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Can we merge these two topics, seems way easier for users to find as the only variable is the CPU.
Or am i missing something?
Thank you, either way.

A short video tutorial would be really nice.
Thank you.

Parallel port, make the machine work, see if you can be content with what it can do, then decide if you want to upgrade.
Emco usually use parallel port, so the upgrade from parallel would be Mesa 7i92T and an IDC26 to DB25 cable, plug and play etc, etc.
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This is personal, so take this as you see fit, but i do not use RPI and probably never will, as 1. they are way to much fuss for everything, and 2. they are way more expensive than a good used laptop with touchscreen so when you add the screen and the other stuff needed it usually comes to twice more expensive than that laptop.
And that laptop will beat the living sh#t out of RPI for everything.
See Lenovo X1 Yoga, or Y370 or Y380, but beware that despite several of mine and other members here, yours might end up not usable, it is a risk, but for me definitely worth taking as i can find those from 120 to 220 Euro a piece in perfect condition.

forum.linuxcnc.org/10-advanced-configura...to-example-mesa-7i77
Skip to the part about wiring and tuning.

RMJ wrote:

All I had to do was switch this setting from automatic to manual in the network settings and boom works now!

If you used this:
forum.linuxcnc.org/27-driver-boards/3559...ethernet-mesa-boards
It clearly states to change that to manual.

www.welectron.com
Should be added to first post, they are in Germany and been keeping a steady stock of Mesa boards, i did order from them several times and everything was fine. My sister lives in Germany so the shipping goes to her, usually in 2-4 days, and then i have to wait about a week or two to get them here.
Also the link to duzi.cz and cncmonster should be removed, duzi has security certificate issues and the shop is 404, cncmonster seems to have moved to other things.

If you have no position control, I would check:

1. The PID values

2. Does the analog out voltage change as the axis drifts?

3. Does the analog output voltage control the axis velocity?
 

So the encoder is now counting but the 4th just slowly rotates until I get a following error. This encoder does not have an index wire, do i need to change anything in my hal file? I was thinking this might have something to do with the random motion...
Thank you for your help!! 

# This file was created with the Mesa Configuration Tool on Aug 27 2026 19:07:25
# If you make changes to this file DO NOT run the configuration tool again!
# This file will be replaced with a new file if you do!

# kinematics
loadrt [KINS](KINEMATICS)

# motion controller
loadrt [EMCMOT](EMCMOT) servo_period_nsec=[EMCMOT](SERVO_PERIOD) num_joints=[KINS](JOINTS)

# hostmot2 driver
loadrt hostmot2
loadrt [HM2](DRIVER) board_ip=[HM2](ADDRESS) config="num_encoders=6 num_pwmgens=6 sserial_port_0=00000000"

setp hm2_[MESA](BOARD).0.watchdog.timeout_ns 7500000

loadrt pid names=pid.x,pid.y,pid.z,pid.a

# THREADS
addf hm2_[MESA](BOARD).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.a.do-pid-calcs servo-thread
addf hm2_[MESA](BOARD).0.write servo-thread

# amp enable
net motion-enable <= motion.motion-enabled

# Global PWM setup
setp hm2_[MESA](BOARD).0.pwmgen.pwm_frequency 75000

# Board: 7i97t

# Axis: X Joint: 0 Output: 0
# PID Setup
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

# joint-0 enable chain
net joint-0-index-enable <=> pid.x.index-enable
net joint-0-index-enable <=> joint.0.index-enable
net joint-0-index-enable <=> hm2_[MESA](BOARD).0.encoder.00.index-enable

net joint-0-enable <= joint.0.amp-enable-out
net joint-0-enable => pid.x.enable
net joint-0-enable => hm2_[MESA](BOARD).0.pwmgen.00.enable

# PWM Generator setup
setp hm2_[MESA](BOARD).0.pwmgen.00.dither true
setp hm2_[MESA](BOARD).0.pwmgen.00.output-type 1 #PWM pin0
setp hm2_[MESA](BOARD).0.pwmgen.00.offset-mode 1 # offset mode so 50% = 0
setp hm2_[MESA](BOARD).0.pwmgen.00.scale [JOINT_0]SCALE

