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  • cnbbom
  • cnbbom
07 Jan 2026 19:07
Replied by cnbbom on topic New and Working RTAI debs for 2.9

New and Working RTAI debs for 2.9

Category: Installing LinuxCNC

Happy 2026 to all.
Please inform me what kind of error this is when starting linuxcnc Rtai debian13



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/realtime-5.4.290-rtai-amd64/modules/linuxcnc
LINUXCNC_CONFIG_DIR=
LINUXCNC_LANG_DIR=/usr/lib/tcltk/linuxcnc/msgs
INIVAR=inivar
HALCMD=halcmd
LINUXCNC_EMCSH=/usr/bin/wish8.6
LINUXCNC - 2.9.8
Machine configuration directory is '/home/cnc3axis/linuxcnc/configs/my-mill'
Machine configuration file is 'my-mill.ini'
INIFILE=/home/cnc3axis/linuxcnc/configs/my-mill/my-mill.ini
VERSION=1.1
PARAMETER_FILE=linuxcnc.var
TPMOD=
HOMEMOD=
TASK=milltask
HALUI=
DISPLAY=axis
COORDINATES=X Y Z
KINEMATICS=trivkins coordinates=XYZ
Starting LinuxCNC...
Starting LinuxCNC server program: linuxcncsvr
Loading Real Time OS, RTAPI, and HAL_LIB modules
Starting LinuxCNC IO program: io
linuxcnc TPMOD=tpmod HOMEMOD=homemod EMCMOT=motmod
Found file(REL): ./my-mill.hal
Found file(REL): ./custom.hal
Starting TASK program: milltask
Starting DISPLAY program: axis
Shutting down and cleaning up LinuxCNC...
task: 173 cycles, min=0.000004, max=0.013482, avg=0.009198, 0 latency excursions (> 10x expected cycle time of 0.010000s)
Removing HAL_LIB, RTAPI, and Real Time OS modules
Removing NML shared memory segments

Debug file information:
note: MAXV     max: 137.000 units/sec 8220.000 units/min
note: LJOG     max: 137.000 units/sec 8220.000 units/min
note: LJOG default: 13.700 units/sec 822.000 units/min
note: jog_order='XYZ'
note: jog_invert=set()
2950
malloc(): unsorted double linked list corrupted
3020
Stopping realtime threads
Unloading hal components

Kernel message information:
[  402.698255] I-pipe: head domain RTAI registered.
[  402.698257] RTAI[hal]: mounted. ISOL_CPUS_MASK: 0.
[  402.698259] SYSINFO - # CPUs: 4, TIMER NAME: 'lapic-deadline', TIMER IRQ: 4355, TIMER FREQ: 424048632, CLOCK NAME: 'tsc', CLOCK FREQ: 3392293000, CPU FREQ: 3392293000, LINUX TIMER IRQ: 4355.
[  402.702297] RTAI[malloc]: global heap size = 2097152 bytes, <BSD>.
[  402.702324] kstacks pool size = 524288 bytes
[  402.702325] RTAI[sched]: hard timer type/freq = lapic-deadline/424048632(Hz)
[  402.702325] linear timed lists.
[  402.702326] RTAI[sched]: Linux timer freq = 250 (Hz), TimeBase freq = 3392293000 hz.
[  402.702326] RTAI[sched]: timer setup = 90 ns, resched latency = 0 ns.
[  402.715421] USERMODE CHECK: OK.
[  402.715422] USERMODE CHECK PROVIDED (ns): KernelLatency 1165, UserLatency 1867.
[  402.715423] FINAL CALIBRATION SUMMARY (ns): KernelLatency 1165, UserLatency 1867.
[  402.719591] RTAI[math]: loaded integrated musl libm version 1.2.3.
[  402.760494] config string '0 out'


 
File Attachment:
=====>>   [  403.068800] xfdesktop[871]: segfault at 18 ip 00007fe8f41d7dd7 sp 00007ffd5fbed7e0 error 4 in libc.so.6[7fe8f4161000+165000]

