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  • mediocre_chloride
  • mediocre_chloride's Avatar
15 Aug 2026 13:41
El2521 Configuration was created by mediocre_chloride

El2521 Configuration

Category: EtherCAT

Hi 
I used Beckhoff EL2521 recently to Build a 2 Axis Configuration. Had a bit of a Journey until i managed to configure the EL2521's correctly.
Wanted to share this here as kind of "Documentation", as it may help people having the same issue

My Config:
gitlab.com/Lolipop333/linuxcnc_ec_plasma...1cff00b5afe3ec75813/

Explanation Video:
  • skunkworks
  • skunkworks
15 Aug 2026 13:27
Replied by skunkworks on topic spindle speed pick-up using the bull gear

spindle speed pick-up using the bull gear

Category: General LinuxCNC Questions

We used gear tooth sensors.... for rigid tapping you would need 3 - a,b and z

Jon from pico systems did the same thing...

pico-systems.com/bridge_spindle.html

Good writeup..

sam
  • mediocre_chloride
  • mediocre_chloride's Avatar
15 Aug 2026 13:27 - 15 Aug 2026 13:32
Replied by mediocre_chloride on topic LinuxCNC 2.9 / Debian 12 RT – EtherCAT Master Setup für 750W Servo gesucht

LinuxCNC 2.9 / Debian 12 RT – EtherCAT Master Setup für 750W Servo gesucht

Category: Deutsch

Hi
Danke für den Thread.
Mit A6 Drives hatte ich auch das Problem, dass die Slave manchmal nicht richtig startet, ein restart des Pi's hat das gelöst. Später habe ich eine bessere Lösung gefunden: Seite 241 im Manual, Parameter C13.05: EtherCAT synchronization mode setting.

Warning: Spoiler!


Ich gehe davon aus das der Jitter vom Hostcontroller mehr als ein uS ist (gemessen auf rpi5 wurde um die 6000ns jitter auf dem servo thread). Deshalb habe ich diesen Parameter auf 2 gesetzt. jetzt starten Sie alle und brauchen auch nicht mehr ewigs. nur wenn die Drives laufen, linuxcnc geschlossen wird und wieder geöffnet habe ich einen "Ethercat synchro loss error" aber kurzes Power-cyclen über den Notaus dann gehts wieder
  • tuxcnc
  • tuxcnc
15 Aug 2026 13:07
Replied by tuxcnc on topic run Linuxcnc on xenomai with EVL(the realtime core)

run Linuxcnc on xenomai with EVL(the realtime core)

Category: General LinuxCNC Questions 

[url]https://github.com/hdiethelm/xenomai4-linuxcnc[/url]

There are many errors in scripts.
At last I compilled kernel, that not boot up...
For me wasted time. 
  • unicorn
  • unicorn
15 Aug 2026 12:02
can't issue MDI command when not homed was created by unicorn

can't issue MDI command when not homed

Category: General LinuxCNC Questions

position: relative actual
new here, I use live system, I got that error when I want to run some G codes. How to configure?
  • karlhe
  • karlhe
15 Aug 2026 09:58 - 15 Aug 2026 16:15
radiusendpunkt nicht gefunden was created by karlhe

radiusendpunkt nicht gefunden

Category: General LinuxCNC Questions

Hallo.
programm wird nicht eingelesen, radiusendpunkt wird nicht gefunden.
Programm erzeugt mit fusion360.
fehlermeldung im anhang..

karlhe 
  • dm17ry
  • dm17ry's Avatar
15 Aug 2026 06:41
Replied by dm17ry on topic Okuma encoders and drives

Okuma encoders and drives

Category: General LinuxCNC Questions

i've got a few communication logs from a logic analyzer and had a quick look at it. was able to decode it: 10 Mbit/s, NRZ(L), 4b6b, LSB first:
..1.11 0
..11.1 1
..111. 2
.1..11 3
.1.11. 4
.11..1 5
.11.1. 6
.111.. 7
1...11 8
1..1.1 9
1..11. a
1.1..1 b
1.11.. c
11...1 d
11..1. e
11.1.. f

