              <Index>#x7030</Index>
              <SubIndex>17</SubIndex>
              <BitLen>32</BitLen>
              <Name>Set counter value</Name>
              <DataType>UINT32</DataType>
            </Entry>
          </RxPdo>
          <TxPdo Sm="3" Fixed="1" Mandatory="1">
            <Index>#x1a00</Index>
            <Name>PTO TxPDO-Map Status Ch.1</Name>
            <Entry>
              <Index>#x6000</Index>
              <SubIndex>1</SubIndex>
              <BitLen>1</BitLen>
              <Name>Sel. Ack/End counter</Name>
              <DataType>BOOL</DataType>
            </Entry>
            <Entry>
              <Index>#x6000</Index>
              <SubIndex>2</SubIndex>
              <BitLen>1</BitLen>
              <Name>Ramp active</Name>
              <DataType>BOOL</DataType>
            </Entry>
            <Entry>
              <Index>#x0000</Index>
              <BitLen>4</BitLen>
            </Entry>
            <Entry>
              <Index>#x6000</Index>
              <SubIndex>7</SubIndex>
              <BitLen>1</BitLen>
              <Name>Error</Name>
              <DataType>BOOL</DataType>
            </Entry>
            <Entry>
              <Index>#x0000</Index>
              <BitLen>6</BitLen>
            </Entry>
            <Entry>
              <Index>#x6000</Index>
              <SubIndex>14</SubIndex>
              <BitLen>1</BitLen>
              <Name>Sync error</Name>
              <DataType>BOOL</DataType>
            </Entry>
            <Entry>
              <Index>#x0000</Index>
              <BitLen>1</BitLen>
            </Entry>
            <Entry>
              <Index>#x6000</Index>
              <SubIndex>16</SubIndex>
              <BitLen>1</BitLen>
              <Name>TxPDO Toggle</Name>
              <DataType>BOOL</DataType>
            </Entry>
          </TxPdo>
          <TxPdo Sm="3" Fixed="1" Mandatory="1">
            <Index>#x1a01</Index>
            <Name>PTO TxPDO-Map Status Ch.2</Name>
            <Entry>
              <Index>#x6010</Index>
              <SubIndex>1</SubIndex>
              <BitLen>1</BitLen>
              <Name>Sel. Ack/End counter</Name>
              <DataType>BOOL</DataType>
            </Entry>
            <Entry>
              <Index>#x6010</Index>
              <SubIndex>2</SubIndex>
              <BitLen>1</BitLen>
              <Name>Ramp active</Name>
              <DataType>BOOL</DataType>
            </Entry>
            <Entry>
              <Index>#x0000</Index>
              <BitLen>4</BitLen>
            </Entry>
            <Entry>
              <Index>#x6010</Index>
              <SubIndex>7</SubIndex>
              <BitLen>1</BitLen>
              <Name>Error</Name>
              <DataType>BOOL</DataType>
            </Entry>
            <Entry>
              <Index>#x0000</Index>
              <BitLen>6</BitLen>
            </Entry>
            <Entry>
              <Index>#x6010</Index>
              <SubIndex>14</SubIndex>
              <BitLen>1</BitLen>
              <Name>Sync error</Name>
              <DataType>BOOL</DataType>
            </Entry>
            <Entry>
              <Index>#x0000</Index>
              <BitLen>1</BitLen>
            </Entry>
            <Entry>
              <Index>#x6010</Index>
              <SubIndex>16</SubIndex>
              <BitLen>1</BitLen>
              <Name>TxPDO Toggle</Name>
              <DataType>BOOL</DataType>
            </Entry>
          </TxPdo>
          <TxPdo Sm="3" Fixed="1" Mandatory="1">
            <Index>#x1a03</Index>
            <Name>ENC TxPDO-Map Status Ch.1</Name>
            <Entry>
              <Index>#x0000</Index>
              <BitLen>2</BitLen>
            </Entry>
            <Entry>
              <Index>#x6020</Index>