[  403.068814] Code: dd 07 00 48 83 ec 08 48 8b 4f 08 48 89 c8 48 83 e0 f8 48 3b 04 07 0f 85 a9 00 00 00 f3 0f 6f 47 10 48 8b 57 18 66 48 0f 7e c0 <48> 3b 78 18 75 7b 48 3b 7a 10 75 75 48 8b 77 10 48 89 50 18 66 0f


File Attachment:
 =======>>    [  404.365328] axis[3055]: segfault at 0 ip 0000000000530730 sp 00007fff6a8ab700 error 6 in python3.13[420000+31f000]


[  404.365333] Code: 41 54 55 48 89 fd 53 48 83 ec 18 48 8b 57 f0 48 85 d2 0f 84 32 02 00 00 48 8b 4f f8 48 8b 42 08 48 83 e1 fc 83 e0 03 48 09 c8 <48> 89 11 48 89 42 08 48 c7 47 f0 00 00 00 00 48 83 67 f8 01 64 4c
[  406.905822] RTAI[math]: unloaded.
[  406.960250] SCHED releases registered named ALIEN PEDV$D
[  406.961994] RTAI[malloc]: unloaded.
[  407.068242] RTAI[sched]: unloaded (forced hard/soft/hard transitions: traps 0, syscalls 0).
[  407.086079] I-pipe: head domain RTAI unregistered.
[  407.086083] RTAI[hal]: unmounted.
  • vibram
  • vibram
07 Jan 2026 18:48
Replied by vibram on topic Spindle Encoder: Float Precision Issues

Spindle Encoder: Float Precision Issues

Category: HAL

Hello Daniel,I have exactly the same setup as you.
Do you mind sharing your Hal and ini file for this specific parts please? It would save me a lot of time

Thank you in advance
  • strawberry.blondish
  • strawberry.blondish
07 Jan 2026 17:41
RPi GPIO .hal and .ini from scratch, without hardware, should the GUI open? was created by strawberry.blondish

RPi GPIO .hal and .ini from scratch, without hardware, should the GUI open?

Category: Basic Configuration

Hello guys!

I have been trying to switch over from an online system with GRBL Teensy 4.1 with ioSender to a Raspberry Pi 4B LinuxCNC configuration for an 3-axis milling machine. The tricky part is that I am trying to make a configuration that uses the GPIO pins from the RPi instead of using a parallel port hat or a Mesa board. I am an absolute noob, with this being my first post.

Going based off some instructional files I found online and demos for the few who have done this, I have gotten to where I am today. The PDF is in Italian but can be easily inserted into Google Translate. The .hal was the demo I referenced for setting up my .hal.

 

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My version, rpi-4-debian-bookworm-6.12.11-arm64-ext4-2025-01-27-0404.img.xz, should have PREEMPT-RT. These are my .ini and .hal files that I have made for my 3-axis CNC machine.

 

Attachment not found


 

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The problem is that when I run cd ~/linuxcnc/configs/my-rpigpio/ linuxcnc my-rpigpio.ini linuxcnc will tease me with the bootup screen, and then in the terminal I get this:

LINUXCNC - 2.9.4 Machine configuration directory is '/home/cnc/linuxcnc/configs/my-rpigpio' Machine configuration file is 'my-rpigpio.ini' Starting LinuxCNC... linuxcnc TPMOD=tpmod HOMEMOD=homemod EMCMOT=motmod Note: Using POSIX realtime Found file(REL): ./my-rpigpio.hal motion: dlopen: /usr/lib/linuxcnc/modules/motion.so: cannot open shared object file: No such file or directory ./my-rpigpio.hal:7: waitpid failed /usr/bin/rtapi_app motion ./my-rpigpio.hal:7: /usr/bin/rtapi_app exited without becoming ready ./my-rpigpio.hal:7: insmod for motion failed, returned -1 Shutting down and cleaning up LinuxCNC... Note: Using POSIX realtime LinuxCNC terminated with an error.  You can find more information in the log:     /home/cnc/linuxcnc_debug.txt and     /home/cnc/linuxcnc_print.txt as well as in the output of the shell command 'dmesg' and in the terminal

With none of my hardware connected, should I even be expecting the LinuxCNC GUI to open? I feel I have too much stuff in my .hal file and it may be looking for components that don't exist, and that is why my LinuxCNC GUI is not opening.
  • PCW
  • PCW's Avatar
07 Jan 2026 17:32 - 07 Jan 2026 17:32
Replied by PCW on topic El5101 possible overflow?

