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Mark Kraus
Mark Kraus

28 Jan 2026 15:51

Replied by Mark Kraus on topic Problem with Mesa 7i96s and spindle control

Problem with Mesa 7i96s and spindle control

Category: General LinuxCNC Questions

Still have no clue what could be wrong. The at speed light comes on but nothing in halshow. Could someone please guide me?

spumco
spumco

28 Jan 2026 15:41

Replied by spumco on topic Which Mesa Card Should I Buy?

Which Mesa Card Should I Buy?

Category: Driver Boards

masawee wrote:
im newbie, and think need update my cnc machine whit mesa card, but true not understand and know what card need order, and totally not understand how flash firmware to card, if need flash.

If you still have questions after reading the first nine posts of this thread, please start a new thread to address your specific needs.

Aciera

28 Jan 2026 15:36 - 28 Jan 2026 15:38

Replied by Aciera on topic LinuxCNC S-Curve Accelerations

LinuxCNC S-Curve Accelerations

Category: General LinuxCNC Questions

I've been trying to test this on real hardware using Mesa but I cannot seem to get the new planner to work at all.

- [TRAJ] section has 'MAX_LINEAR_JERK = 1000.0'
- both [JOINT_0] and [JOINT_1] have 'MAX_JERK = 1000.0'
- ini.planner_type = 1

Yet running this code in G61.1 mode

G21
F5000
G0 x0 y0
g1 x20
y20
x0
y0
m2

I get this:

here is my ini file:

Warning: Spoiler!

# This file was updated with the Mesa Configuration Tool on Nov 25 2025 13:43:50
# Changes to most things are ok and will be read by the Configuration Tool

[MESA]
VERSION = 2.1.8
BOARD = 7i95
BOARD_NAME = 7i95t

[EMC]
VERSION = 1.1
MACHINE = test_setup
DEBUG = 0x00000000

[HM2]
DRIVER = hm2_eth
ADDRESS = 192.168.1.121

[DISPLAY]
DISPLAY = axis
PROGRAM_PREFIX = ./nc_files
POSITION_OFFSET = RELATIVE
POSITION_FEEDBACK = ACTUAL
MAX_FEED_OVERRIDE = 1.2
MIN_LINEAR_VELOCITY = 0.0
DEFAULT_LINEAR_VELOCITY = 150.0
MAX_LINEAR_VELOCITY = 300.0
CYCLE_TIME = 0.1
INTRO_GRAPHIC = emc2.gif
INTRO_TIME = 0
OPEN_FILE = ./square.ngc
EDITOR = gedit
DEFAULT_ANGULAR_VELOCITY = 18000
MAX_ANGULAR_VELOCITY = 36000
MIN_ANGULAR_VELOCITY = 1

[KINS]
KINEMATICS = trivkins
JOINTS = 2

[EMCIO]
CYCLE_TIME = 0.100
TOOL_TABLE = tool.tbl

[RS274NGC]
PARAMETER_FILE = parameters.var

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

[TASK]
TASK = milltask
CYCLE_TIME = 0.010

[TRAJ]
COORDINATES = XY
LINEAR_UNITS = mm
ANGULAR_UNITS = degree
MAX_LINEAR_VELOCITY = 200.0
PLANNER_TYPE = 1
MAX_LINEAR_JERK = 1000.0
DEFAULT_LINEAR_JERK = 500.0

[HAL]
HALFILE = main.hal

[AXIS_X]
MIN_LIMIT = 0
MAX_LIMIT = 300
MAX_VELOCITY = 300
MAX_ACCELERATION = 800

[JOINT_0]
CARD = 0
MIN_LIMIT = 0
MAX_LIMIT = 300
MAX_VELOCITY = 300
MAX_ACCELERATION = 800
MAX_JERK = 1000.0

TYPE = LINEAR
SCALE = 252.65
STEPGEN_MAX_VEL = 360.00
STEPGEN_MAX_ACC = 960.00
DIRSETUP = 10000
DIRHOLD = 10000
STEPLEN = 4000
STEPSPACE = 4000
ENCODER_SCALE = 200
FERROR = 1.5
MIN_FERROR = 0.25
DEADBAND = 0.01
P = 1000
I = 0
D = 0
FF0 = 0
FF1 = 1
FF2 = 0
BIAS = 0
MAX_OUTPUT = 0
MAX_ERROR = 0.0127
HOME_OFFSET = -0.75
HOME = 0
HOME_SEARCH_VEL = -5
HOME_LATCH_VEL = -5
HOME_FINAL_VEL = 2.5
HOME_IGNORE_LIMITS = YES
HOME_SEQUENCE = 0

