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If its working, I think you should add a PR of the driver, not the proof of concept hall, inin anf\d GUI extensions

Here is a checklist of the key optimizations required for a `PREEMPT_RT` real-time kernel on Debian, specifically tailored for network performance on interface `eno1`.

### 1. BIOS/UEFI & Hardware Level

* Disable **Intel SpeedStep / AMD Cool'n'Quiet**
* Disable **Global C-States** (C1E, C3, C6, etc.)
* Disable **Intel Turbo Boost / AMD Core Performance Boost**
* Disable **Hyper-Threading (SMT)** *(highly recommended for strict determinism)*
* Disable **System Management Interrupts (SMIs)** / Advanced Power Management

### 2. Boot Command Line (`grub-customizer`)
lastcore = the last CPU you have. say its 3 on a 4 core CPU but yours may be different
* Add `isolcpus=3` to isolate specific CPU cores for RT tasks
* Add `nohz_full=3` to enable full dynticks on isolated cores
* Add `rcu_nocbs=3` to move RCU callbacks off isolated cores
* Add `processor.max_cstate=0` and `intel_idle.max_cstate=0`
* Add `pcie_aspm=off` (disables PCIe Active State Power Management)
* Add `skew_tick=1`

### 3. Network Interface (`eno1`) Optimizations

* Disable **Adaptive Interrupt Moderation** (`ethtool -C eno1 adaptive-rx off adaptive-tx off`)
* Set static interrupt coalescing to 0 (`ethtool -C eno1 rx-usecs 0 tx-usecs 0`)
* Disable offloads causing latency spikes:
* Generic Receive Offload (`ethtool -K eno1 gro off`)
* Large Receive Offload (`ethtool -K eno1 lro off`)
* TCP Segmentation Offload (`ethtool -K eno1 tso off`)
* Bind `eno1` queues to the single dedicated, isolated CPU core

### 4. Operating System & IRQ Tuning

* Increase the real-time priority of the `eno1` threaded IRQ handlers (using `chrt`)
* Set the `eno1` IRQ affinity mask to use isolated core
* Set the system power management policy to performance (`cpupower frequency-set -g performance`)
* Disable the `irqbalance` daemon (`systemctl disable irqbalance`)

 

Well guys, I switched to a humble dell optiplex 5050 and the everything works perfectly. 
nuclear option. It still bugs me I can’t figure out what’s wrong with the ASUS. But I’ll take the ‘win’ for now…

Do you have anther PC or another Mesa card to see which device is dropping the connection?

Guys, literally as I was typing that this only happens with MPG stimulus, the computer crashed as I was launching LinuxCNC in the background! I completely unplugged all encoders and launched LlnuxCNC again, and it crashed again. 
This is no longer an MPG issue! Its a random computer issue I cant figure out. 
The crappy part is every component on the computer is NEW, and tests fine. There has got to be some BIOS setting I am missing. 

At least I can stop chasing my tail on the MPG. Before anyone asks, the crash logs are blank, no reported errors.  

As a point of interest, there is still something screwy going on with the computer being able to find the 6i25...

Hi Mueke,

Der ethercat hal Driver wurde komplett überarbeitet.
Beachte diesen threat:
www.forum.linuxcnc.org/ethercat/58103-et...m-jitter-fix?start=0

Das GitHub repo ist hier:
github.com/linuxcnc-ethercat/linuxcnc-ethercat

Wenn du Hilfe benötigst, sag Bescheid 

Not sure but I don't get an error when using 'M99' in gmoccapy.

There is some ongoing development on the documentation so that maybe broke something.

M99 is not working in Gmoccapy. 


I tested it in master branch and in feature_g54_on_program_stop branch.
It doesnt work in both branch.
It works in Axis GUI. 

M99 link is not working too:
 

see updated link above, also note changed usage as I wanted to follow the 'disable_g92_persistence' setting.

for M99 see (I have never used it myself):
linuxcnc.org/docs/scratch/html/gcode/o-c...fanuc-style-programs

what is your machine spindle tool type? tooltall is for non repeatable holders or er collet type holders where the preet length in the holder is not static. probe basic's native setup is for repeatable holders such as bt30/40 cat40 etc

guys, the 7i77 is fed off an independent 5vdc power supply, switches are set appropriately.

I would like ask you for add this information in manual for M2 and M30 definition.

linuxcnc.org/docs/devel/html/gcode/m-code.html#mcode:m2-m30

How M99 works? What M99 do? I didnt find definition.

ok guys, overwhelming responses!! Thank you all for the awesome support!!

I do have a spindle, z, and x encoder, all attached to servo drives. I do not have the drives powered right now because I do not want to attach anything else for fear that I've done something wrong in the config/pin out. I can afford to replace an MPG, I cannot afford to replace a drive...