              <SubIndex>3</SubIndex>
              <BitLen>1</BitLen>
              <Name>Set counter done</Name>
              <DataType>BOOL</DataType>
            </Entry>
            <Entry>
              <Index>#x6020</Index>
              <SubIndex>4</SubIndex>
              <BitLen>1</BitLen>
              <Name>Counter underflow</Name>
              <DataType>BOOL</DataType>
            </Entry>
            <Entry>
              <Index>#x6020</Index>
              <SubIndex>5</SubIndex>
              <BitLen>1</BitLen>
              <Name>Counter overflow</Name>
              <DataType>BOOL</DataType>
            </Entry>
            <Entry>
              <Index>#x0000</Index>
              <BitLen>8</BitLen>
            </Entry>
            <Entry>
              <Index>#x6020</Index>
              <SubIndex>14</SubIndex>
              <BitLen>1</BitLen>
              <Name>Sync error</Name>
              <DataType>BOOL</DataType>
            </Entry>
            <Entry>
              <Index>#x6020</Index>
              <SubIndex>15</SubIndex>
              <BitLen>1</BitLen>
              <Name>TxPDO State</Name>
              <DataType>BOOL</DataType>
            </Entry>
            <Entry>
              <Index>#x6020</Index>
              <SubIndex>16</SubIndex>
              <BitLen>1</BitLen>
              <Name>TxPDO Toggle</Name>
              <DataType>BOOL</DataType>
            </Entry>
            <Entry>
              <Index>#x6020</Index>
              <SubIndex>17</SubIndex>
              <BitLen>32</BitLen>
              <Name>Counter value</Name>
              <DataType>UINT32</DataType>
            </Entry>
          </TxPdo>
          <TxPdo Sm="3" Fixed="1" Mandatory="1">
            <Index>#x1a05</Index>
            <Name>ENC TxPDO-Map Status Ch.2</Name>
            <Entry>
              <Index>#x0000</Index>
              <BitLen>2</BitLen>
            </Entry>
            <Entry>
              <Index>#x6030</Index>
              <SubIndex>3</SubIndex>
              <BitLen>1</BitLen>
              <Name>Set counter done</Name>
              <DataType>BOOL</DataType>
            </Entry>
            <Entry>
              <Index>#x6030</Index>
              <SubIndex>4</SubIndex>
              <BitLen>1</BitLen>
              <Name>Counter underflow</Name>
              <DataType>BOOL</DataType>
            </Entry>
            <Entry>
              <Index>#x6030</Index>
              <SubIndex>5</SubIndex>
              <BitLen>1</BitLen>
              <Name>Counter overflow</Name>
              <DataType>BOOL</DataType>
            </Entry>
            <Entry>
              <Index>#x0000</Index>
              <BitLen>8</BitLen>
            </Entry>
            <Entry>
              <Index>#x6030</Index>
              <SubIndex>14</SubIndex>
              <BitLen>1</BitLen>
              <Name>Sync error</Name>
              <DataType>BOOL</DataType>
            </Entry>
            <Entry>
              <Index>#x6030</Index>
              <SubIndex>15</SubIndex>
              <BitLen>1</BitLen>
              <Name>TxPDO State</Name>
              <DataType>BOOL</DataType>
            </Entry>
            <Entry>
              <Index>#x6030</Index>
              <SubIndex>16</SubIndex>
              <BitLen>1</BitLen>
              <Name>TxPDO Toggle</Name>
              <DataType>BOOL</DataType>
            </Entry>
            <Entry>
              <Index>#x6030</Index>
              <SubIndex>17</SubIndex>
              <BitLen>32</BitLen>
              <Name>Counter value</Name>
              <DataType>UINT32</DataType>
            </Entry>
          </TxPdo>
        </Device>
      </Devices>
    </Descriptions>
  </EtherCATInfo>
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