[AXIS_Y]
MIN_LIMIT = 0
MAX_LIMIT = 300
MAX_VELOCITY = 300
MAX_ACCELERATION = 800

[JOINT_1]
CARD = 0
MIN_LIMIT = 0
MAX_LIMIT = 300
MAX_VELOCITY = 300
MAX_ACCELERATION = 800
MAX_JERK = 1000.0
TYPE = LINEAR
SCALE = 252.65
STEPGEN_MAX_VEL = 360.00
STEPGEN_MAX_ACC = 960.00
DIRSETUP = 10000
DIRHOLD = 10000
STEPLEN = 4000
STEPSPACE = 4000
ENCODER_SCALE = 200
FERROR = 1.5
MIN_FERROR = 0.25
DEADBAND = 0.01
P = 1000
I = 0
D = 0
FF0 = 0
FF1 = 1
FF2 = 0
BIAS = 0
MAX_OUTPUT = 0
MAX_ERROR = 0.0127
HOME_OFFSET = 0.25
HOME = 0
HOME_SEARCH_VEL = -5
HOME_LATCH_VEL = -5
HOME_FINAL_VEL = 2.5
HOME_IGNORE_LIMITS = YES
HOME_SEQUENCE = 0

What am I missing?

PCW

28 Jan 2026 15:28

Replied by PCW on topic 7i92M + 7i76 add PWM+PktUART

7i92M + 7i76 add PWM+PktUART

Category: Driver Boards

Unfortunately the 7I76U uses a complete different processor
with different firmware memory layout so I expect the only way
to recover is with a (newer) PIC programmer.

DemonClaW
DemonClaW

28 Jan 2026 14:13

Replied by DemonClaW on topic Generating a own Popup

Generating a own Popup

Category: Qtvcp

The look itself took me about 2 days. Functions and Configuration 2-3days again.

SOLD
SOLD

28 Jan 2026 12:47 - 28 Jan 2026 12:49

Replied by SOLD on topic 7i92M + 7i76 add PWM+PktUART

7i92M + 7i76 add PWM+PktUART

Category: Driver Boards

Hello PCW,
I would like to ask for guidance regarding a firmware issue with a Mesa 7i92 + 7i76 system, and clarify the exact sequence of events.
LinuxCNC reported the following warning:
hm2/hm2_7i92.0: Warning: sserial remote device 7i76 channel 0 has old firmware that should be updated
Based on this warning, I attempted to update the Smart-Serial firmware.
At that time, I assumed that 7I76U.BIN could be used as a compatible replacement and used it to update the 7i76. This was a deliberate decision made in response to the hm2 warning, not an accidental flash.
After this, the system no longer behaves as expected.
Current status:
7i92 Ethernet communication works normally.
The Smart-Serial port responds and reports SSLBP version, channel count, and baud rate.
I reflashed with 7i92_7i76x1D.bit, followed by a full power cycle.
The W3 jumper on the 7i76 has been changed as recommended.
Attempting to rewrite 7I76R14.BIN via mesaflash produces no errors, however there is no explicit indication that a firmware rewrite actually occurred, and the observable behavior of the board does not change.

Is there any supported recovery method for a 7i76 in this condition, assuming access to a working Smart-Serial master (7i92)?