El5101 possible overflow?

Category: EtherCAT

There is a related thread here:

forum.linuxcnc.org/24-hal-components/581...oat-precision-issues

The conclusion is that there is not an issue.
  • NickH
  • NickH
07 Jan 2026 17:01 - 07 Jan 2026 22:29
Replied by NickH on topic Installing ethercat repositories

Installing ethercat repositories

Category: EtherCAT

Also having problems installing and building Ethercat Master. I have tried the first script at the top ofthe thread(editing Deb12 for Deb13) and the new updated script and still get SSL errors, listed below.
Linux headers are installed and latest for rt kernel.

SSL errors:
root@chewy:/home/nick/ethercat-master# make modules_install install
make -C "/usr/src/linux-headers-6.12.57+deb13-rt-amd64" M="/home/nick/ethercat-master" INSTALL_MOD_DIR="ethercat" modules_install
make[1]: Entering directory '/usr/src/linux-headers-6.12.57+deb13-rt-amd64'
INSTALL /lib/modules/6.12.57+deb13-rt-amd64/ethercat/examples/mini/ec_mini.ko
SIGN /lib/modules/6.12.57+deb13-rt-amd64/ethercat/examples/mini/ec_mini.ko
At main.c:171:
- SSL error:FFFFFFFF80000002:system library::No such file or directory: ../crypto/bio/bss_file.c:67
- SSL error:10000080:BIO routines::no such file: ../crypto/bio/bss_file.c:75
sign-file: /usr/src/linux-headers-6.12.57+deb13-common-rt/output/signing_key.pem
XZ /lib/modules/6.12.57+deb13-rt-amd64/ethercat/examples/mini/ec_mini.ko.xz
INSTALL /lib/modules/6.12.57+deb13-rt-amd64/ethercat/master/ec_master.ko
SIGN /lib/modules/6.12.57+deb13-rt-amd64/ethercat/master/ec_master.ko
At main.c:171:
- SSL error:FFFFFFFF80000002:system library::No such file or directory: ../crypto/bio/bss_file.c:67
- SSL error:10000080:BIO routines::no such file: ../crypto/bio/bss_file.c:75
sign-file: /usr/src/linux-headers-6.12.57+deb13-common-rt/output/signing_key.pem
XZ /lib/modules/6.12.57+deb13-rt-amd64/ethercat/master/ec_master.ko.xz
INSTALL /lib/modules/6.12.57+deb13-rt-amd64/ethercat/devices/ec_generic.ko
SIGN /lib/modules/6.12.57+deb13-rt-amd64/ethercat/devices/ec_generic.ko
At main.c:171:
- SSL error:FFFFFFFF80000002:system library::No such file or directory: ../crypto/bio/bss_file.c:67
- SSL error:10000080:BIO routines::no such file: ../crypto/bio/bss_file.c:75
sign-file: /usr/src/linux-headers-6.12.57+deb13-common-rt/output/signing_key.pem
XZ /lib/modules/6.12.57+deb13-rt-amd64/ethercat/devices/ec_generic.ko.xz
INSTALL /lib/modules/6.12.57+deb13-rt-amd64/ethercat/devices/r8169/ec_r8169.ko
SIGN /lib/modules/6.12.57+deb13-rt-amd64/ethercat/devices/r8169/ec_r8169.ko
At main.c:171:
- SSL error:FFFFFFFF80000002:system library::No such file or directory: ../crypto/bio/bss_file.c:67
- SSL error:10000080:BIO routines::no such file: ../crypto/bio/bss_file.c:75
sign-file: /usr/src/linux-headers-6.12.57+deb13-common-rt/output/signing_key.pem
XZ /lib/modules/6.12.57+deb13-rt-amd64/ethercat/devices/r8169/ec_r8169.ko.xz
DEPMOD /lib/modules/6.12.57+deb13-rt-amd64
Warning: modules_install: missing 'System.map' file. Skipping depmod.
make[1]: Leaving directory '/usr/src/linux-headers-6.12.57+deb13-rt-amd64'
Making install in include
make[1]: Entering directory '/home/nick/ethercat-master/include'
make[2]: Entering directory '/home/nick/ethercat-master/include'
make[2]: Nothing to be done for 'install-exec-am'.
/usr/bin/mkdir -p '/usr/local/include'
/usr/bin/install -c -m 644 ecrt.h ectty.h '/usr/local/include'
make[2]: Leaving directory '/home/nick/ethercat-master/include'
make[1]: Leaving directory '/home/nick/ethercat-master/include'
Making install in script
make[1]: Entering directory '/home/nick/ethercat-master/script'
make[2]: Entering directory '/home/nick/ethercat-master/script'
/usr/bin/mkdir -p '/etc'
/usr/bin/install -c -m 644 ethercat.conf '/etc'
/usr/bin/mkdir -p '/usr/local/sbin'
/usr/bin/install -c ethercatctl '/usr/local/sbin'
/usr/bin/mkdir -p '/usr/local/share/bash-completion/completions'
/usr/bin/install -c -m 644 ethercat.bash_completion '/usr/local/share/bash-completion/completions'
/usr/bin/mkdir -p '/etc/init.d'
/usr/bin/install -c init.d/ethercat '/etc/init.d'
/usr/bin/mkdir -p '/etc/sysconfig'
/usr/bin/install -c -m 644 ethercat '/etc/sysconfig'
make install-data-hook

