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Update of this project.
Regarding water on the table and difficulty to properly detect contact.
Yes, been there, done that. 
It seems to be caused by too low R1 resistance. Which means too low current at short-circuit.
Stray currents through water are in the same order of magnitude as the short-circuit current
and influences the voltage measurements. 
Too high R1 (low short-circuit current) and water on the table causes two things:
1. The measured voltage will only go to single-digit voltages, like 8V instead of 24V
2. The measured short-circuit voltage drop is only a few Volts. The voltage stays at some 8-3 = 5 V, where it should be 0V.
When looking at the voltage, well working means sharply up to some 23V, then sharp drop to 0V.
Not well working: Damped rise to some 10-ish V, damped drop of a few Volts at short-circuit.

Using R1 = 100 kOhm, short-circuit current = 0.24 mA. This is too low.
Using R1 = 2k7 kOhm, I = 8.9 mA works much better.
 

I have a spindle motor that can be controlled using Modbus with a list of addresses sent as shown in the image.

I want to control it using USB/RS485, but I don't fully understand the Linux CNC documentation. Furthermore, there are not enough project examples and the configuration settings are not intuitive. So, I'd like to ask a question here.

I've included all the configuration programs in my GitHub link. I plan to use mb2hal for general function code, and Python for custom function code (0x44).

The program on GitHub has the same issue as the one I've included. 

github.com/yuuahmad-aii/axisXYZ-linuxcnc  github link

D'oh

really got to stop trying to use forum on my phone.

I have the same situation as you. If I solve it, I will reply below

langdons wrote:

There's this one:
linuxcnc.org/iso/LinuxCNC_2.9.2-amd64.hybrid.iso

And this one:
linuxcnc.org/iso/linuxcnc_2.9.2-amd.hybrid.iso

And this one too:
linuxcnc.org/iso/linuxcnc_2.9.2-amd.hybrid.iso

On my mirror, www3.langdonstaab.ca/iso, I would like to remove these likely duplicates to reduce bandwidth and load for my server in the event that someone downloads all the files on my server (with wget -r or something).

Are these files identical?

Why are they still there?

Which one is actually correct?

They should be identical builds, but sometimes the project keeps multiple copies for mirror syncing or testing purposes. You can check the file hashes (MD5 or SHA256) to confirm before removing any duplicates from your mirror. 

I simply followed the installer's instructions. I only configured the selection of the 3 axes to their ports. I don't remember configuring an EStop.

It won't let me exit the emergency stop on the interface.

Is there a tutorial on how to configure it correctly?

joint.N.vel-cmd

Is there any way of retrieving joint velocity from the motion planner? I have been trying to interpolate it all day and I keep getting unwanted results: velocities that vary wildly, target position changing for no apparent reason, etc.

If I can get that directly from the motion planner, that would simplify the operation considerably.

Doh....That was it!

Thanks!

Make sure 7I96 W8 is in the down position.

If not, standard parallel port BOBs will short out the 7I96 5V supply

(W8 should only be in the up position for Mesa daughtercards that
get 5V power from the 7I96)
 

Hey Everyone, 

I flashed a mesa 7i96 (non s) with the 7i96_5abob_d.bin firmware, and tried to connect the bob but it would cause the 7i96 to power off every time.

With the ethernet port facing the left. Red line on the cable (pin 1) is pointed up (closer to the ethernet port). If i flip it around it doesnt short but it also does nothing. (flipped every gpio pin above 34 pins output and wasnt able to cycle the onboard relay) also steppers didnt move.

Tried with a second 7i96 with the same result. 

I've tried powering with the usb, powering via terminals, removing the jumper on BOB, adding the jumper. Nothing works.

Funny enough i have a 7i96s with a bob that works perfect. Tried to connect the 7i96 to that bob with its cable and it still shorts. So its not the wiring or the bob, its prob the firmware on the 7i96.

I've power cycled and used readhmid to verify it got the flash. The only odd thing is it has 3 steppers not 4. I also tried the 7i96_g540 flash to see if that would help but same issue.