The original MPGs that came with the machine (Fryer ET18) are labeled as OLM-01-2AD by Maxmar Controls Inc. I presumed (as unlikley as it was) that both MPGs were bad because they both (X and Z) would crash the computer if they moved even one pulse.
The replacement MPGs are no-name Chinese, but are also 6 wire, 5VDC differential encoders. Pictures of those are in my previous posts. It doesnt appear to matter though, the new encoders make the machine behave the same as the old encoders. I am unable to find an official spec sheet for these, but the google claims they are standard quadrature A/B rotary MPG 5VD.

Hallo zusammen,

ich versuche aktuell einen StepperOnline 750W EtherCAT AC-Servomotor (17-bit Absolutencoder, ohne Bremse) in mein LinuxCNC System zu integrieren.

Der Motor ist bereits mechanisch und elektrisch angeschlossen (Netzfilter, Treiber, Motor + Encoder), soweit ist die Hardware grundsätzlich lauffähig.

Mein Ziel ist es, LinuxCNC als EtherCAT Master einzurichten, um zunächst den einzelnen Motor in Betrieb zu nehmen und später mehrere Achsen meiner Maschine schrittweise auf EtherCAT umzubauen.

Ich hatte bereits einen ersten Installationsversuch mit EtherCAT (vermutlich IgH oder SOEM / LinuxCNC Integration), dabei traten jedoch wiederholt Fehler auf. Nach meiner (mehr GPT) Analyse waren vermutlich noch Reste einer früheren (nicht sauberen) Installation bzw. evtl. Raspberry-Pi-bezogene Pakete oder Konfigurationen im System vorhanden, die Konflikte verursacht haben könnten. Diese habe ich inzwischen entfernt bzw. bereinigt, mit GPT .

Aktuell möchte ich deshalb bewusst mit einer sauberen und nachvollziehbaren Schritt-für-Schritt Anleitung neu beginnen, da ich vermeiden möchte, erneut eine fehlerhafte Konfiguration aufzubauen, die ich nicht verstehe.

Ziel ist es zunächst:
- einen einzelnen EtherCAT Servo in LinuxCNC zu betreiben
- einfache Bewegungen und Tests durchzuführen
- später schrittweise weitere Motoren der Maschine (Masacard/Alt-System) auf EtherCAT umzubauen
- langfristig die gesamte Anlage auf EtherCAT umzustellen

---

## Systeminformationen

Distribution:
Debian GNU/Linux 12 (bookworm)

Kernel:
6.1.0-48-rt-amd64 (PREEMPT_RT)

LinuxCNC:
2.9.8 (linuxcnc-uspace)

CPU:
Intel Core i3-6100 @ 3.70 GHz (4 Threads)

RAM:
8 GB

Storage:
Toshiba SSD ~120 GB (ext4)

Network:
- enp1s0: Realtek RTL8111/8168/8411 (r8168 driver) – DOWN
- enp2s0: Realtek RTL8111/8168/8411 (r8168 driver) – UP (100 Mbit/s)

Kernel Modules:
r8168 driver is used for both NICs

PCI:
Intel H110 chipset system

---

## Kernel / RT Status

PREEMPT_RT kernel is active and confirmed.

---

## Frage

Ich suche eine saubere, empfohlene Vorgehensweise zur Installation und Konfiguration von EtherCAT (z. B. IgH EtherCAT Master oder alternative Lösung) in Kombination mit LinuxCNC 2.9.x auf Debian 12 RT.

Wichtig ist mir vor allem:
- stabile Echtzeitfähigkeit
- keine “versteckten” alten Pakete oder Konflikte
- möglichst nachvollziehbare Schritt-für-Schritt Installation
- Empfehlung für Netzwerkinterface (Realtek vs. alternative NIC falls nötig)

Vielen Dank für jede Hilfe!
Mücke

Hello guys :DAfter a lot of troubleshooting - and even trying out another motor driver (Festo CMMT-AS), which I found out wayyyyy too late was not suited for the planned use case - I ended up settling back on the Danfoss VFD. I finally got it working after over a year of trying! In case anybody wants to use a Danfoss VFD like this in their CNC mill or a similar setup, they are really cheap on eBay right now. This one is even equipped with the required EtherCAT communication module (MCA124 - quite hard to find). eBay link: www.ebay.de/itm/327118691814The files can also be found in my fork of the linuxcnc-ethercat project. I'm not sure whether I will make a pull request for these implementations, due to vibe-coding reasons. GitHub repo: github.com/PedPEx/linuxcnc-ethercatA detailed 'manual' is attached in the form of a Markdown file. You will just have to manually remove the .txt file extension.In case you need further details or anything similar, just let me know :)