Can anyone help me put this right please?

##Fresh start, reinstalled## 
  • PCW
  • PCW's Avatar
07 Jan 2026 16:01
Replied by PCW on topic 7i92M + 7i76 add PWM+PktUART

7i92M + 7i76 add PWM+PktUART

Category: Driver Boards

Unfortunately the serial interface on the 7I76 is RS-422 only so not suitable for Modbus
which normally requires a 2 wire (RS-485) connection.

You could add a single chip RS-485 adapter to the second 7I92 connector though.

Perhaps using a SP491 with the proper RS-485 bias resistors
 
  • PCW
  • PCW's Avatar
07 Jan 2026 15:52
Replied by PCW on topic Servos drives directly start turning

Servos drives directly start turning

Category: General LinuxCNC Questions

Encoder issue? Did you that  both encoders work?
Are they Scaled properly and in the correct direction?

Why does one joint have the scale reversed?

If the axis drifts when enabled, encoder feedback --> PID --> analog output  is not working

If the axis runs away when enabled you most likely have the feedback loop reversed

Unless both motors hold position when enable (and resist applied torque)
the feedback loop is not working and needs to be checked on part at a time
  • PCW
  • PCW's Avatar
07 Jan 2026 15:40
Replied by PCW on topic Bitfile for Mesa 7i96s + 7i85 (+Modbus (PKT-Pin))

Bitfile for Mesa 7i96s + 7i85 (+Modbus (PKT-Pin))

Category: Driver Boards

If you are not sure of sserial port locations sure you could always:

sserial_port_0=00000000

Also on mesaflash you can show the daughtercard pinout with (for example):mesaflash --device Ethernet --addr 10.10.10 --dbnbame3 7i85 --readhmid
  • nick.smith
  • nick.smith
07 Jan 2026 15:39
Replied by nick.smith on topic 4th axis scale factor (steps per degree)

4th axis scale factor (steps per degree)

Category: PathPilot

This is the one I bought.

www.amazon.com/dp/B07B2RTBGZ
  • TripleM
  • TripleM
07 Jan 2026 14:41
Replied by TripleM on topic Bitfile for Mesa 7i96s + 7i85 (+Modbus (PKT-Pin))

Bitfile for Mesa 7i96s + 7i85 (+Modbus (PKT-Pin))

Category: Driver Boards

The 7I84 is connected to 7I85 TB2 pins 10..16.

for test I have flashed the 7i96s + 7i85 firmware.

