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  • abs32
  • abs32
20 Nov 2025 14:37 - 20 Nov 2025 15:04
Replied by abs32 on topic v2.9 and not the perpendicularity of X and Y

v2.9 and not the perpendicularity of X and Y

Category: General LinuxCNC Questions

Colleagues,

I installed the kernel 5.4.290 + the linuxcnc 2.9.4 build that came with it
With the kinematics option KINEMATICS = trivkins coordinates=XXYYZ, everything starts and works.

We have a description here -
linuxcnc.org/docs/devel/html/man/man9/matrixkins.9.html
the example section of hal + ini files is empty.
We also have a description here -
github.com/LinuxCNC/linuxcnc/blob/master...ents/matrixkins.comp
where examples of specifying matrix elements are indicated.
However, there are no examples for hal + ini.
I tried to do the following by analogy with other methods -

HAL -

#2025-11-20 для версии 2.9.4
#loadrt [KINS]KINEMATICS

#программная коррекция
#https://linuxcnc.org/docs/devel/html/man/man9/matrixkins.9.html
#https://github.com/LinuxCNC/linuxcnc/blob/master/src/hal/components/matrixkins.comp
loadrt matrixkins
setp matrixkins.C_xy 0 # Skew Y axis towards X axis
setp matrixkins.C_xx 1 # X axis scale
setp matrixkins.C_xz 0 # Skew Z axis towards X axis
setp matrixkins.C_yx 0 # Skew X axis towards Y axis
setp matrixkins.C_yy 1 # Y axis scale
setp matrixkins.C_yz 0 # Skew Z axis towards Y axis
setp matrixkins.C_zx 0 # Skew X axis towards Z axis
setp matrixkins.C_zy 0 # Skew Y axis towards Z axis
setp matrixkins.C_zz 1 # Z axis scale


loadrt [EMCMOT]EMCMOT base_period_nsec=[EMCMOT]BASE_PERIOD servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS
loadrt hal_parport cfg="0 out"
setp parport.0.reset-time 5000
loadrt stepgen step_type=0,0,0,0,0

INI -
[KINS]
JOINTS = 5

#2025-11-20 для 2.9.4
#KINEMATICS = trivkins coordinates=XXYYZ
KINEMATICS=matrixkins coordinates=XXYYZ

When you try to launch it, it drops and shows an error -
Debug file information:
./t.hal:16: Can't find module 'matrixkins' in /usr/realtime-5.4.290-rtai-amd64/modules/linuxcnc
1485
Stopping realtime threads
Unloading hal components

for kernel 5.4.254, the situation and error are exactly the same (with corresponding linuxcnc + linuxcnc-dev)

how to fix this?

I note an error in man - there is no [KINS] section in the HAL file, there is such a section in ini, st 149 -
 
  • lorenzing
  • lorenzing
20 Nov 2025 14:36
Replied by lorenzing on topic Festo CMMT-ST

Festo CMMT-ST

Category: EtherCAT

Many problems have been solved by assigning numbers instead of the axis letter (e.g. X) in the .hal file probably generated errors as there were two motors for one axis.
# --- load components ---
loadrt [KINS]KINEMATICS
loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS 

# load EtherCAT xml then drivers
loadusr -W lcec_conf ethercat-conf.xml
loadrt lcec
loadrt cia402 count=5


# --- add functions to servo-thread ---
addf lcec.read-all            servo-thread

# read from cia402 drivers (one per joint)
addf cia402.0.read-all        servo-thread
addf cia402.1.read-all        servo-thread
addf cia402.2.read-all        servo-thread
addf cia402.3.read-all        servo-thread
addf cia402.4.read-all        servo-thread

# motion stack
addf motion-command-handler   servo-thread
addf motion-controller        servo-thread

# writes: cia402 then lcec
addf cia402.0.write-all       servo-thread
addf cia402.1.write-all       servo-thread
addf cia402.2.write-all       servo-thread
addf cia402.3.write-all       servo-thread
addf cia402.4.write-all       servo-thread

addf lcec.write-all           servo-thread

# estop
net estop-out  iocontrol.0.user-enable-out => iocontrol.0.emc-enable-in

# =========================
# JOINT 0  (X)  -> cia402.0 -> lcec.0.0
# =========================

#config
setp cia402.0.csp-mode 1
setp cia402.0.pos-scale -3600

#from servo(ethercat) to cia402
net 0-statusword      lcec.0.0.srv-cia-statusword => cia402.0.statusword
net 0-opmode-display  lcec.0.0.srv-opmode-display => cia402.0.opmode-display
net 0-drv-act-pos     lcec.0.0.srv-actual-position => cia402.0.drv-actual-position
net 0-drv-act-velo    lcec.0.0.srv-actual-velocity => cia402.0.drv-actual-velocity

