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Thank you. I have seen LCEC in the HAL configuration. How can I control him now?

loadrt hm2_rpspi config="num_encoders=0 num_pwmgens=0 num_stepgens=3 sserial_port_0=0xxxxx"

I would have probably set  num_encoders=1 to support the 7I76 encoder input.

num_pwmgens=0 doesn't do anything because the configuration has no pwmgens.

In setting up the 5i25 uses the line:
loadrt hm2_pci config="num_encoders=1 num_pwmgens=0 num_stepgens=3 sserial_port_0=0xxxxxxx"
For setting up the 7c81 Is the line:
loadrt hm2_rpspi config="num_encoders=0 num_pwmgens=0 num_stepgens=3 sserial_port_0=0xxxxx"
Or is there something missing?

You could use either the axisrc  file or a USER_COMMAND_FILE   with the following code:

To avoid the following error you can loop-back the joint position command to the joint position feedback
(at least when in spindle mode or changing modes)

Done. Done. Done.

Change Spindle to C -> Done.
Problem with C to Spindle, because I have left some signals in stepgen-pos and stepgen-pos-fb. And if I change smth -> joint 2 error, because pid thinking (for example value eq 150), and I change it to zero.

BUT, next hack works (but I don't use this hack).
1. Spindle 1000 RPM
2. Stop spindle (m5)
3. Switch to Axis C (disable reset stepgen.pos and stepgen.pos-fb, so they are 0, but active)
4. Rotate what ever (stepgen.pos and pos-fb have, for example, 150.0)
5. Revers axis C to 0.0 (less than max error)
6. Change velocity source of signal (from C to Spindle) (mux2)
7. Stop updating the joint C pos and pos-fb (mux2)
8. Change stepgen maxvel, maxacccel, scale
9. Enable stepgen.position-reset -> true

So in general for joint (axis C)
- rotate for 150, 50 times, whatever
- move back to 0
....(here is spindle on again) but according to pos-fb we are at zero (because postion-reset)

Commands 3-9 in both directions I move to two separate custom M commands.
So will be nice to avoid changing the stepgen settings.
Also, I think a better solution exists.

I think tomorrow I should add settings to the first message to better understanding (to late for today).

Probably by using the .axisrc file, but i have no idea exactly how.
I am sure there are others that know exactly how, so wait a bit more, we live in all parts of the world so day is not a day at the same time.

Thank you all for the responses! I managed to get in the axis gui. I got a warning telling me about the appTimePeriod, which I corrected. But I am still unable to move the stepper. Do you have any idea of what I could be missing? Once again, I assume this is some trivial stuff, but I am still a noob on this subject

Edit: I ended up just adding an HALFILE line to axis.ini directly on the sim.axis/
Then I added a ethercat.hal and the following ethercat-conf:
<?xml version="1.0" encoding="UTF-8"?>
<masters>
    <master idx="0" appTimePeriod="1000000" refClockSyncCycles="5">
        <slave idx="0" type="generic" vid="0x00000286">
            <syncManager idx="0" dir="out">
                <pdo idx="0x1600">
                    <pdoEntry idx="0x1000" subIdx="0x00" bitLen="32" halType="u32"/> <!-- Controller Mode -->
                    <pdoEntry idx="0x1004" subIdx="0x00" bitLen="32" halType="s32"/> <!-- Value (Position/Velocity/Current) -->
                </pdo>
            </syncManager>
            <syncManager idx="1" dir="in">
                <pdo idx="0x1A00">
                    <pdoEntry idx="0x1078" subIdx="0x00" bitLen="32" halType="s32"/> <!-- Target Position -->
                    <pdoEntry idx="0x107C" subIdx="0x00" bitLen="32" halType="s32"/> <!-- Actual Position -->
                    <pdoEntry idx="0x1080" subIdx="0x00" bitLen="32" halType="s32"/> <!-- Virtual Actual Position -->
                </pdo>
            </syncManager>
        </slave>
    </master>
</masters>

This was based on a video from MetalMusings

Edit 2: I noticed that when I run linuxcnc my driver state goes to PREOP
 

I want to change the default preview view to A (top view) when opening linuxcnc and also, if possible, maximize the screen by default, I use the axis 2.9.2 version on a router.