So I think this is the correct load line?!  Or have I misunderstood something?
loadrt hm2_eth board_ip="192.168.1.121" config="num_encoders=6 num_pwmgens=1 num_stepgens=9 sserial_port_0=x2xxxx"

Configuration Name: HOSTMOT2

General configuration information:

  BoardName : MESA7I96
  FPGA Size: 20 KGates
  FPGA Pins: 256
  Number of IO Ports: 3
  Width of one I/O port: 17
  Clock Low frequency: 100.0000 MHz
  Clock High frequency: 200.0000 MHz
  IDROM Type: 3
  Instance Stride 0: 4
  Instance Stride 1: 64
  Register Stride 0: 256
  Register Stride 1: 256

Modules in configuration:

  Module: DPLL
  There are 1 of DPLL in configuration
  Version: 0
  Registers: 7
  BaseAddress: 7000
  ClockFrequency: 100.000 MHz
  Register Stride: 256 bytes
  Instance Stride: 4 bytes

  Module: WatchDog
  There are 1 of WatchDog in configuration
  Version: 0
  Registers: 3
  BaseAddress: 0C00
  ClockFrequency: 100.000 MHz
  Register Stride: 256 bytes
  Instance Stride: 4 bytes

  Module: IOPort
  There are 3 of IOPort in configuration
  Version: 0
  Registers: 5
  BaseAddress: 1000
  ClockFrequency: 100.000 MHz
  Register Stride: 256 bytes
  Instance Stride: 4 bytes

  Module: OutM
  There are 1 of OutM in configuration
  Version: 0
  Registers: 1
  BaseAddress: B000
  ClockFrequency: 100.000 MHz
  Register Stride: 256 bytes
  Instance Stride: 4 bytes

  Module: PWM
  There are 1 of PWM in configuration
  Version: 0
  Registers: 5
  BaseAddress: 4100
  ClockFrequency: 200.000 MHz
  Register Stride: 256 bytes
  Instance Stride: 4 bytes

  Module: StepGen
  There are 9 of StepGen in configuration
  Version: 2
  Registers: 10
  BaseAddress: 2000
  ClockFrequency: 100.000 MHz
  Register Stride: 256 bytes
  Instance Stride: 4 bytes

  Module: MuxedQCount
  There are 6 of MuxedQCount in configuration
  Version: 4
  Registers: 5
  BaseAddress: 3600
  ClockFrequency: 100.000 MHz
  Register Stride: 256 bytes
  Instance Stride: 4 bytes

  Module: MuxedQCountSel
  There are 1 of MuxedQCountSel in configuration
  Version: 0
  Registers: 0
  BaseAddress: 0000
  ClockFrequency: 100.000 MHz
  Register Stride: 256 bytes
  Instance Stride: 4 bytes

  Module: SSerial
  There are 1 of SSerial in configuration
  Version: 0
  Registers: 6
  BaseAddress: 5B00
  ClockFrequency: 100.000 MHz
  Register Stride: 256 bytes
  Instance Stride: 64 bytes

  Module: SSR
  There are 1 of SSR in configuration
  Version: 0
  Registers: 2
  BaseAddress: 7D00
  ClockFrequency: 100.000 MHz
  Register Stride: 256 bytes
  Instance Stride: 4 bytes

  Module: InM
  There are 1 of InM in configuration
  Version: 0
  Registers: 5
  BaseAddress: 8500
  ClockFrequency: 100.000 MHz
  Register Stride: 256 bytes
  Instance Stride: 4 bytes

  Module: LED
  There are 1 of LED in configuration
  Version: 0
  Registers: 1
  BaseAddress: 0200
  ClockFrequency: 100.000 MHz
  Register Stride: 256 bytes
  Instance Stride: 4 bytes

Configuration pin-out:

IO Connections for TB3 -> 7I96_0
Pin#                  I/O   Pri. func    Sec. func        Chan     Sec. Pin func   Sec. Pin Dir