but haven't advanced much beyond looking at the data.. don't have the hardware. packets look like this:
ff a1 .. aa 57 66 
01 74 .. .. 02 .. .. .. 02 .. .. .. 02 .. .. .. 02 .. .. .. .. .. .. .. .. .. .. .. .. .. .. .. .. .. 45 39 
01 50 .. 60 e8 74 01 .. .. .. .. 02 bf 04 .. .. .. .. .. .. .. .. .. .. .. .. .. 02 bf 03 .. .. .. .. 83 ca 
01 0c .. e3 08 34 02 .. .. .. .. f7 0b 3f .. .. .. .. .. .. .. .. .. .. .. .. .. f7 0b 2f 80 .. .. .. b3 be 
01 04 .. e3 08 34 02 .. .. .. 01 73 95 d5 .. .. .. .. .. .. .. .. .. .. .. .. 01 73 95 b6 80 .. .. .. cd e7 
01 14 04 e0 08 28 .. 01 .. .. .. 01 bf 6c .. .. .. .. .. .. .. .. .. .. .. .. ff ff 69 fe .. .. .. .. 38 d6 
.. 74 .. .. .. .. .. .. .. .. .. .. .. .. .. .. .. .. .. .. .. .. .. .. .. .. .. .. .. .. .. .. .. .. bb 18 
.. 50 01 02 .. .. .. .. .. .. .. .. .. .. .. .. .. .. .. .. .. .. .. .. .. .. .. .. .. .. .. .. .. .. d5 a8 
.. 0c 01 02 .. .. .. .. .. .. .. .. .. .. .. .. .. .. .. .. .. .. 01 .. 84 08 .. .. .. .. .. .. .. .. 23 e5 
.. 04 01 02 .. .. .. .. .. .. .. .. .. .. .. .. .. .. .. .. .. .. 01 .. 84 08 .. .. .. .. .. .. .. .. 19 f6 
.. 14 01 02 .. .. .. .. .. .. .. .. .. .. .. .. .. .. .. .. .. .. .. .. .. .. .. .. .. .. .. .. .. .. 98 38 
ff a1 .. ab de 77 
01 74 .. .. 02 .. .. .. 02 .. .. .. 02 .. .. .. 02 .. .. .. .. .. .. .. .. .. .. .. .. .. .. .. .. .. 45 39 
01 50 .. 60 e8 74 01 .. .. .. .. 02 bf 04 .. .. .. .. .. .. .. .. .. .. .. .. .. 02 bf 03 .. .. .. .. 83 ca 
01 0c .. e3 08 34 02 .. .. .. .. f7 0b 3f .. .. .. .. .. .. .. .. .. .. .. .. .. f7 0b 2f 80 .. .. .. b3 be 
01 04 .. e3 08 34 02 .. .. .. 01 73 95 d5 .. .. .. .. .. .. .. .. .. .. .. .. 01 73 95 b6 80 .. .. .. cd e7 
01 14 04 e0 08 28 .. 01 .. .. .. 01 bf 6c .. .. .. .. .. .. .. .. .. .. .. .. ff ff 69 fe .. .. .. .. 38 d6 
.. 74 .. .. .. .. .. .. .. .. .. .. .. .. .. .. .. .. .. .. .. .. .. .. .. .. .. .. .. .. .. .. .. .. bb 18 
.. 50 01 03 .. .. .. .. .. .. .. .. .. .. .. .. .. .. 01 .. 44 04 17 b3 33 04 .. .. .. .. .. .. .. .. df 18 
.. 0c 01 03 .. .. 01 .. 86 1b 03 f3 e4 58 4d .. ff ff 01 .. 44 15 .. .. .. .. .. .. .. .. .. .. .. .. b5 07 
.. 04 01 03 .. .. 01 .. 86 1b 03 f6 ac f1 72 .. ff ff 01 .. 44 15 .. .. .. .. .. .. .. .. .. .. .. .. f6 9b 
.. 14 01 03 .. .. .. .. .. .. .. .. .. .. .. .. .. .. 01 .. 44 06 .. .. .. .. 01 .. 44 15 .. .. .. .. 52 df 
ff a1 .. ac 61 03 
01 74 .. .. 02 .. .. .. 02 .. .. .. 02 .. .. .. 02 .. .. .. .. .. .. .. .. .. .. .. .. .. .. .. .. .. 45 39 
01 50 .. 60 e8 74 01 .. .. .. .. 02 bf 04 .. .. .. .. .. .. .. .. .. .. .. .. .. 02 bf 03 .. .. .. .. 83 ca 
01 0c .. e3 08 34 02 .. .. .. .. f7 0b 3f .. .. .. .. .. .. .. .. .. .. .. .. .. f7 0b 2f 80 .. .. .. b3 be 
01 04 .. e3 08 34 02 .. .. .. 01 73 95 d5 .. .. .. .. .. .. .. .. .. .. .. .. 01 73 95 b6 80 .. .. .. cd e7 
01 14 04 e0 08 28 .. 01 .. .. .. 01 bf 6c .. .. .. .. .. .. .. .. .. .. .. .. ff ff 69 fe .. .. .. .. 38 d6 
.. 74 .. .. .. .. .. .. .. .. .. .. .. .. .. .. .. .. .. .. .. .. .. .. .. .. .. .. .. .. .. .. .. .. bb 18 
.. 50 01 04 .. .. .. .. .. .. .. .. .. .. .. .. .. .. .. .. .. .. .. .. .. .. .. .. .. .. .. .. .. .. 4f 26 
.. 0c 01 04 .. .. .. .. .. .. .. .. .. .. .. .. .. .. .. .. .. .. .. .. .. .. .. .. .. .. .. .. .. .. 4c 83 
.. 04 01 04 .. .. .. .. .. .. .. .. .. .. .. .. .. .. .. .. .. .. .. .. .. .. .. .. .. .. .. .. .. .. 76 90 
.. 14 01 04 .. .. .. .. .. .. .. .. .. .. .. .. .. .. .. .. .. .. .. .. .. .. .. .. .. .. .. .. .. .. 02 b6 
 
