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I have an INVT EtherCAT servo that can operate in DC (Distributed Clock) mode or free-run mode. Could anyone explain the differences in performance between these two modes? Specifically, is DC mode more accurate than free-run mode in terms of reducing following error (ferror)?

youre right.
I just looked at gmoccapy_tool_sensor.ini
and it should be like
SUBROUTINE_PATH = macros
the instructions website did not mention anything for subroutine path
Now it works.
Thanks

In ini file is comented:
#SUBROUTINE_PATH = ./
Why?

i have the folder macros with change.ngc and on_abort.ngc

The most important information is:

NGC file not found: ngc=change - 51:REMAP = M6 modalgroup=6 prolog=change_prolog ngc=change epilog=change_epilog

Bei den SINO-Glasmaßstäben ist die gleiche Pinbelegung wie bei den Ditron angegeben, sollte also so passen.
In der Bedienungsanleitung steht "Nullpunkt-Position: eine alle 500 mm" - weißt du, wo die auf deinen Maßstäben liegen?

Hi.I'm trying to put a automatic tool setter in my 3 axis cnc so i follow the instructions from: linuxcnc.org/docs/html/gui/gmoccapy.html...uto-tool-measurement
but it gives me and error when remap is activated.

Error report created by /usr/lib/tcltk/linuxcnc/show_errors.tcl:

Print file information:
RUN_IN_PLACE=no
LINUXCNC_DIR=
LINUXCNC_BIN_DIR=/usr/bin
LINUXCNC_TCL_DIR=/usr/lib/tcltk/linuxcnc
LINUXCNC_SCRIPT_DIR=
LINUXCNC_RTLIB_DIR=/usr/realtime-3.4-9-rtai-686-pae/modules/linuxcnc
LINUXCNC_CONFIG_DIR=
LINUXCNC_LANG_DIR=/usr/lib/tcltk/linuxcnc/msgs
INIVAR=inivar
HALCMD=halcmd
LINUXCNC_EMCSH=/usr/bin/wish8.5
LINUXCNC - 2.8.4
Machine configuration directory is '/home/cnc/linuxcnc/configs/freza-mea'
Machine configuration file is 'freza-mea.ini'
INIFILE=/home/cnc/linuxcnc/configs/freza-mea/freza-mea.ini
VERSION=1.1
PARAMETER_FILE=linuxcnc.var
TASK=milltask
HALUI=
DISPLAY=gmoccapy
COORDINATES=X Y Z
KINEMATICS=trivkins coordinates=XYZ
Starting LinuxCNC...
Starting LinuxCNC server program: linuxcncsvr
Loading Real Time OS, RTAPI, and HAL_LIB modules
Starting LinuxCNC IO program: io
Found file(REL): ./freza-mea.hal
Found file(REL): ./custom.hal
Starting TASK program: milltask
Starting DISPLAY program: gmoccapy
emc/task/emctask.cc 416: interp_error: File not open
File not open
emc/task/emctaskmain.cc 3091: can't initialize interpreter
Shutting down and cleaning up LinuxCNC...
A non blocked signal was caught
Removing HAL_LIB, RTAPI, and Real Time OS modules
Removing NML shared memory segments

Debug file information:
.
NGC file not found: ngc=change - 51:REMAP = M6 modalgroup=6 prolog=change_prolog ngc=change epilog=change_epilog
/usr/bin/gmoccapy:312: GtkWarning: Invalid icon size 48

self.widgets.window1.show()
/usr/bin/linuxcnc: line 896: 9599 Killed $EMCDISPLAY -ini "$INIFILE" $EMCDISPLAYARGS $EXTRA_ARGS
9557
Stopping realtime threads
Unloading hal components