cnc@cnc:~/Desktop/UP FW7i77/sserial/utils/linuxcnc$ cd "/home/cnc/Desktop/UP FW7i77/sserial/utils/linuxcnc"
halrun -f update7i76u-eth.hal
Note: Using POSIX realtime
hm2: loading Mesa HostMot2 driver version 0.15
hm2_eth: loading Mesa AnyIO HostMot2 ethernet driver version 0.2
hm2_eth: 10.10.10.10: INFO: Hardware address (MAC): 00:60:1b:13:05:8a
hm2_eth: discovered 7I92
hm2/hm2_7i92.0: Low Level init 0.15
hm2/hm2_7i92.0: Smart Serial Firmware Version 43
hm2/hm2_7i92.0: num_channels = 4
hm2/hm2_7i92.0: Chan 0 baudrate = 2500000
hm2/hm2_7i92.0: Chan 0. Baudrate set to 115200
hm2/hm2_7i92.0: Chan 1 baudrate = 2500000
hm2/hm2_7i92.0: Chan 1. Baudrate set to 115200
hm2/hm2_7i92.0: Chan 2 baudrate = 2500000
hm2/hm2_7i92.0: Chan 2. Baudrate set to 115200
hm2/hm2_7i92.0: Chan 3 baudrate = 2500000
hm2/hm2_7i92.0: Chan 3. Baudrate set to 115200
Setup mode
found a 7I76
Setup mode
Looking for 8i20s, crc_addr = 192
found a     
Setup mode
Looking for 8i20s, crc_addr = 242
found a     
Setup mode
Looking for 8i20s, crc_addr = 292
found a     
hm2/hm2_7i92.0: 34 I/O Pins used:
hm2/hm2_7i92.0:     IO Pin 000 (P2-01): StepGen #0, pin Direction (Output)
hm2/hm2_7i92.0:     IO Pin 001 (P2-14): StepGen #0, pin Step (Output)
hm2/hm2_7i92.0:     IO Pin 002 (P2-02): StepGen #1, pin Direction (Output)
hm2/hm2_7i92.0:     IO Pin 003 (P2-15): StepGen #1, pin Step (Output)
hm2/hm2_7i92.0:     IO Pin 004 (P2-03): StepGen #2, pin Direction (Output)
hm2/hm2_7i92.0:     IO Pin 005 (P2-16): StepGen #2, pin Step (Output)
hm2/hm2_7i92.0:     IO Pin 006 (P2-04): StepGen #3, pin Direction (Output)
hm2/hm2_7i92.0:     IO Pin 007 (P2-17): StepGen #3, pin Step (Output)
hm2/hm2_7i92.0:     IO Pin 008 (P2-05): StepGen #4, pin Direction (Output)
hm2/hm2_7i92.0:     IO Pin 009 (P2-06): StepGen #4, pin Step (Output)
hm2/hm2_7i92.0:     IO Pin 010 (P2-07): Smart Serial Interface #0, pin tx0 (Output)
hm2/hm2_7i92.0:     IO Pin 011 (P2-08): Smart Serial Interface #0, pin rx0 (Input)
hm2/hm2_7i92.0:     IO Pin 012 (P2-09): Smart Serial Interface #0, pin tx1 (Output)
hm2/hm2_7i92.0:     IO Pin 013 (P2-10): Smart Serial Interface #0, pin rx1 (Input)
hm2/hm2_7i92.0:     IO Pin 014 (P2-11): Encoder #0, pin Index (Input)
hm2/hm2_7i92.0:     IO Pin 015 (P2-12): Encoder #0, pin B (Input)
hm2/hm2_7i92.0:     IO Pin 016 (P2-13): Encoder #0, pin A (Input)
hm2/hm2_7i92.0:     IO Pin 017 (P1-01): StepGen #5, pin Direction (Output)
hm2/hm2_7i92.0:     IO Pin 018 (P1-14): StepGen #5, pin Step (Output)
hm2/hm2_7i92.0:     IO Pin 019 (P1-02): StepGen #6, pin Direction (Output)
hm2/hm2_7i92.0:     IO Pin 020 (P1-15): StepGen #6, pin Step (Output)
hm2/hm2_7i92.0:     IO Pin 021 (P1-03): StepGen #7, pin Direction (Output)
hm2/hm2_7i92.0:     IO Pin 022 (P1-16): StepGen #7, pin Step (Output)
hm2/hm2_7i92.0:     IO Pin 023 (P1-04): PWMGen #0, pin Out1 (Dir or Down) (Output)
hm2/hm2_7i92.0:     IO Pin 024 (P1-17): PWMGen #0, pin Out0 (PWM or Up) (Output)
hm2/hm2_7i92.0:     IO Pin 025 (P1-05): PWMGen #1, pin Out1 (Dir or Down) (Output)
hm2/hm2_7i92.0:     IO Pin 026 (P1-06): PWMGen #1, pin Out0 (PWM or Up) (Output)
hm2/hm2_7i92.0:     IO Pin 027 (P1-07): Smart Serial Interface #0, pin tx2 (Output)
hm2/hm2_7i92.0:     IO Pin 028 (P1-08): Smart Serial Interface #0, pin rx2 (Input)
hm2/hm2_7i92.0:     IO Pin 029 (P1-09): Smart Serial Interface #0, pin tx3 (Output)
hm2/hm2_7i92.0:     IO Pin 030 (P1-10): Smart Serial Interface #0, pin rx3 (Input)
hm2/hm2_7i92.0:     IO Pin 031 (P1-11): Encoder #1, pin Index (Input)
hm2/hm2_7i92.0:     IO Pin 032 (P1-12): Encoder #1, pin B (Input)
hm2/hm2_7i92.0:     IO Pin 033 (P1-13): Encoder #1, pin A (Input)
hm2/hm2_7i92.0: registered
flash command
Firmware size 0x953c
setup start: data_reg readback = 0
hm2/hm2_7i92.0: Write Size = 100, Erase Size = 800
hm2/hm2_7i92.0: Skipped Block 1
hm2/hm2_7i92.0: Skipped Block 2
hm2/hm2_7i92.0: Skipped Block 3
hm2/hm2_7i92.0: Skipped Block 4
hm2/hm2_7i92.0: Skipped Block 5
hm2/hm2_7i92.0: Skipped Block 6
hm2/hm2_7i92.0: Skipped Block 7
hm2/hm2_7i92.0: Erased block 8
hm2/hm2_7i92.0: Wrote block 8
hm2/hm2_7i92.0: Skipped Block 9
hm2/hm2_7i92.0: Erased block 10
hm2/hm2_7i92.0: Wrote block 10
hm2/hm2_7i92.0: Erased block 11
hm2/hm2_7i92.0: Wrote block 11
hm2/hm2_7i92.0: Erased block 12
hm2/hm2_7i92.0: Wrote block 12
hm2/hm2_7i92.0: Erased block 13
hm2/hm2_7i92.0: Wrote block 13
hm2/hm2_7i92.0: Erased block 14
hm2/hm2_7i92.0: Wrote block 14
hm2/hm2_7i92.0: Erased block 15
hm2/hm2_7i92.0: Wrote block 15
Error flag set after CMD Clear 00000001
hm2/hm2_7i92.0: Error in sslbp_write_byte, trying to abort
Error flag set after CMD Clear 00000001
hm2/hm2_7i92.0: Error in sslbp_read_cookie, trying to abort
hm2/hm2_7i92.0: Synch failed during block erase: aborting
Error flag set after CMD Clear 00000001
Firmware Flash Failed
setsserial: rtapi_app_main: Operation not permitted (-1)
setsserial: not loaded
<commandline>:0: exit value: 255
<commandline>:0: rmmod failed, returned -1
hm2_eth: in hm2_eth_reset
hm2_eth: HostMot2 ethernet driver unloaded
hm2: unloading
<commandline>:0: unloadrt failed
Note: Using POSIX realtime
cnc@cnc:~/Desktop/UP FW7i77/sserial/utils/linuxcnc$