  • viewsat
  • viewsat
15 Aug 2026 02:41
Replied by viewsat on topic LinuxCNC-RIO - RealtimeIO for LinuxCNC based on FPGA (ICE40 / ECP5)

LinuxCNC-RIO - RealtimeIO for LinuxCNC based on FPGA (ICE40 / ECP5)

Category: Computers and Hardware

If this is a drive level issue, note that a 26C31 does not swing to 5Vand its output level is about 2 diode drops below 5V (3.6V) with a 5 mA load.I have experience using some MESA control cards and connecting drivers, so I shouldn't have any technical difficulties connecting motor drivers.  

I have experience using some MESA control cards and connecting drivers, so I shouldn't have any technical difficulties connecting motor drivers.
 
 
  • viewsat
  • viewsat
15 Aug 2026 02:23 - Yesterday 01:48
Replied by viewsat on topic LinuxCNC-RIO - RealtimeIO for LinuxCNC based on FPGA (ICE40 / ECP5)

LinuxCNC-RIO - RealtimeIO for LinuxCNC based on FPGA (ICE40 / ECP5)

Category: Computers and Hardware

Meister, if you were in Taiwan, I would definitely buy one for you. This Riocore ICEBreaker V1.0e circuit board should be a 2026 product; I bought it on Taobao in China in June 2026. At the time, I asked the China seller about a DM542 zero-point positioning error, and the China seller tested it and got the same result. He recommended I discuss it on the Linux CNC forum.  
  • viewsat
  • viewsat
15 Aug 2026 02:06
Replied by viewsat on topic LinuxCNC-RIO - RealtimeIO for LinuxCNC based on FPGA (ICE40 / ECP5)

LinuxCNC-RIO - RealtimeIO for LinuxCNC based on FPGA (ICE40 / ECP5)

Category: Computers and Hardware

If this is a drive level issue, note that a 26C31 does not swing to 5V
and its output level is about 2 diode drops below 5V (3.6V) with a 5 mA load.

I connected the motor driver using +5V and A-.
 
  • PCW
  • PCW's Avatar
14 Aug 2026 23:05
Replied by PCW on topic Frage zu 7I96?

Frage zu 7I96?

Category: Deutsch

All Mesa Ethernet cards support Auto–MDI-X so it should not matter.

That said, all testing is done with straight through cables.
 
  • Holzwurm56
  • Holzwurm56
14 Aug 2026 22:32
Replied by Holzwurm56 on topic Frage zu 7I96?

Frage zu 7I96?

Category: Deutsch

Hallo PCW,
danke für die Antwort.
Ist es wichtig ob man zum Anschluß der 7I96 ein Patchkabel oder ein Crossoverkabel nimmt?
MfG
Hans
  • hitchhiker
  • hitchhiker
14 Aug 2026 21:16
Replied by hitchhiker on topic PUMA 200 Robotarm and some Hal/INI issues

PUMA 200 Robotarm and some Hal/INI issues

Category: Advanced Configuration

Hey!

I am back on project.
I played a little bit with the arm.. adjust the backlash/teeth play and get now the correct scales for all joints.

In the next days i will machine a sharpie holder... then i will starting with first trails drawing on cardboard. I checked all movements in world mode.. x y z... and it looks good.. tomorrow i will test with a dial.

For my understanding:
The dh parameters doesnt changed... i must set the arm to different ready position over the homeoffset. Right?

Thanks
  • cyborg-pete
  • cyborg-pete
14 Aug 2026 20:25
AXYZ 4008 retrofit – original steppers/drives + Mesa 7I95T + LinuxCNC was created by cyborg-pete

AXYZ 4008 retrofit – original steppers/drives + Mesa 7I95T + LinuxCNC

Category: CNC Machines

I’ve recently acquired an older AXYZ 4008 CNC router and am in the process of replacing the original AXYZ controller with LinuxCNC and a Mesa 7I95T.