#from cia402 to servo(ethercat) 
net 0-controlword         cia402.0.controlword => lcec.0.0.srv-cia-controlword
net 0-modes-of-operation  cia402.0.opmode => lcec.0.0.srv-opmode
net 0-drv-target-pos      cia402.0.drv-target-position => lcec.0.0.srv-target-position

#from motion to cia
net 0-enable    <= joint.0.amp-enable-out => cia402.0.enable
net 0-amp-fault => joint.0.amp-fault-in   <= cia402.0.drv-fault
net 0-pos-cmd   <= joint.0.motor-pos-cmd  => cia402.0.pos-cmd
net 0-pos-fb    => joint.0.motor-pos-fb   <= cia402.0.pos-fb


# =========================
# JOINT 1  (Y1) -> cia402.1 -> lcec.0.2
# =========================

#config
setp cia402.1.csp-mode 1
setp cia402.1.pos-scale -3600

#from servo(ethercat) to cia402
net 1-statusword      lcec.0.2.srv-cia-statusword => cia402.1.statusword
net 1-opmode-display  lcec.0.2.srv-opmode-display => cia402.1.opmode-display
net 1-drv-act-pos     lcec.0.2.srv-actual-position => cia402.1.drv-actual-position
net 1-drv-act-velo    lcec.0.2.srv-actual-velocity => cia402.1.drv-actual-velocity

#from cia402 to servo(ethercat) 
net 1-controlword         cia402.1.controlword => lcec.0.2.srv-cia-controlword
net 1-modes-of-operation  cia402.1.opmode => lcec.0.2.srv-opmode
net 1-drv-target-pos      cia402.1.drv-target-position => lcec.0.2.srv-target-position

#from motion to cia
net 1-enable    <= joint.1.amp-enable-out => cia402.1.enable
net 1-amp-fault => joint.1.amp-fault-in   <= cia402.1.drv-fault
net 1-pos-cmd   <= joint.1.motor-pos-cmd  => cia402.1.pos-cmd
net 1-pos-fb    => joint.1.motor-pos-fb   <= cia402.1.pos-fb


# =========================
# JOINT 2  (Y2) -> cia402.2 -> lcec.0.1
# =========================

#config
setp cia402.2.csp-mode 1
setp cia402.2.pos-scale 3600

#from servo(ethercat) to cia402
net 2-statusword      lcec.0.1.srv-cia-statusword => cia402.2.statusword
net 2-opmode-display  lcec.0.1.srv-opmode-display => cia402.2.opmode-display
net 2-drv-act-pos     lcec.0.1.srv-actual-position => cia402.2.drv-actual-position
net 2-drv-act-velo    lcec.0.1.srv-actual-velocity => cia402.2.drv-actual-velocity

#from cia402 to servo(ethercat) 
net 2-controlword         cia402.2.controlword => lcec.0.1.srv-cia-controlword
net 2-modes-of-operation  cia402.2.opmode => lcec.0.1.srv-opmode
net 2-drv-target-pos      cia402.2.drv-target-position => lcec.0.1.srv-target-position

#from motion to cia
net 2-enable    <= joint.2.amp-enable-out => cia402.2.enable
net 2-amp-fault => joint.2.amp-fault-in   <= cia402.2.drv-fault
net 2-pos-cmd   <= joint.2.motor-pos-cmd  => cia402.2.pos-cmd
net 2-pos-fb    => joint.2.motor-pos-fb   <= cia402.2.pos-fb


# =========================
# JOINT 3  (Z1) -> cia402.3 -> lcec.0.4
# =========================

#config
setp cia402.3.csp-mode 1
setp cia402.3.pos-scale 3600

#from servo(ethercat) to cia402
net 3-statusword      lcec.0.4.srv-cia-statusword => cia402.3.statusword
net 3-opmode-display  lcec.0.4.srv-opmode-display => cia402.3.opmode-display
net 3-drv-act-pos     lcec.0.4.srv-actual-position => cia402.3.drv-actual-position
net 3-drv-act-velo    lcec.0.4.srv-actual-velocity => cia402.3.drv-actual-velocity

#from cia402 to servo(ethercat) 
net 3-controlword         cia402.3.controlword => lcec.0.4.srv-cia-controlword
net 3-modes-of-operation  cia402.3.opmode => lcec.0.4.srv-opmode
net 3-drv-target-pos      cia402.3.drv-target-position => lcec.0.4.srv-target-position