TB3-1                   0   IOPort       InM              0        Input0_EncA0    (In)
TB3-2                   1   IOPort       InM              0        Input1_EncB0    (In)
TB3-3                   2   IOPort       InM              0        Input2_EncA1    (In)
TB3-4                   3   IOPort       InM              0        Input3_EncB1    (In)
TB3-5                   4   IOPort       InM              0        Input4_EncA2    (In)
TB3-6                   5   IOPort       InM              0        Input5_EncB2    (In)
TB3-7                   6   IOPort       InM              0        Input6_EncA3    (In)
TB3-8                   7   IOPort       InM              0        Input7_EncB3    (In)
TB3-9                   8   IOPort       InM              0        Input8          (In)
TB3-10                  9   IOPort       InM              0        Input9          (In)
TB3-11                 10   IOPort       InM              0        Input10         (In)
TB3-13,14              11   IOPort       SSR              0        Out-00          (Out)
TB3-15,16              12   IOPort       SSR              0        Out-01          (Out)
TB3-17,18              13   IOPort       SSR              0        Out-02          (Out)
TB3-19,20              14   IOPort       SSR              0        Out-03          (Out)
TB3-21,22              15   IOPort       OutM             0        Output4         (Out)
TB3-23,24              16   IOPort       OutM             0        Output5         (Out)

IO Connections for TB1/TB2 -> 7I96_1
Pin#                  I/O   Pri. func    Sec. func        Chan     Sec. Pin func   Sec. Pin Dir

TB1-2,3                17   IOPort       StepGen          0        Step/Table1     (Out)
TB1-4,5                18   IOPort       StepGen          0        Dir/Table2      (Out)
TB1-8,9                19   IOPort       StepGen          1        Step/Table1     (Out)
TB1-10,11              20   IOPort       StepGen          1        Dir/Table2      (Out)
TB1-14,15              21   IOPort       StepGen          2        Step/Table1     (Out)
TB1-16,17              22   IOPort       StepGen          2        Dir/Table2      (Out)
TB1-20,21              23   IOPort       StepGen          3        Step/Table1     (Out)
TB1-22,23              24   IOPort       StepGen          3        Dir/Table2      (Out)
TB2-2,3                25   IOPort       StepGen          4        Step/Table1     (Out)
TB2-4,5                26   IOPort       StepGen          4        Dir/Table2      (Out)
TB2-7,8                27   IOPort       MuxedQCount      2        MuxQ-A          (In)
TB2-10,11              28   IOPort       MuxedQCount      2        MuxQ-B          (In)
TB2-13,14              29   IOPort       MuxedQCount      2        MuxQ-IDX        (In)
TB2-16,17              30   IOPort       SSerial          0        RXData0         (In)
TB2-18,19              31   IOPort       SSerial          0        TXData0         (Out)
Internal-TXEn          32   IOPort       SSerial          0        TXEn0           (Out)
Internal               33   IOPort       SSR              0        AC Ref          (Out)

IO Connections for P1 -> 7I96_2
Pin#                  I/O   Pri. func    Sec. func        Chan     Sec. Pin func   Sec. Pin Dir

P1-01/DB25-01          34   IOPort       SSerial          0        RXData5         (In)
P1-02/DB25-14          35   IOPort       SSerial          0        TXData5         (Out)
P1-03/DB25-02          36   IOPort       SSerial          0        RXData4         (In)
P1-04/DB25-15          37   IOPort       SSerial          0        TXData4         (Out)
P1-05/DB25-03          38   IOPort       SSerial          0        RXData3         (In)
P1-06/DB25-16          39   IOPort       SSerial          0        TXData3         (Out)
P1-07/DB25-04          40   IOPort       SSerial          0        RXData2         (In)
P1-08/DB25-17          41   IOPort       SSerial          0        TXData2         (Out)
P1-09/DB25-05          42   IOPort       SSerial          0        RXData1         (In)
P1-11/DB25-06          43   IOPort       SSerial          0        TXData1         (Out)
P1-13/DB25-07          44   IOPort       MuxedQCountSel   0        MuxSel0         (Out)
P1-15/DB25-08          45   IOPort       MuxedQCount      0        MuxQ-A          (In)
P1-17/DB25-09          46   IOPort       MuxedQCount      0        MuxQ-B          (In)
P1-19/DB25-10          47   IOPort       MuxedQCount      0        MuxQ-IDX        (In)
P1-21/DB25-11          48   IOPort       MuxedQCount      1        MuxQ-A          (In)
P1-23/DB25-12          49   IOPort       MuxedQCount      1        MuxQ-B          (In)
P1-25/DB25-13          50   IOPort       MuxedQCount      1        MuxQ-IDX        (In)

 
  • vibram
  • vibram
07 Jan 2026 14:27
El5101 possible overflow? was created by vibram

El5101 possible overflow?

