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  • SPH
  • SPH's Avatar
25 Oct 2025 12:22
Replied by SPH on topic Help with Delta E3 Ethercat drives - hal and ethercat-conf.xml

Help with Delta E3 Ethercat drives - hal and ethercat-conf.xml

Category: EtherCAT

Ah, so simple. I've been committing the cardinal sin of making multiple changes at once.
Up and running again and OH YEAH! Got motor motion! Although I must admit I'm a bit unsure what's changed to make it start working...
  • matasbuk
  • matasbuk
25 Oct 2025 12:16
Replied by matasbuk on topic LinuxCNC randomly crashes reportedly due to Python bug

LinuxCNC randomly crashes reportedly due to Python bug

Category: Advanced Configuration

Hi,

do you perhaps now if this whole problem is now solved in the master branch or should I compile LCNC with the changes mentioned above to fix the problem?
  • Hakan
  • Hakan
25 Oct 2025 12:13
Replied by Hakan on topic Help with Delta E3 Ethercat drives - hal and ethercat-conf.xml

Help with Delta E3 Ethercat drives - hal and ethercat-conf.xml

Category: EtherCAT

This one
check_config:
INCONSISTENT coordinates specifications:
trivkins coordinates=X
[TRAJ]COORDINATES=XZ

That is a line in the ini file
KINEMATICS = trivkins coordinates=X
should be XZ
  • SPH
  • SPH's Avatar
25 Oct 2025 12:10 - 25 Oct 2025 12:13
Replied by SPH on topic Help with Delta E3 Ethercat drives - hal and ethercat-conf.xml

Help with Delta E3 Ethercat drives - hal and ethercat-conf.xml

Category: EtherCAT

Ah, yep, stupid simple. I'd been going back and forward for about an hour trying to figure that out.

One step forward, two steps back. Now throwing the error:
[code][code]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/lib/linuxcnc/modules
LINUXCNC_CONFIG_DIR=
LINUXCNC_LANG_DIR=/usr/lib/tcltk/linuxcnc/msgs
INIVAR=inivar
HALCMD=halcmd
LINUXCNC_EMCSH=/usr/bin/wish8.6
LINUXCNC - 2.9.4
Machine configuration directory is '/home/cnc/linuxcnc/configs/linuxcnc_leadshine_EL8'
Machine configuration file is 'EL8_machine.ini'
INIFILE=/home/cnc/linuxcnc/configs/linuxcnc_leadshine_EL8/EL8_machine.ini
VERSION=1.1

check_config:
INCONSISTENT coordinates specifications:
trivkins coordinates=X
[TRAJ]COORDINATES=XZ

PARAMETER_FILE=linuxcnc.var
TPMOD=
HOMEMOD=always_homed
TASK=milltask
HALUI=halui
DISPLAY=axis
COORDINATES=XZ
KINEMATICS=trivkins coordinates=X
Starting LinuxCNC...
Starting LinuxCNC server program: linuxcncsvr
Loading Real Time OS, RTAPI, and HAL_LIB modules
Starting LinuxCNC IO program: io
emc/iotask/ioControl.cc 786: can't load tool table.
Starting HAL User Interface program: halui
linuxcnc TPMOD=tpmod HOMEMOD=always_homed EMCMOT=motmod
Found file(REL): ./EL8_machine.hal
Starting TASK program: milltask
Starting DISPLAY program: axis
Shutting down and cleaning up LinuxCNC...
task: 103 cycles, min=0.000008, max=0.010081, avg=0.008640, 0 latency excursions (> 10x expected cycle time of 0.010000s)
@@@always_homed.comp:extra_setup: home_parms=no_home_parms

!!!always_homed.comp: Skeleton Homing Module

Removing HAL_LIB, RTAPI, and Real Time OS modules
Removing NML shared memory segments

Debug file information:
Note: Using POSIX realtime
note: MAXV max: 50.000 units/sec 3000.000 units/min
note: LJOG max: 50.000 units/sec 3000.000 units/min
note: LJOG default: 2.500 units/sec 150.000 units/min
Traceback (most recent call last):
File "/usr/bin/axis", line 3655, in <module>
ja_id = aletter_for_jnum(jnum)
^^^^^^^^^^^^^^^^^^^^^^
File "/usr/bin/axis", line 3642, in aletter_for_jnum
return trivkinscoords.upper()[jnum]
~~~~~~~~~~~~~~~~~~~~~~^^^^^^
IndexError: string index out of range
6055
6087
Stopping realtime threads
Unloading hal components
Note: Using POSIX realtime

Files attached. [/code][/code]
  • Hakan
  • Hakan
25 Oct 2025 11:25
Replied by Hakan on topic Help with Delta E3 Ethercat drives - hal and ethercat-conf.xml

Help with Delta E3 Ethercat drives - hal and ethercat-conf.xml

Category: EtherCAT

Ok, it's the second line in the hal file,  num_joints=2
  • Clements
  • Clements
25 Oct 2025 11:10
Replied by Clements on topic gmoccapy probe

gmoccapy probe

Category: Basic Configuration

swapping the HDD gave some issues with the drivers for graphics card.
just gave it another try by installing 2.8.4 and somehow it sort of worked.

even pcloud installed
the issue is been solved for now, but I do find it confusing that an 'upgrade' to 2.9 breaks some functionality
  • SPH
  • SPH's Avatar
25 Oct 2025 11:09 - 25 Oct 2025 11:28
Replied by SPH on topic Help with Delta E3 Ethercat drives - hal and ethercat-conf.xml

Help with Delta E3 Ethercat drives - hal and ethercat-conf.xml

Category: EtherCAT

Righto I've added those lines in. No change on the x axis motor movement though.

In the interim I've connected up my second servo drive in order to start getting a full setup. I've essentially just copied and pasted the working x drive info but I'm getting
[code][code]./EL8_machine.hal:69: Pin 'joint.1.motor-pos-fb' does not exist
I've attached the files. No doubt it's some stupid simple thing.

*Is it easier if I just put the files straight into the post as code rather than attaching them? I want to make sure it's as easy as possible for everyone.[/code][/code]
  • boksi
  • boksi
25 Oct 2025 11:07 - 25 Oct 2025 11:25
Replied by boksi on topic Mesa smart serial or PktUART or serial over RS232 or udp for robot joints

Mesa smart serial or PktUART or serial over RS232 or udp for robot joints

Category: Advanced Configuration

It's good thing to know.
Do you know are there some configs with stmbl driving robots available around?
I saw some integrations with robots but encoders are read by mesa cards directly.
I would be more interested in this part which you mentioned if stmbls are set up in this way that they send position over smart serial.

Do you happen to know on higher level how this position report over smart serial works if we want to read 6 robot joints positions?
Correct me if I am wrong, but possibly in HAL we would have 6 sequential position requests, one request per each joint. We would wait for each one stmbl to report its position. So request + stmbl processing time + reply over smart serial and this happens 6 times. From fast look earlier not 100% sure but I think that there are 2 mcu in stmbl, so possibly one of them fast handles communication.
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