#from motion to cia
net 3-enable    <= joint.3.amp-enable-out => cia402.3.enable
net 3-amp-fault => joint.3.amp-fault-in   <= cia402.3.drv-fault
net 3-pos-cmd   <= joint.3.motor-pos-cmd  => cia402.3.pos-cmd
net 3-pos-fb    => joint.3.motor-pos-fb   <= cia402.3.pos-fb

# =========================
# JOINT 4  (Z2) -> cia402.4 -> lcec.0.3
# =========================

#config
setp cia402.4.csp-mode 1
setp cia402.4.pos-scale 3600

#from servo(ethercat) to cia402
net 4-statusword      lcec.0.3.srv-cia-statusword => cia402.4.statusword
net 4-opmode-display  lcec.0.3.srv-opmode-display => cia402.4.opmode-display
net 4-drv-act-pos     lcec.0.3.srv-actual-position => cia402.4.drv-actual-position
net 4-drv-act-velo    lcec.0.3.srv-actual-velocity => cia402.4.drv-actual-velocity

#from cia402 to servo(ethercat) 
net 4-controlword         cia402.4.controlword => lcec.0.3.srv-cia-controlword
net 4-modes-of-operation  cia402.4.opmode => lcec.0.3.srv-opmode
net 4-drv-target-pos      cia402.4.drv-target-position => lcec.0.3.srv-target-position

#from motion to cia
net 4-enable    <= joint.4.amp-enable-out => cia402.4.enable
net 4-amp-fault => joint.4.amp-fault-in   <= cia402.4.drv-fault
net 4-pos-cmd   <= joint.4.motor-pos-cmd  => cia402.4.pos-cmd
net 4-pos-fb    => joint.4.motor-pos-fb   <= cia402.4.pos-fb




# End of HAL
  • Beovoxo
  • Beovoxo
20 Nov 2025 13:55
Replied by Beovoxo on topic linuxcnc_2.9.4-amd64.hybrid.iso cheksum?

linuxcnc_2.9.4-amd64.hybrid.iso cheksum?

Category: General LinuxCNC Questions

Hi all, i tested again today with a fresh download of  2.9.4 from the main page. And now i am stuck as all the other ones are at, the missing "amdpgu fault". 
Was there a solution on that fault ?, i cant decipher if there was one, on all the other forum posts with that fault. 
ibb.co/G4FrwL3t

If there is not a solution i will try the "mint" Tommylight uploaded :)
  • DemonClaW
  • DemonClaW
20 Nov 2025 13:44
Replied by DemonClaW on topic Beckhoff Problem with Communication (TwinCAT, LinuxCNC)

Beckhoff Problem with Communication (TwinCAT, LinuxCNC)

Category: EtherCAT

Yeah, of course i will hang it on as .png 
  • Hakan
  • Hakan
20 Nov 2025 13:30
Replied by Hakan on topic Beckhoff Problem with Communication (TwinCAT, LinuxCNC)

Beckhoff Problem with Communication (TwinCAT, LinuxCNC)

Category: EtherCAT

It was supposed to work out-of-the-box with the EL1014.
It's a pain when it doesn't.
Seems to be a new version with different PDO mapping.
Can you please give the "ethercat slave -v -p 3" info and I'll
open an issue on github to see if we can distinguish these with the new PDO
mapping from the old ones.
  • DemonClaW
  • DemonClaW
20 Nov 2025 13:17
Replied by DemonClaW on topic Beckhoff Problem with Communication (TwinCAT, LinuxCNC)

Beckhoff Problem with Communication (TwinCAT, LinuxCNC)

Category: EtherCAT

You were totaly right i looked at the script link you just gave me,

Please for every "Newbie" like me, can someone add "lcec_configgen -typedb=false" in his instructions thats a gamechanger at all
  • Red_D85
  • Red_D85
20 Nov 2025 13:02
an CIA402 Stepper/Servo as Spindle was created by Red_D85

an CIA402 Stepper/Servo as Spindle

Category: EtherCAT

Hallo at all

how can i get an CIA 402 Ethercat stepper work as spindle? I had 3axes (X Y Z) that works. Anybody can help?