# position command and feedback
net joint-0-pos-cmd <= joint.0.motor-pos-cmd
net joint-0-pos-cmd => pid.x.command

net joint-0-pos-fb <= hm2_[MESA](BOARD).0.encoder.00.position
net joint-0-pos-fb => joint.0.motor-pos-fb
net joint-0-pos-fb => pid.x.feedback

# PID Output
net joint.0.output <= pid.x.output
net joint.0.output => hm2_[MESA](BOARD).0.pwmgen.00.value

# Encoder Setup
setp hm2_[MESA](BOARD).0.encoder.00.scale [JOINT_0](ENCODER_SCALE)
setp hm2_[MESA](BOARD).0.encoder.00.counter-mode 0
setp hm2_[MESA](BOARD).0.encoder.00.filter 1
setp hm2_[MESA](BOARD).0.encoder.00.index-invert 0
setp hm2_[MESA](BOARD).0.encoder.00.index-mask 0
setp hm2_[MESA](BOARD).0.encoder.00.index-mask-invert 0

# Axis: Y Joint: 1 Output: 1
# PID Setup
setp pid.y.Pgain [JOINT_1](P)
setp pid.y.Igain [JOINT_1](I)
setp pid.y.Dgain [JOINT_1](D)
setp pid.y.bias [JOINT_1](BIAS)
setp pid.y.FF0 [JOINT_1](FF0)
setp pid.y.FF1 [JOINT_1](FF1)
setp pid.y.FF2 [JOINT_1](FF2)
setp pid.y.deadband [JOINT_1](DEADBAND)
setp pid.y.maxoutput [JOINT_1](MAX_OUTPUT)
setp pid.y.error-previous-target True

# joint-1 enable chain
net joint-1-index-enable <=> pid.y.index-enable
net joint-1-index-enable <=> joint.1.index-enable
net joint-1-index-enable <=> hm2_[MESA](BOARD).0.encoder.01.index-enable

net joint-1-enable <= joint.1.amp-enable-out
net joint-1-enable => pid.y.enable
net joint-1-enable => hm2_[MESA](BOARD).0.pwmgen.01.enable

# PWM Generator setup
setp hm2_[MESA](BOARD).0.pwmgen.01.dither true
setp hm2_[MESA](BOARD).0.pwmgen.01.output-type 1 #PWM pin0
setp hm2_[MESA](BOARD).0.pwmgen.01.offset-mode 1 # offset mode so 50% = 0
setp hm2_[MESA](BOARD).0.pwmgen.01.scale [JOINT_0]SCALE

# position command and feedback
net joint-1-pos-cmd <= joint.1.motor-pos-cmd
net joint-1-pos-cmd => pid.y.command

net joint-1-pos-fb <= hm2_[MESA](BOARD).0.encoder.01.position
net joint-1-pos-fb => joint.1.motor-pos-fb
net joint-1-pos-fb => pid.y.feedback

# PID Output
net joint.1.output <= pid.y.output
net joint.1.output => hm2_[MESA](BOARD).0.pwmgen.01.value

# Encoder Setup
setp hm2_[MESA](BOARD).0.encoder.01.scale [JOINT_1](ENCODER_SCALE)
setp hm2_[MESA](BOARD).0.encoder.01.counter-mode 0
setp hm2_[MESA](BOARD).0.encoder.01.filter 1
setp hm2_[MESA](BOARD).0.encoder.01.index-invert 0
setp hm2_[MESA](BOARD).0.encoder.01.index-mask 0
setp hm2_[MESA](BOARD).0.encoder.01.index-mask-invert 0