Kernel message information:
[ 7626.194278] I-pipe: head domain RTAI registered.
[ 7626.194283] RTAI[hal]: compiled with gcc version 4.7.2 (Debian 4.7.2-5) .
[ 7626.194308] RTAI[hal]: mounted (IPIPE-NOTHREADS, IMMEDIATE (INTERNAL IRQs DISPATCHED), ISOL_CPUS_MASK: 0).
[ 7626.194311] SYSINFO: CPUs 2, LINUX APIC IRQ 2312, TIM_FREQ 16623640, CLK_FREQ 2926144000, CPU_FREQ 2926144000
[ 7626.194314] RTAI_APIC_TIMER_IPI: RTAI DEFINED 2314, VECTOR 2314; LINUX_APIC_TIMER_IPI: RTAI DEFINED 2312, VECTOR 2312
[ 7626.194316] TIMER NAME: lapic; VARIOUSLY FOUND APIC FREQs: 16623640, 16623640, 16026250
[ 7626.200721] RTAI[malloc]: global heap size = 2097152 bytes, <BSD>.
[ 7626.200747] , <uses LINUX SYSCALLs>, kstacks pool size = 524288 bytes.
[ 7626.200750] RTAI[sched]: hard timer type/freq = APIC/16623640(Hz); default timing: oneshot; linear timed lists.
[ 7626.200753] RTAI[sched]: Linux timer freq = 250 (Hz), TimeBase freq = 2926144000 hz.
[ 7626.200755] RTAI[sched]: timer setup = 999 ns, resched latency = 2943 ns.
[ 7626.204552] RTAI[math]: loaded.
[ 7626.339838] config string '0 out'
[ 7635.304394] RTAPI: ERROR: Unexpected realtime delay on task 1
[ 7635.304396] This Message will only display once per session.
[ 7635.304397] Run the Latency Test and resolve before continuing.
[ 7648.985468] RTAI[math]: unloaded.
[ 7648.986662] SCHED releases registered named ALIEN PEDV$D
[ 7648.991033] RTAI[malloc]: unloaded.
[ 7649.088014] RTAI[sched]: unloaded (forced hard/soft/hard transitions: traps 0, syscalls 0).
[ 7649.089454] I-pipe: head domain RTAI unregistered.
[ 7649.089483] RTAI[hal]: unmounted.

---

Info report created by linuxcnc_info:
The file: /tmp/linuxcnc_info.txt
can be posted to a forum or a web site like:
pastebin.com
in order to provide information about the linuxcnc
system and configuration.

Date: joi 7 august 2025, 22:07:47 +0300
UTC Date: joi 7 august 2025, 19:07:47 +0000
this program: /usr/bin/linuxcnc_info
uptime: 22:07:47 up 2:07, 0 users, load average: 0,06, 0,10, 0,13
lsb_release -sa: Debian Debian GNU/Linux 7.11 (wheezy) 7.11 wheezy
which linuxcnc: /usr/bin/linuxcnc
pwd: /home/cnc/linuxcnc/configs/freza-mea
USER: cnc
LOGNAME: cnc
HOME: /home/cnc
EDITOR:
VISUAL:
LANGUAGE:
TERM: dumb
COLORTERM:
DISPLAY: :0.0
DESKTOP: lightdm-xsession
display size: 1280x1024 pixels (338x270 millimeters)
PATH: /usr/bin:/home/cnc/linuxcnc/configs/freza-mea/bin:/usr/bin:/usr/local/bin:/usr/bin:/bin:/usr/local/games:/usr/games

uname items:
nodename -n: cnc
kernel-name -s: Linux
kernel-vers -v: #1 SMP PREEMPT Debian 3.4.55-4linuxcnc
machine -m: i686
processor -p: unknown
platform -i: unknown
oper system -o: GNU/Linux

/proc items:
cmdline: BOOT_IMAGE=/boot/vmlinuz-3.4-9-rtai-686-pae root=UUID=ce037f87-68af-43a0-8860-fcd14ee0c100 ro initrd=/install/initrd.gz lapic quiet rootdelay=5
model name: Intel(R) Core(TM)2 Duo CPU E7500 @ 2.93GHz
cores: 2
cpu MHz: 2926.144
parport: 0378-037a : parport0
serial: 03f8-03ff : serial ec98-ec9f : serial

Versions:
gcc: gcc (Debian 4.7.2-5) 4.7.2
python: Python 2.7.3
git: git version 1.7.10.4
git commit: NA
tcl: 8.5
tk: 8.5
glade: not_in_PATH
glade-gtk2: glade3 3.8.0

linuxcnc_var all:

LINUXCNCVERSION: 2.8.4
LINUXCNC_AUX_GLADEVCP: /usr/share/linuxcnc/aux_gladevcp
LINUXCNC_AUX_EXAMPLES: /usr/share/linuxcnc/aux_examples
REALTIME: /etc/init.d/realtime
RTS: /usr/realtime-3.4-9-rtai-686-pae/bin/rtai-config
HALLIB_DIR: /usr/share/linuxcnc/hallib

dpkg -l '*linuxcnc*':
Dorit=necUnoscut/Instalează/șteRge/curăță(P)/păstrează(H)
| Stare=Ne/Inst/fișCfg/desfăcUt/jum-conF/jum-inst(H)/așteaptă-decl(W)/decl-în-aștepT
|/ Ero?=(nimic)/Reinst-nec (St,Ero: majuscule=rău)
||/ Nume Versiune Architecture Descriere
+++-=====================================-==================================-============-==============================================================================
ii linuxcnc 1:2.8.4 i386 motion controller for CNC machines and robots
un linuxcnc-doc <none> (nici o descriere disponibilă)
ii linuxcnc-doc-en 1:2.8.4 all motion controller for CNC machines and robots (English documentation)
un linuxcnc-sim <none> (nici o descriere disponibilă)
un linuxcnc-uspace <none> (nici o descriere disponibilă)



I still dont know to fix it.
the debian is wheezy.
thanks

  Yes, the input pins don't work without 12-24v on the china bob mach3. They are supplied with the 10V generated from that input. Output Schematic is here forum.linuxcnc.org/27-driver-boards/3905...uts-inputs-ok#167355 (Mach3 Interface Board)

Certainly an issue with secure boot and unsigned kernel modules, so the author is on the right track.
Twenty lines down there is a hidden spoiler section with more instructions, in case they were not seen.

The ec_master and ec_generic modules are built during ethercat package installation to fit the current kernel.
The modules do not get signed properly as required by secure boot. There was a case some months back
despite switching off secure boot in bios the kernel refused to load the modules.

By googling around it seems possible the modules can be signed but it is not so easy, but you can always try.
Switching off secure boot should work but doesn't always it seems.

I have three ECT60 and never had a problem. That's not any help of course, but I can offer my config.

You don't need to go the detour with sdoconfig to reset to factory default. You can set the SDO directly withand there is an "ethercat upload" that works in a similar way if you want to check individual SDOs.
If you haven't done so, power cycle the drive afterwards reset to factory default.

I totally agree, Andy. The Y axis is the LiCHUAN. I'm convinced it's due to acceleration and speed. Would you start by modifying the INI file? Wouldn't you look for it via the driver's own parameters?

Yes,forPWMs u.Servos i have 2 x 5i20  
 

From what I am seeing in the Tormach V2.12 branch, it does not have jerk-limiting.
That is a grotius only special (and tormach is forbidden from using it (codeberg.org/skynet/linuxcnc_scurve_comp...ter/cmake/LICENCE.md).
-automata

I have not gotten the tormach V2.12 version of linuxcnc to compile.

I have one Tormachs earlier versions (V2.10) to compile on Debian Stretch. 1. It has the 9 axis lookahead.
2. It does not however account for sittner's PLL patch which is extremely useful for Ethercat distributed clocks when used with a Preempt-rt Linux kernel.
3.This version also does not differentiate between Joints and axes as Tormach has forked linuxcnc before the joints-axis patches were finalized.

I have v2.9 of Linuxcnc compiled and running on Debian Bookworm.

-automata

There are now a few cheaper clones/competitors out there, too. Generally called Streamdock (not deck) and it seems they come from another(?) OEM and are often sold under the Mirabox name but they are sometimes rebranded, too.
Prices are all over the place though as in my brief search, I have seen the 15 key version ranging from USD 50-100.

Not sure if the protocols are identical or it would take a lot of re-work to make them work with Lcnc. 
But they are quite a lot cheaper so might lower the bar for people interested in getting into these.

Also, on at least one of the models, the buttons seem to be a bit larger than on the real Streamdeck - which might not be a bad thing for machining use.