Category: EtherCAT

Hello 
I have a spindle encoder with a quadrature signal. 
It will be wired to a El5101 but I'm worried about a possible variable overflow as I have 2000 ppr and my spindle can go up to 3000rpm. 
I don't think I'm the first one in this situation. How I can handle it? 

Thank you for your help 
  • rodw
  • rodw's Avatar
07 Jan 2026 11:26
Replied by rodw on topic LinuxCNC S-Curve Accelerations

LinuxCNC S-Curve Accelerations

Category: General LinuxCNC Questions

I really think this discussion of latency is irrelevant. I've had my doubts about 2 core CPU's being adequate for a few years but with careful tuning they work for some.

Either the latency is acceptable or it isn't on a specific PC. There is no hard and fast rule for what is acceptable.You all seem to be working with ethercat or Mesa devices so system latency is no longer relevant if the  system is correctly set up to minimize system processes that cause periodic latency spikes.

Network latency is a fairly new concept for Linuxcnc users and has only been an issue since the release of Debian Bullseye but that coincides with increased power saving technology and an insistence by kernel developers to use fully open source network drivers and not incorporate the Realtek DKMS drivers where full source is not available.

I really would like to see actual results discussed,  not theoretical dicussions about what might work and what might not. From kernel traces, I know there is a spare 800 ns on most systems before latency will be an issue. I am sure that is more than enough to support any additional processing.
  • unknown
  • unknown
07 Jan 2026 10:50
Replied by unknown on topic RPi CM5 on Mesa Ethernet 7i95

RPi CM5 on Mesa Ethernet 7i95

Category: General LinuxCNC Questions

Please use this image:
drive.google.com/file/d/1CoO_2y7iDTwtubG...VSw/view?usp=sharing

Usually a no carrier issue would be a cable issue between the RPi5 & Mesa board (the drivers have been loaded), has the Mesa board booted correctly ?

Bear in mind that the kernel used is directly from the Raspberry Pi repos, ie it is not a custom kernel other than being RT capable. The RPi kernel build instruction make no differentiation between any of the "5" series. The all use the same kernel. Neither is there special options related to ethernet for the CM5 in the config.txt file.

It may help if you can provide a link to the carrier board.

The best place for any issues relating to the current Trixie images is at the link below as I don't use the forum as often as I used to. There is no need to raise an issue as I'm aware of it.
github.com/ozzyrob/linuxcnc-rpi-2.9.7-image-issues
  • grandixximo
  • grandixximo's Avatar
07 Jan 2026 09:00 - 07 Jan 2026 09:06
Replied by grandixximo on topic LinuxCNC S-Curve Accelerations

LinuxCNC S-Curve Accelerations

Category: General LinuxCNC Questions

We have our own proprietary protocol, but you can take a look at this, it's very similar to our own work:

linuxcnc.org/docs/2.8/html/man/man1/linuxcncrsh.1.html

It's all good and well, but let's try to stay on topic, I'm more interested in tp0 vs tp1 issues, or other S-curve/blending related topics.
  • zmrdko
  • zmrdko's Avatar
07 Jan 2026 08:49
Replied by zmrdko on topic LinuxCNC S-Curve Accelerations

LinuxCNC S-Curve Accelerations

Category: General LinuxCNC Questions

Hello grandixximo,

amazing work, I have cloned your repo and tested rip install on my i7 9700k.
I have just read in your last post, that you are using external UI, which is brilliant idea - to offload system running linuxcnc and use UI on another PC.
Can you share some details, if it's possible?

Thank you very much for you work, time and effort.
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