File Attachment:
I thought I’d document the conversion here, both in case it helps somebody else and because I’m very interested in advice from anyone who has already converted one of these machines.The intention is not to gut the machine unnecessarily. Mechanically it appears to be a very substantial router and much of the original electrical hardware looks perfectly serviceable. The aim is therefore to replace the obsolete controller while retaining as much of the original AXYZ hardware as practical.The machine is an AXYZ 4008, approximately 2007 vintage, with a roughly 3 × 2 m working area and an ELTE spindle. X and Y are rack-and-pinion driven and Z uses a screw.Motion is provided by Vexta/Oriental Motor PK299-F4.5A 2-phase steppers, rated 4.5 A, driven by the original Pacific Scientific 6410 stepper drives.The 6410s are particularly encouraging because they accept fairly conventional step/direction control. The existing AXYZ controller feeds the drives through DB9 connectors. We initially considered reverse-engineering these signals with a logic analyser, but having found the drive documentation and previous AXYZ LinuxCNC conversions, that now seems largely unnecessary.We have bought a Mesa 7I95T, which should give us considerably more I/O than we immediately require and leaves scope for additional axes/tools later.The rough architecture we're aiming for is:
 
LinuxCNC PC
     |
   Ethernet
     |
 Mesa 7I95T
     |
     +---- STEP/DIR ---- original Pacific Scientific drives
     |                         |
     |                    original Vexta motors
     |
     +---- Inputs ------- limits/home/tool sensor
     |
     +---- Outputs ------ spindle enable / auxiliaries
     |
     +---- 0–10 V interface ---- original VFD ---- spindle
One interesting discovery has been the AXYZ connection board inside the cabinet.Rather than simply removing it, we're investigating whether it is worth retaining. It appears to handle quite a lot of the machine-side infrastructure, including limit sensors, tool sensor, E-stop-related connections and various auxiliary functions.It is associated with a substantial toroidal transformer and appears to provide several control voltages including 5 V, 12 V and 18 V.The board has conveniently labelled connections including:
 
5VDC
GND
TOOL SENSOR
LIMIT SENSOR

1 ACTIVATE / 1 DOWN
2 ACTIVATE / 2 DOWN
3 ACTIVATE / 3 DOWN
4 ACTIVATE / 4 DOWN

SPINDLE
INPUT 3
INPUT 4
There are also connections elsewhere on the original controller for the vacuum pump, dust collection, inverter(s), ATC controller and RS485.So at the moment we're considering retaining this board as the interface to the existing machine wiring and taking the appropriate signals from it into the 7I95T, rather than rewiring every sensor and auxiliary device individually.One difference from some of the documented Mesa conversions is that the 7I95T doesn't provide the convenient 0–10 V spindle-speed output found on boards such as the 7I76. We'll therefore need a separate interface for the VFD's analogue speed command. Spindle run/enable should be straightforward using an isolated output/relay.The other area we're treating separately is the E-stop system. The original E-stop appears to have been interpreted by the AXYZ electronics, but for the retrofit we want an appropriate hardware safety chain rather than relying on LinuxCNC software alone.Our initial milestones are deliberately simple:
  1. Get LinuxCNC communicating reliably with the 7I95T.
  2. Connect one original 6410 drive and establish STEP/DIR operation.
  3. Jog X/Y/Z correctly.
  4. Identify and interface the existing home/limit sensors.
  5. Implement a proper hardware E-stop.
  6. Start/stop the existing VFD/spindle.
  7. Add 0–10 V spindle-speed control.
  8. Make the first test cut.
After that we can tackle the tool sensor, vacuum/dust control and eventually the ATC.We have already found the earlier AXYZ 4008 retrofit thread here extremely useful, particularly because it demonstrates that retaining the original AXYZ steppers/drives and interfacing them to Mesa/LinuxCNC is quite practical.I’m documenting photographs of the machine, original controller, connection board, drives, motors and mechanical drive system on our workshop site here:continuumkit.org/workshop-inventory/axyz-cnc/I'll add wiring diagrams, Mesa configuration and anything else we learn as the conversion progresses.If anyone has experience specifically with the AXYZ connection board, Pacific Scientific 6410s, or interfacing an AXYZ spindle/VFD to a 7I95T, I'd be particularly interested to hear how you approached it.
  • PCW
  • PCW's Avatar
14 Aug 2026 17:48 - 14 Aug 2026 18:42
Replied by PCW on topic LinuxCNC-RIO - RealtimeIO for LinuxCNC based on FPGA (ICE40 / ECP5)

LinuxCNC-RIO - RealtimeIO for LinuxCNC based on FPGA (ICE40 / ECP5)

Category: Computers and Hardware

If this is a drive level issue, note that a 26C31 does not swing to 5V
and its output level is about 2 diode drops below 5V (3.6V) with a 5 mA load.
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