# Axis: Z Joint: 2 Output: 2
# PID Setup
setp pid.z.Pgain [JOINT_2](P)
setp pid.z.Igain [JOINT_2](I)
setp pid.z.Dgain [JOINT_2](D)
setp pid.z.bias [JOINT_2](BIAS)
setp pid.z.FF0 [JOINT_2](FF0)
setp pid.z.FF1 [JOINT_2](FF1)
setp pid.z.FF2 [JOINT_2](FF2)
setp pid.z.deadband [JOINT_2](DEADBAND)
setp pid.z.maxoutput [JOINT_2](MAX_OUTPUT)
setp pid.z.error-previous-target True

# joint-2 enable chain
net joint-2-index-enable <=> pid.z.index-enable
net joint-2-index-enable <=> joint.2.index-enable
net joint-2-index-enable <=> hm2_[MESA](BOARD).0.encoder.02.index-enable

net joint-2-enable <= joint.2.amp-enable-out
net joint-2-enable => pid.z.enable
net joint-2-enable => hm2_[MESA](BOARD).0.pwmgen.02.enable

# PWM Generator setup
setp hm2_[MESA](BOARD).0.pwmgen.02.dither true
setp hm2_[MESA](BOARD).0.pwmgen.02.output-type 1 #PWM pin0
setp hm2_[MESA](BOARD).0.pwmgen.02.offset-mode 1 # offset mode so 50% = 0
setp hm2_[MESA](BOARD).0.pwmgen.02.scale [JOINT_0]SCALE

# position command and feedback
net joint-2-pos-cmd <= joint.2.motor-pos-cmd
net joint-2-pos-cmd => pid.z.command

net joint-2-pos-fb <= hm2_[MESA](BOARD).0.encoder.02.position
net joint-2-pos-fb => joint.2.motor-pos-fb
net joint-2-pos-fb => pid.z.feedback

# PID Output
net joint.2.output <= pid.z.output
net joint.2.output => hm2_[MESA](BOARD).0.pwmgen.02.value

# Encoder Setup
setp hm2_[MESA](BOARD).0.encoder.02.scale [JOINT_2](ENCODER_SCALE)
setp hm2_[MESA](BOARD).0.encoder.02.counter-mode 0
setp hm2_[MESA](BOARD).0.encoder.02.filter 1
setp hm2_[MESA](BOARD).0.encoder.02.index-invert 0
setp hm2_[MESA](BOARD).0.encoder.02.index-mask 0
setp hm2_[MESA](BOARD).0.encoder.02.index-mask-invert 0

# Axis: A Joint: 3 Output: 3
# PID Setup
setp pid.a.Pgain [JOINT_3](P)
setp pid.a.Igain [JOINT_3](I)
setp pid.a.Dgain [JOINT_3](D)
setp pid.a.bias [JOINT_3](BIAS)
setp pid.a.FF0 [JOINT_3](FF0)
setp pid.a.FF1 [JOINT_3](FF1)
setp pid.a.FF2 [JOINT_3](FF2)
setp pid.a.deadband [JOINT_3](DEADBAND)
setp pid.a.maxoutput [JOINT_3](MAX_OUTPUT)
setp pid.a.error-previous-target True

# joint-3 enable chain
net joint-3-index-enable <=> pid.a.index-enable
net joint-3-index-enable <=> joint.3.index-enable
net joint-3-index-enable <=> hm2_[MESA](BOARD).0.encoder.03.index-enable

net joint-3-enable <= joint.3.amp-enable-out
net joint-3-enable => pid.a.enable
net joint-3-enable => hm2_[MESA](BOARD).0.pwmgen.03.enable

# PWM Generator setup
setp hm2_[MESA](BOARD).0.pwmgen.03.dither true
setp hm2_[MESA](BOARD).0.pwmgen.03.output-type 1 #PWM pin0
setp hm2_[MESA](BOARD).0.pwmgen.03.offset-mode 1 # offset mode so 50% = 0
setp hm2_[MESA](BOARD).0.pwmgen.03.scale [JOINT_0]SCALE