Probably easiest to use a Mesact configuration for a 7I95/7I95T to start with
so you have the basics setup. (AFAIK pncconf doesn't know the 7I95/7I95T)


You need a PID for the position mode so I would just setup the spindle as a  C axis
as normal for a step/dir system which includes the PID. Next the actual stepgen velocity
command is selected by a mux  component to come from either the PID output
(C Axis mode) or directly from the spindle speed command (rescaled appropriately)

The trickiest part is changing modes from spindle to C Axis, this probably requires
homing to index. This can be done without an encoder as long as you have an
index signal, and the proper (step/dir index) firmware.
 

Before I ask for help, I will write a little here about what I have already tried and the course of my thoughts. Perhaps I just can not implement my thought correctly, perhaps my conclusions are not correct.

- Mesa 7i95T
- Servo for Spindle AND Axis C (one physical servo)
- Lathe
I want to make rotation on the spindle to some degree to do another work with the milling/drilling, then turn to lathe work and so on. For now, lets assume that I have a 1:1 ratio between Servo and Spindle (1000 rpm Servo == 1000 rpm Spindle, 15 degree Servo = 15 degree Spindle)

From my point of view, I chose Dir/Step for both jobs (speed/velocity and rotation/position, next velocity and position modes).
PncConf doesn't work because for new Boards all pins have another naming convention. Mesa support can't help. Only suggest configuring the already existing board in PncConf and "fix ini/hal files to 7i95t somehow".
MecaCT doesn't work because the spindle tab doesn't work at all (firmware PWM could help, but this is not what I chose: step/dir). So I have to make INI and HAL files from scratch.

I did spindle config via pid + motion.spindle AND axisC via joint+pid and both of them use the same hm2_7i95.0.stepgen.N
BUT
1. I'm not sure to use PID in both spindle modes (velocity and position)
2. I'm confused that PncConf generates (that was my manual for linear/angular settings) all configs with stepgen.control-type = 1 (which is velocity mode according to the manual)
3. I think that position mode (really stepgen position mode) could be used only in 1:1 ratio for rotation. In another case we have a ratio in screw. So our goal is not to rotate 50 degrees on Motor level, but to move to 2.125mm in XYZ or rotate somewhere in CNC. So LinuxCNC calculates how many pulses/steps we need to move in one direction to 2.125mm with speed X (how fast we need to be at 2.125mm)

1+2+3 = LinuxCNC used stepgen velocity mode for linear and angular axis. Am I correct? So from the customer's perspective there is a difference between positions for ** degree, and moving for ** mm, but from LinuxCNC this is all about pulse count if frequency (Infinite/Finite Number of Pulses). For Spindle use Infinite.

So my Servo motor has 10.000 pulses for 1 rotation. For "spindle velocity" mode it means 10.000 pulses per 1 motor rotation (in cases of 1:1 ratio 1 Spindle rotation). So machine unit = one rotation. So SCALE 10.000 for 1 unit. In case of rotation, machine unit = 1 degree. So SCALE became 10.000/360 = ~28 steps. So here we have different settings for the same stepgen. Also question maxvel and maxaccel, ff0, ff1, pid?
BUT I have problem with switching between two modes.
When the spindle is working, stepgen.N.position-fb increasing each rotation which affect axis-c feedback. To avoid this issue I use stepgen.N.position-reset true. Ok from velocity I could switch to rotation and somehow make rotations. But when I finish rotation, I cannot switch to "Spindle Velocity", because axis C trying to save current rotation degrees.

So right now, to be honest, I have no idea how it should work and I need advice and help
I have a feeling that I went in the wrong direction and am trying to make a configuration work that should not work in principle. Here is my vision of how it should work:
1. Spindle Velocity mode + switch off sync AxisC/joint (like stepgen.N.position-reset)
2. Spindle Position mode (without changing scale, accel, vel, pid etc... because this is the same motor, the same signals, just change machine units from RPM to degrees), enable sync AxisC/joint and stepgen
3. Switch back to Velocity mode + switch off sync Axis C/joint again by resetting current pos and pos-fb
4. Repeat
 

Thank you so much I will try it tomorrow.

www.mesanet.com/software/parallel/7i97t.zip
 (in 7i97t/configs/hostmot2)

You use mesaflash to update the firmware, examples of mesaflash usage
should be in the 7I97T manual

you can get some inspiration here:
github.com/zmrdko/3dworks_ethercat_lcec/

you can start by adding:

loadusr -W lcec_conf ethercat-conf.xml
loadrt lcec

to you hal file, so that you initialize the ethercat device.

You should see lcec item in pins in HAL configuration window then.