Greetings
  • kor
  • kor
20 Nov 2025 13:00
Replied by kor on topic Ethercat installation from repositories - how to step by step

Ethercat installation from repositories - how to step by step

Category: EtherCAT

Finally I am a step further. But new problems did arise when installing the ethercat I get a couple errors:
dpkg: Abhängigkeitsprobleme verhindern Konfiguration von linux-image-rt-amd64:
 linux-image-rt-amd64 hängt ab von linux-image-6.1.0-41-rt-amd64 (= 6.1.158-1); aber:
  Paket linux-image-6.1.0-41-rt-amd64 ist noch nicht konfiguriert.

dpkg: Fehler beim Bearbeiten des Paketes linux-image-rt-amd64 (--configure):
 Abhängigkeitsprobleme - verbleibt unkonfiguriert
ethercat-master (1.6.8.g2543cc5-1+27.2) wird eingerichtet ...
ethercat.service is a disabled or a static unit, not starting it.
linuxcnc-ethercat (1.40.0.g8a607c0-0) wird eingerichtet ...
Trigger für man-db (2.11.2-2) werden verarbeitet ...
Trigger für libc-bin (2.36-9+deb12u13) werden verarbeitet ...
Trigger für initramfs-tools (0.142+deb12u3) werden verarbeitet ...
update-initramfs: Generating /boot/initrd.img-6.1.0-41-rt-amd64
raspi-firmware: missing /boot/firmware, did you forget to mount it?
run-parts: /etc/initramfs/post-update.d//z50-raspi-firmware exited with return code 1
dpkg: Fehler beim Bearbeiten des Paketes initramfs-tools (--configure):
 »installiertes post-installation-Skript des Paketes initramfs-tools«-Unterprozess gab den Fehlerwert 1 zurück
Fehler traten auf beim Bearbeiten von:
 linux-image-6.1.0-41-rt-amd64
 linux-image-rt-amd64
 initramfs-tools
linux-image-6.1.0-41-rt-amd64 not configured.
initramfs-tools returns error
  • Hakan
  • Hakan
20 Nov 2025 12:46
Replied by Hakan on topic Beckhoff Problem with Communication (TwinCAT, LinuxCNC)

Beckhoff Problem with Communication (TwinCAT, LinuxCNC)

Category: EtherCAT

Check "ethercat -p 3 pdos" and "ethercat -p 4 pdos", if they have PDOs at 0x3101 than that's the problem.
Check the link for how to configure those EL1014 with lcec_configgen -typedb=false 
and insert this into ethercat-conf.xml for slave 3 and 4, the EL1014s.
  • DemonClaW
  • DemonClaW
20 Nov 2025 12:34
Replied by DemonClaW on topic Beckhoff Problem with Communication (TwinCAT, LinuxCNC)

Beckhoff Problem with Communication (TwinCAT, LinuxCNC)

Category: EtherCAT

It looks very familiar to me, yeah

I posted the master Output after dmesg, too
It says taht the pdo is not mapped
  • Hakan
  • Hakan
20 Nov 2025 12:14
Replied by Hakan on topic Beckhoff Problem with Communication (TwinCAT, LinuxCNC)

Beckhoff Problem with Communication (TwinCAT, LinuxCNC)

Category: EtherCAT

There was a guy here just the other day that had EL1014 with a different PDO mapping
forum.linuxcnc.org/ethercat/57773-etherc...slave-signals#338260
Maybe it is something like that?
Can you also post the output from the command "sudo dmesg | tail -30" for error messages from Ethercat master.
  • Hakan
  • Hakan
20 Nov 2025 12:02 - 20 Nov 2025 12:07
Replied by Hakan on topic Ethercat installation from repositories - how to step by step

Ethercat installation from repositories - how to step by step

Category: EtherCAT

That won't work.
wiki.debian.org/SourcesList#Examples take the example for bookworm, I think you are on Debian 12.
You can add contrib to all lines, like "main contrib non-free" etc. Its says that on line 2 btw.
  • kor
  • kor
20 Nov 2025 11:55
Replied by kor on topic Ethercat installation from repositories - how to step by step

Ethercat installation from repositories - how to step by step

Category: EtherCAT

That seems to be the problem
/etc/apt/sources.list contains only one line and i guess it wants the DVD i used to install it:
deb cdrom:[Debian GNU/Linux 12 _Bookworm_ - Official Snapshot amd64 LIVE/INSTALL Binary 20250127-13:30]/ bookworm contrib main non-free non-free-firmware
  • DemonClaW
  • DemonClaW
20 Nov 2025 11:01
Replied by DemonClaW on topic Beckhoff Problem with Communication (TwinCAT, LinuxCNC)

Beckhoff Problem with Communication (TwinCAT, LinuxCNC)

Category: EtherCAT

These would be the new .hal and .xml file + the error code i got after starting
I made this data like the video told me to, expect the card config but im using supported base cards so i just changed the names for them
  • Murphy
  • Murphy
20 Nov 2025 10:51 - 20 Nov 2025 20:13
Replied by Murphy on topic Remora - ethernet NVEM / EC300 / EC500 cnc board

Remora - ethernet NVEM / EC300 / EC500 cnc board

Category: Computers and Hardware

Anyone else able to get a spindle encoder working In CSS mode with the RT1052?
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