# position command and feedback
net joint-3-pos-cmd <= joint.3.motor-pos-cmd
net joint-3-pos-cmd => pid.a.command

net joint-3-pos-fb <= hm2_[MESA](BOARD).0.encoder.03.position
net joint-3-pos-fb => joint.3.motor-pos-fb
net joint-3-pos-fb => pid.a.feedback

# PID Output
net joint.3.output <= pid.a.output
net joint.3.output => hm2_[MESA](BOARD).0.pwmgen.03.value

# Encoder Setup
setp hm2_[MESA](BOARD).0.encoder.03.scale [JOINT_3](ENCODER_SCALE)
setp hm2_[MESA](BOARD).0.encoder.03.counter-mode 0
setp hm2_[MESA](BOARD).0.encoder.03.filter 1
setp hm2_[MESA](BOARD).0.encoder.03.index-invert 0
setp hm2_[MESA](BOARD).0.encoder.03.index-mask 0
setp hm2_[MESA](BOARD).0.encoder.03.index-mask-invert 0

# Standard I/O Block - EStop, Etc
# create a signal for the estop loopback
net estop-loopback iocontrol.0.emc-enable-in <= iocontrol.0.user-enable-out

# Manual Tool Change Dialog
loadusr -W hal_manualtoolchange
net tool-number hal_manualtoolchange.number <= iocontrol.0.tool-prep-number
net tool-change-request hal_manualtoolchange.change <= iocontrol.0.tool-change
net tool-change-confirmed iocontrol.0.tool-changed => hal_manualtoolchange.changed

# tool prep loopback
net tool-prep-loop iocontrol.0.tool-prepare => iocontrol.0.tool-prepared
 

I found the solution to my problem now all my computers work with no interruptions for at least 20 minutes. 
All I had to do was switch this setting from automatic to manual in the network settings and boom works now!

Guten Abend andrax,
danke für deine Antwort. Inzwischen bin ich noch etwas weitergekommen. Das Beckhoff Modul wird jetzt erkannt, leider sind scheinbar die EL2004 kaputt, die ich gebraucht in eBay gekauft hatte. Das Video ist wirklich sehr gut Schritt für Schritt, dass ich das nachvollziehen kann. Am Ende geht es aber ein bisschen schnell und die Auflösung ist nicht so gut, dass man den Text lesen. Jemand müsste mich an die Hand nehmen, was ich genau in die Ethercat-conf.xml schreiben muss und in die ethercat.hal. Die Beispiele in GitHub unterscheiden sich etwas zu Talla83s Video.
 

Again..my apologies.. i am certainly no expert...just trying to find out if what I want to do is possible...Should I be asking in a different place?

Thanks

muddiver wrote:

Do you think i should stay on 2.9.10 as i am now , to keep my system running?
Or how often does LinuxCNC change the Kernel during updates?
I'm not keen on holding my breath after every update if the communication is broken..
 

Do not upgrade the kernel.
Or backup working one. The deb files can vanish from repositories, you must have them locally for restore.
For test you have to run LinuxCNC for many hours, for example leave it for night. You not need do anything, simply let works.
You have to disable screensaver and screen power savings, but this is common for all hardware and configurations.

@MaxEkb77 Thank you so much! Did you managed it already?

I don't have much experience with Ethercat.
I simply had a milling machine frame without drives and I was curious if I could handle it.
I ordered integrated Lichuan drives and managed to configure the machine.
It wasn't easy, but the first time never is...
Since it worked really nicely, I decided to convert a second milling machine, basically identical, only slightly larger, so apart from a few numbers in the ini file, it should work with the same configuration.
I bought identical drives, connected them identically, ran LinuxCNC with the configuration from the first one and basically everything worked, except the motors did not rotate...
I wasted a lot of time before it turned out that I had to write the same thing in the xml file, only in a different order.
The manufacturer probably improved something, and that's how it ended.
Since then, I have been very cautious about recommending Ethercat to someone who has never used it before.
I really like Ethercat, but for now there are too many problems with it.
It will probably get better with time.

Ignore what I said about the input, I got confused, I'm sorry.