Any help would be great.

Here is the board. Tried another green one that looks just like it with the same issue. 
www.amazon.com/dp/B0B2QWHFKD?ref=fed_asin_title


 

Not sure about the other errors but P should be 1000
(for all joints at a 1 ms servo thread rate) A P value
of 0 will work for a while but the joint will drift because
there is no position feedback.

[JOINT_3]
TYPE = ANGULAR
HOME = 0.0
FERROR = .5
MIN_FERROR = 0.05
MAX_VELOCITY = 40.0
MAX_ACCELERATION = 12.0
# The values below should be 25% larger than MAX_VELOCITY and MAX_ACCELERATION
# If using BACKLASH compensation STEPGEN_MAXACCEL should be 100% larger.
STEPGEN_MAXVEL = 100
STEPGEN_MAXACCEL = 50
P = 0
I = 0
D = 0
FF0 = 0
FF1 = 1
FF2 = 0
BIAS = 0

The hal file is incomplete, if you cannot get out of estop, this is likely an issue
with the EStop related signals and these tend to be at the end of pncconf created
hal files.

Did you setup an external EStop? That might be another reason for inability
to get out of the EStop state.

[EMC]
MACHINE = my_LinuxCNC_machine
DEBUG = 0
VERSION = 1.1

[DISPLAY]
DISPLAY = axis
POSITION_OFFSET = RELATIVE
POSITION_FEEDBACK = ACTUAL
MAX_FEED_OVERRIDE = 2.000000
MAX_SPINDLE_OVERRIDE = 1.000000
MIN_SPINDLE_OVERRIDE = 0.500000
INTRO_GRAPHIC = linuxcnc.gif
INTRO_TIME = 5
PROGRAM_PREFIX = /home/jmpm/linuxcnc/nc_files
PYVCP = pyvcp-panel.xml
INCREMENTS = 5mm 1mm .5mm .1mm .05mm .01mm .005mm
POSITION_FEEDBACK = ACTUAL
DEFAULT_LINEAR_VELOCITY = 6.000000
MAX_LINEAR_VELOCITY = 25.000000
MIN_LINEAR_VELOCITY = 0.500000
DEFAULT_ANGULAR_VELOCITY = 12.000000
MAX_ANGULAR_VELOCITY = 180.000000
MIN_ANGULAR_VELOCITY = 1.666667
EDITOR = gedit
GEOMETRY = xyz
CYCLE_TIME = 100

[FILTER]
PROGRAM_EXTENSION = .png,.gif,.jpg Greyscale Depth Image
PROGRAM_EXTENSION = .py Python Script
png = image-to-gcode
gif = image-to-gcode
jpg = image-to-gcode
py = python

[TASK]
TASK = milltask
CYCLE_TIME = 0.010

[RS274NGC]
PARAMETER_FILE = linuxcnc.var
RS274NGC_STARTUP_CODE = G21 G40 G90 G94 G97 G64 P0.025

[EMCMOT]
EMCMOT = motmod
COMM_TIMEOUT = 1.0
SERVO_PERIOD = 1000000

[HMOT]
# **** Esto es sólo para información ****
CARD0=hm2_7i96s.0


[HAL]
HALUI = halui
HALFILE = my_LinuxCNC_machine.hal
POSTGUI_HALFILE = custom_postgui.hal
SHUTDOWN = shutdown.hal


[HALUI]

[KINS]
JOINTS = 3
KINEMATICS = trivkins coordinates=XYZ

[TRAJ]
COORDINATES = XYZ
LINEAR_UNITS = mm
ANGULAR_UNITS = degree
DEFAULT_LINEAR_VELOCITY = 2.50
MAX_LINEAR_VELOCITY = 25.00

[EMCIO]
EMCIO = io
CYCLE_TIME = 0.100
TOOL_TABLE = tool.tbl

#******************************************
[AXIS_X]
MAX_VELOCITY = 25.0
MAX_ACCELERATION = 750.0
MIN_LIMIT = -0.01
MAX_LIMIT = 200.0

