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Inching my way foreward.
Have a hal and ini for modbus now, and im getting an "out of range" error.

This happens if the drive in on or off, and im seeing no leds on the adapter. so perhaps the adapter is not enabled? Does it require a driver?

The chip on the adapter is CH340

Great, in meantime I am wondering, rough estimation could it be all logic (6x uart + quadrature logic + 6 to 8 stepgens + 1 smart serial) packed to 6i25 or 7i92?
I think that I don't need C signal from encoder to count full revolutions.
Yes uart parameters are fixed.
I am seeing the next sequence, LinuxCNC will issue power up of servo drivers and encoders would be connected both to drivers and RS422 to TTL converters (encoders are RS422), so there would be 2 listeners per encoder on RS422 network (think this should not be a problem for RS422).
Drivers will issue power on for encoders and this is trigger for them to send data.
After RS422 -> TTL conversion then will be signal isolation and then fpga.

Review the config in settings section to make sure everything is there that needs to be. 30-40 seconds means something is wrong in the config most likely. Just go through line by line and read everything carefully to make sure you didn't overlook anything. Should fix your issue. When in doubt compare to the SIM config. If it works as expected then go through your machine config again and find the error or missing item.

Thanks. Problem is I don't really know what to do with this.

Doesn't qualify as walk through but here are some hints. I used mb2hal.

forum.linuxcnc.org/10-advanced-configura...h100-inverter#335652

can someone walk me through the setup on linuxcnc for this? i am seeing so many conflicting and incomplete instructions and components that are no longer supported or redundant (like vfdmod).

Also what USB dongle?

I have a rtl8192cu based USB WIFI dongle on this test machine
and it seem to have no effect on latency when plugged/unplugged

Have you done the usual optimizations?

DKMS driver for RealTek Ethernet chips

Turn off IRQ coalescing on Intel Ethernet chips

in grub file isolcpus = last processor

pin Ethernet IRQ to last processor


 It means that the network message could not be compete in one cycle.

Actually it's worse than that, with default settings, it means 5 read requests in a row timed out
so usually means multi-ms latency...
 

So, its definitely doing something different when the drive is on vs off. So that's a start. It does show exception 1 a fair bit.


[27/10/2025 15:29:13]
Modbus Response (COM5)
Address: 1
Function: 4 (0x04) - Read Input Registers
Exception Code: 1
Checksum: 0x82c0 - OK

---

[27/10/2025 15:29:13]
Modbus Request (COM5)
Address: 1
Function: 1 (0x01) - Read Coils
Starting Address: 773
Quantity: 0
Checksum: 0x2c4f - OK

---

[27/10/2025 15:29:13]
Modbus Request (COM5)
Address: 1
Function: 1 (0x01) - Read Coils
Starting Address: 779
Quantity: 0
Checksum: 0x4d8c - OK

---

[27/10/2025 15:29:13]
Modbus Request (COM5)
Address: 1
Function: 1 (0x01) - Read Coils
Starting Address: 912
Quantity: 0
Checksum: 0x3c63 - OK

How is the network for Mesa card set up, using network manager or by editing the /etc/network/interfaces file?

isolcpus=5

would be correct for a 6 core CPU

Hmmm. that's helpful thanks. its doing... something in both directions. so maybe the issue is the spindle talker 2 software.

Any advise on another way to check functions?

That is in your hal file for the X axis, it should beif you want X to be the first joint/axis.
Same for other joints and axis, and there are multiple instances for each joint to be changed.

I have been advised to isolate a core. I believe my Intel has 6. I have done the following:

I think I have isolated a core correctly.  cat /proc/cmdline BOOT_IMAGE=/vmlinuz-6.1.0-30-rt-amd64 root=/dev/mapper/debian--vg-root ro quiet isolcpus=1

OK, thanks. Time to start coding.

lorenzing wrote:

Thank you all very much for the support. The drives use the CiA402 protocol, with the jc2ktr setup I was able to see the drives and I can perform jogging, but I don't understand why I see Z1 on joint 0, which should be X. And when I try to jog joint 1, joint 0 always moves. I definitely made a lot of confusion in the HAL file.

Maybe your Hardware (ethercat ports, or motorcables) are wired wrong, your halfile looks okay to me?
I´ve had at work that if you swap in and out of the Ethercat ports you get weird behavior on the EC-Bus.