unknown
unknown

28 Jan 2026 12:46

Replied by unknown on topic Mini PC for LinuxCNC/CPU Realtime Performance

Mini PC for LinuxCNC/CPU Realtime Performance

Category: Computers and Hardware

With Mesa cards latency isn't such as issue as with using the Parallel port. I think the rule of thumb is under 100000ns is good for a mesa card, for about 99% of uses, cos I know someone will have an example that breaks the rule of thumb. Or my numbers may be wrong.
Unlike one forum I can think of we dont have p*$##&€ contests.

If it works and does the job reliably that's the goal.

tommylight

28 Jan 2026 12:33

Replied by tommylight on topic Mini PC for LinuxCNC/CPU Realtime Performance

Mini PC for LinuxCNC/CPU Realtime Performance

Category: Computers and Hardware

@NVE,
can you do the latency test with no base period and with added --show at the end as there are excursions on both periods on your screenshot, and base period is not used for Mesa boards.
Thank you.

tommylight

28 Jan 2026 12:31

Replied by tommylight on topic Which Mesa Card Should I Buy?

Which Mesa Card Should I Buy?

Category: Driver Boards

Mesa 7i96S is the best choice for Plasma.
I would really not advise using 7i92 for plasma unless you are very good at wiring and grounding and shielding.

masawee
masawee

28 Jan 2026 12:23

Replied by masawee on topic Which Mesa Card Should I Buy?