[JOINT_0]
TYPE = LINEAR
HOME = 0.0
FERROR = 10.0
MIN_FERROR = 1.0
MAX_VELOCITY = 25.0
MAX_ACCELERATION = 750.0
# Los valores a continuación deben ser un 25% más grandes que MAX_VELOCITY y MAX_ACCELERATION
# Si se usa compensación de CONTRAGOLPE, STEPGEN_MAXACCEL debe ser 100% mayor.
STEPGEN_MAXVEL = 31.25
STEPGEN_MAXACCEL = 937.50
P = 1000.0
I = 0.0
D = 0.0
FF0 = 0.0
FF1 = 1.0
FF2 = 0.0
BIAS = 0.0
DEADBAND = 0.0
MAX_OUTPUT = 0.0
# estos son en nanosegundos
DIRSETUP = 10000
DIRHOLD = 10000
STEPLEN = 5000
STEPSPACE = 5000
STEP_SCALE = 200.0
MIN_LIMIT = -0.01
MAX_LIMIT = 200.0
HOME_OFFSET = 0.0
HOME_SEQUENCE = 2
#******************************************

#******************************************
[AXIS_Y]
MAX_VELOCITY = 25.0
MAX_ACCELERATION = 750.0
MIN_LIMIT = -0.01
MAX_LIMIT = 200.0

[JOINT_1]
TYPE = LINEAR
HOME = 0.0
FERROR = 10.0
MIN_FERROR = 1.0
MAX_VELOCITY = 25.0
MAX_ACCELERATION = 750.0
# Los valores a continuación deben ser un 25% más grandes que MAX_VELOCITY y MAX_ACCELERATION
# Si se usa compensación de CONTRAGOLPE, STEPGEN_MAXACCEL debe ser 100% mayor.
STEPGEN_MAXVEL = 31.25
STEPGEN_MAXACCEL = 937.50
P = 1000.0
I = 0.0
D = 0.0
FF0 = 0.0
FF1 = 1.0
FF2 = 0.0
BIAS = 0.0
DEADBAND = 0.0
MAX_OUTPUT = 0.0
# estos son en nanosegundos
DIRSETUP = 10000
DIRHOLD = 10000
STEPLEN = 5000
STEPSPACE = 5000
STEP_SCALE = 200.0
MIN_LIMIT = -0.01
MAX_LIMIT = 200.0
HOME_OFFSET = 0.0
HOME_SEQUENCE = 3
#******************************************

#******************************************
[AXIS_Z]
MAX_VELOCITY = 25.0
MAX_ACCELERATION = 750.0
MIN_LIMIT = -100.0
MAX_LIMIT = 0.01

[JOINT_2]
TYPE = LINEAR
HOME = 0.0
FERROR = 10.0
MIN_FERROR = 1.0
MAX_VELOCITY = 25.0
MAX_ACCELERATION = 750.0
# Los valores a continuación deben ser un 25% más grandes que MAX_VELOCITY y MAX_ACCELERATION
# Si se usa compensación de CONTRAGOLPE, STEPGEN_MAXACCEL debe ser 100% mayor.
STEPGEN_MAXVEL = 31.25
STEPGEN_MAXACCEL = 937.50
P = 1000.0
I = 0.0
D = 0.0
FF0 = 0.0
FF1 = 1.0
FF2 = 0.0
BIAS = 0.0
DEADBAND = 0.0
MAX_OUTPUT = 0.0
# estos son en nanosegundos
DIRSETUP = 10000
DIRHOLD = 10000
STEPLEN = 5000
STEPSPACE = 5000
STEP_SCALE = 200.0
MIN_LIMIT = -100.0
MAX_LIMIT = 0.01
HOME_OFFSET = 0.0
HOME_SEQUENCE = 1
#******************************************

[SPINDLE_0]
P = 0
I = 0
D = 0
FF0 = 1
FF1 = 0
FF2 = 0
BIAS = 0
DEADBAND = 0
MAX_OUTPUT = 2000

[HM2ETH]
IP = 192.168.1.121
Interface = enp2s0

Hi!

