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Hi I did some corrections for you, definitely will work now

###########################################################
#  cia402.hal – Corrected and functional version
# 

---

#  • Slave-0..2 = X,Y,Z in CSP (Cyclic Synchronous Position)
#  • Slave-3    = Spindle in CSV (Cyclic Synchronous Velocity)
#  • LinuxCNC 2.9+ · EtherLab lcec · servo-thread 1 ms
###########################################################

######################## 1. Real-time & Userspace Components ###
loadrt [KINS]KINEMATICS
loadrt [EMCMOT]EMCMOT    servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS

loadusr -W lcec_conf ethercat-conf.xml
loadrt  lcec
loadrt  cia402 count=4               # 0,1,2 = axes | 3 = spindle

# Scaling for spindle speed command & feedback
loadrt scale            names=spin_cmd_scaler,spin_fb_scaler
loadrt conv_s32_float   names=spin_fb_converter

######################## 2. Add Functions to Servo Thread ###
addf lcec.read-all             servo-thread
addf cia402.0.read-all         servo-thread
addf cia402.1.read-all         servo-thread
addf cia402.2.read-all         servo-thread
addf cia402.3.read-all         servo-thread

# Process spindle feedback
addf spin_fb_converter         servo-thread
addf spin_fb_scaler            servo-thread

addf motion-command-handler    servo-thread
addf motion-controller         servo-thread

# Prepare spindle command
addf spin_cmd_scaler           servo-thread

# Write data back to drives
addf cia402.0.write-all        servo-thread
addf cia402.1.write-all        servo-thread
addf cia402.2.write-all        servo-thread
addf cia402.3.write-all        servo-thread
addf lcec.write-all            servo-thread

######################## 3. Global Settings & Parameters ###
# --- X/Y/Z axes in CSP mode ---
setp cia402.0.csp-mode 1
setp cia402.1.csp-mode 1
setp cia402.2.csp-mode 1

setp cia402.0.pos-scale 26214  # match your encoder counts
setp cia402.1.pos-scale 26214
setp cia402.2.pos-scale 26214

# --- Spindle in CSV mode ---
setp cia402.3.csp-mode   0
setp cia402.3.velo-scale 2048

# Gain for 0.1 RPM units ↔ RPM
setp spin_cmd_scaler.gain 10.0   # 1 RPM → 10 (0.1 RPM units)
setp spin_fb_scaler.gain  0.1    # 10 (0.1 RPM units) → 1 RPM

######################## 4. EtherCAT PDO Mapping ########

## X-Axis (slave-0)
net x-stw    lcec.0.0.cia-statusword      => cia402.0.statusword
net x-opdisp lcec.0.0.opmode-display     => cia402.0.opmode-display
net x-actpos lcec.0.0.actual-position    => cia402.0.drv-actual-position
net x-ctlw   cia402.0.controlword        => lcec.0.0.cia-controlword
net x-opcmd  cia402.0.opmode              => lcec.0.0.opmode
net x-tgtpos cia402.0.drv-target-position => lcec.0.0.target-position

## Y-Axis (slave-1)
net y-stw    lcec.0.1.cia-statusword      => cia402.1.statusword
net y-opdisp lcec.0.1.opmode-display     => cia402.1.opmode-display
net y-actpos lcec.0.1.actual-position    => cia402.1.drv-actual-position
net y-ctlw   cia402.1.controlword        => lcec.0.1.cia-controlword
net y-opcmd  cia402.1.opmode              => lcec.0.1.opmode
net y-tgtpos cia402.1.drv-target-position => lcec.0.1.target-position

## Z-Axis (slave-2)
net z-stw    lcec.0.2.cia-statusword      => cia402.2.statusword
net z-opdisp lcec.0.2.opmode-display     => cia402.2.opmode-display
net z-actpos lcec.0.2.actual-position    => cia402.2.drv-actual-position
net z-ctlw   cia402.2.controlword        => lcec.0.2.cia-controlword
net z-opcmd  cia402.2.opmode              => lcec.0.2.opmode
net z-tgtpos cia402.2.drv-target-position => lcec.0.2.target-position

## Spindle (slave-3)
net s-stw    lcec.0.3.cia-statusword      => cia402.3.statusword
net s-opdisp lcec.0.3.opmode-display     => cia402.3.opmode-display
net s-ctlw   cia402.3.controlword         => lcec.0.3.cia-controlword
net s-opcmd  cia402.3.opmode              => lcec.0.3.opmode