Which Mesa Card Should I Buy?

Category: Driver Boards

im newbie, and think need update my cnc machine whit mesa card, but true not understand and know what card need order, and totally not understand how flash firmware to card, if need flash. my old cnc machine has now only cheap paraller port BOB but problem is no have input pins, i want add my machine MPG pendant help lot whit work. what card i need order i not undrstand.
my cnc have 4 stepper motor dual Y axis, X,and Z,
input have now only XYZ home inductive sensor,
probe.

need add MPG hand wheel and switch,
one more stepper motor whit limit SW (4th axle to lathe on table addon)
cool flood output relay,
air cool relay,
maybe future some addons.
What card need buy ???
and were have download all speak lot this different bit files.

second project is buy cheap 7i92 mesa clone board aliexpress and need make plasma table.
how this add or flash bit file and were can download good bit file,
can 92 board use palsma X,Y,Z axis, THC what need doing ????
this need maybe 3 motors 6pin out,
THC i not know what need,
home SW 3 input,
output to plasma ?
what more need be?

giaviv
giaviv

28 Jan 2026 11:57

Replied by giaviv on topic Mini PC for LinuxCNC/CPU Realtime Performance

Mini PC for LinuxCNC/CPU Realtime Performance

Category: Computers and Hardware

this is great, thanks for the info! what do these results indicate regarding how good this setup is for the linuxcnc application? im new to linuxcnc so the raw data doesn't mean much to me...

grandixximo

28 Jan 2026 11:45

Replied by grandixximo on topic LinuxCNC S-Curve Accelerations

LinuxCNC S-Curve Accelerations

Category: General LinuxCNC Questions

@endian I discussed this with YangYang who attends the EtherCAT consortium meetings. AitalMAC is part of the consortium and we design I/O for EtherCAT, so we're not guessing here.
The standard already solves this problem. You don't need pos(t+1).
The 1 cycle delay is real, but it's identical for all axes. With Distributed Clocks everything executes on the same SYNC edge, synchronized to ~100ns. Every axis is "late" by the same amount, so the path shape is correct. Calculate it last week, execute it this week, the part is the same.
The CiA 402 standard provides feedforward objects exactly for this: 0x60B1 (velocity offset) and 0x60B2 (torque offset). The master can send position plus velocity feedforward so the drive can anticipate acceleration. This is the standard's solution, it just needs to be mapped in lcec.
Also, good drives interpolate internally. The servo loop runs faster than the bus cycle (Maxon runs 0.4ms internal vs 1ms bus). The drive doesn't jump between positions, it interpolates. That's what 0x60C2 configures.
If you're seeing ferror correlate with velocity in halscope, that's likely a display artifact. The ferror compares "commanded from 1 cycle ago" with "actual now", so it shows an offset proportional to velocity. It's not a real machining error.
What does your actual part surface look like? Any real deviation you can measure?

unknown
unknown

28 Jan 2026 11:40

Replied by unknown on topic The fear of being homeless is over, found new digs.

The fear of being homeless is over, found new digs.

Category: Off Topic and Test Posts

Yeah I know, I dunno what's happened to Australia, it's shameful and I'm embarrassed.

my1987toyota

28 Jan 2026 10:26 - 28 Jan 2026 10:34

Replied by my1987toyota on topic The fear of being homeless is over, found new digs.

The fear of being homeless is over, found new digs.

Category: Off Topic and Test Posts

Hang in there unknown it's not just the USA loosing it's sanity. The world is becoming Idiocracy incarnate.

meister
meister

28 Jan 2026 09:44

Replied by meister on topic Solving the USB Latency Dogma for HMI/MPG: Technical Feedback Request

Solving the USB Latency Dogma for HMI/MPG: Technical Feedback Request

Category: Driver Boards

1. I am put off by the fact that the firmware is not open source.
2. The HAL driver seems a bit over-engineered to me, a user component is perfectly adequate for MPG/HMI. it does not need to be a real-time component !
3. Another problem with USB is that it is not really error tolerant. After a minor error, the entire connection usually has to be reinitialised, which causes long timeouts.
4. Serial/USB is also not suitable for real-time tasks in the servo thread, i.e. not only as described for direct step/dir tasks in the base thread.
This is not a myth but has already been tested by many.

My assessment is that a serial driver as a real-time component offers no advantage whatsoever and only slows down the real-time threads.

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