# Generado por PNCconf en Mon Oct 13 14:42:16 2025
# Utilizando la versión LinuxCNC: Master (2.9)
# Si realiza cambios en este archivo, serán
# sobrescrito cuando ejecuta PNCconf nuevamente

loadrt [KINS]KINEMATICS
loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS
loadrt hostmot2
loadrt hm2_eth board_ip="192.168.1.121" config="num_encoders=1 num_pwmgens=1 num_stepgens=5 sserial_port_0=0xxxxxxx"
setp hm2_7i96s.0.pwmgen.pwm_frequency 20000
setp hm2_7i96s.0.pwmgen.pdm_frequency 6000000
setp hm2_7i96s.0.watchdog.timeout_ns 5000000

# loadrt hal_parport cfg="0 out" # <-- comentado
loadrt pid names=pid.x,pid.y,pid.z,pid.s

#addf parport.0.read servo-thread <-- comentado/eliminado
addf hm2_7i96s.0.read servo-thread
addf motion-command-handler servo-thread
addf motion-controller servo-thread
addf pid.x.do-pid-calcs servo-thread
addf pid.y.do-pid-calcs servo-thread
addf pid.z.do-pid-calcs servo-thread
addf pid.s.do-pid-calcs servo-thread
#addf parport.0.write servo-thread <-- comentado/eliminado
addf hm2_7i96s.0.write servo-thread

setp hm2_7i96s.0.dpll.01.timer-us -50
setp hm2_7i96s.0.stepgen.timer-number 1

# señales de salida externas
# señales de entrada externas

#*******************
# AXIS X JOINT 0
#*******************

setp pid.x.Pgain [JOINT_0]P
setp pid.x.Igain [JOINT_0]I
setp pid.x.Dgain [JOINT_0]D
setp pid.x.bias [JOINT_0]BIAS
setp pid.x.FF0 [JOINT_0]FF0
setp pid.x.FF1 [JOINT_0]FF1
setp pid.x.FF2 [JOINT_0]FF2
setp pid.x.deadband [JOINT_0]DEADBAND
setp pid.x.maxoutput [JOINT_0]MAX_OUTPUT
setp pid.x.error-previous-target true
setp pid.x.maxerror 0.012700

net x-index-enable => pid.x.index-enable
net x-enable => pid.x.enable
net x-pos-cmd => pid.x.command
net x-pos-fb => pid.x.feedback
net x-output <= pid.x.output

# Stepgen X
setp hm2_7i96s.0.stepgen.00.dirsetup [JOINT_0]DIRSETUP
setp hm2_7i96s.0.stepgen.00.dirhold [JOINT_0]DIRHOLD
setp hm2_7i96s.0.stepgen.00.steplen [JOINT_0]STEPLEN
setp hm2_7i96s.0.stepgen.00.stepspace [JOINT_0]STEPSPACE
setp hm2_7i96s.0.stepgen.00.position-scale [JOINT_0]STEP_SCALE
setp hm2_7i96s.0.stepgen.00.step_type 0
setp hm2_7i96s.0.stepgen.00.control-type 1
setp hm2_7i96s.0.stepgen.00.maxaccel [JOINT_0]STEPGEN_MAXACCEL
setp hm2_7i96s.0.stepgen.00.maxvel [JOINT_0]STEPGEN_MAXVEL

net x-pos-cmd <= joint.0.motor-pos-cmd
net x-vel-cmd <= joint.0.vel-cmd
net x-output => hm2_7i96s.0.stepgen.00.velocity-cmd
net x-pos-fb <= hm2_7i96s.0.stepgen.00.position-fb
net x-pos-fb => joint.0.motor-pos-fb
net x-enable <= joint.0.amp-enable-out
net x-enable => hm2_7i96s.0.stepgen.00.enable

net x-home-sw => joint.0.home-sw-in
net x-neg-limit => joint.0.neg-lim-sw-in
net x-pos-limit => joint.0.pos-lim-sw-in