# — Velocity feedback: Drive → HAL → LinuxCNC
net s-vel-raw   lcec.0.3.actual-velocity    => spin_fb_converter.in \
                                             => cia402.3.drv-actual-velocity
net s-vel-float spin_fb_converter.out      => spin_fb_scaler.in

Hi all,For context: I'm currently building the control system for a Samurai 120 CNC machine (please see the attached photo).Machine electronic hardware configuration:

• 3 × Leadshine EL8 EtherCAT servo drives
• 2 × 400W Leadshine motors with optical encoders and battery backup
• 1 × 400W Leadshine motor with motor brake, also with optical encoder and battery backup
• 1 × Beckhoff EK1100 EtherCAT coupler
• 1 × Raspberry Pi 5 for control

Current progress:

1. Successfully installed LinuxCNC on the Raspberry Pi 5
2. Updated to the latest version
3. Installed CIA402 using Rodw’s guide
4. Configured the Pi as an EtherCAT master

Where I need help: I'm struggling to understand how to configure LinuxCNC to communicate with the servo drives in a basic setup.From what I understand, LinuxCNC relies on three main configuration files:

1. .ini

   – Loads the user interface and references the

   .hal

   file

2. .hal

   – The Hardware Abstraction Layer, which defines machine characteristics and connects components

3. .xml

   – Extracts and defines information from the servo drives

I found Marco Reps’ GitHub repository, which uses a similar configuration. I downloaded all the files and attempted to launch LinuxCNC using the "el8" configuration, but it failed to load.
 Could someone please provide a step-by-step  on how to configure Linux CNC for my current setup? Any help would be greatly appreciated! 

I intend on eventually using the probe basic user interface as I an touchscreen this would work well with. https://samuraimachinetools.com/cdn/shop/files/IMG_9964.jpg?v=1722652171&width=1445
 

It is a rack and pinion plasma cutter.
I am just trying to tune the x and y servos.
I have no intention of running it at 52 ips and know it can't possibly go that fast.

I can set rpm at 10v on the servo drive, it's set to 3000 currently.

Hello all,

i really like the idea of using a Streadeck for CNC-Machines. i think it opens endless possibilities and is quite handy
Thank you for your great work, I will try it as soon as possible!

I plan to use it on my cnc lathe.
Hardware of the Handwheel/Keyboard is ready now

forum.linuxcnc.org/26-turning/55587-wema...rcat?start=10#331177



greetings 
Tom

Hardware of the Handwheel/Keyboard is ready now

Si la resistencia es de 2,4 Mohm la medi para asegurar pero si le doy la vuelta a los cables del multimetro me da -145V en negativos 

todos esos valores son cortando el material 

Hi Tim,

sorry for that, is now fixed in 'main' branch

52 IPS sounds really fast, what kind of machine is this?

If the external resistor value is correct (2.4M) that's not
possible. It may be that there is enough RFI/EMI that
the voltmeter is malfunctioning.

Not sure why you are getting dropped packets, might be hardware related
though the NUC didn't drop packets. 

One line of thought, not the only one for sure, is to run the servo without a linuxcnc control loop. The drive tuning is what determines the precision.

There is unfortunately a delay in the linuxcnc Ethercat loop of one or two cycles, I think two.
So the actual position is old already. At high travel speeds the following error can be two cycles times multiplied by the speed off.
Without it being wrong in any way, just by delays.

New Version on the way - now the chance to work in your comments...

github.com/LinuxCNC/linuxcnc/pull/3494

Ahora otra pregunta yo mido con un multimetro la salida del plasma la que va al thc lo mido en DC y me da mas de 600V que es en maximo de mi multimetro asi que no se cuanto exactamente, tengo una resistencia de 2,4 mohm en serie en el “negativo” si mido después de la resistencia me da 104V.

Que tengo que hacer?

No.
to write to a pin you made in qtdragon handler depends on how you made a reference to it.
for instance if you created the pin like this:
self.myPin = QHAL.newpin("MyPin", QHAL.HAL_BIT, QHAL.HAL_OUT)

then you could use:
self.myPin.set(True)

or it you didn't keep a reference to the pin (the 'self.myPin' part)
self.h.myPin.set(True)

To write to a system pin directly (it can't be connected to anything)
QHAL.setp('qtdragon.myPin','1')

or
self.h.hal.set_p("qtdragon.myPin","1")

Topic separated, finally.
@JackRay,
Please refrain from tainting existing topics with unrelated content, start a new topic next time.
Thank you.