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  • spumco
  • spumco
02 Apr 2026 04:50
Replied by spumco on topic CSS/G96 for other than X-axis?

CSS/G96 for other than X-axis?

Category: Advanced Configuration

UPDATE

I have switchkins working.  I have not yet tested CSS, but the axis/joint swap works with a couple of M-codes.
  • Normal mode:
    • jogging/g-code/MDI axis "V" moves the parting slide (joint-3)
    • jogging/g-code/MDI axis "X" moves the real X-axis (joint-0)
  • Switched mode
    • jogging/g-code/MDI axis "X" moves the parting slide
    • jogging axis V and joint-0 is disabled
    • Pre-switch V-axis G54 offsets are written to the virtual X
    • Appropriate max/min limits and accel/velocity are written to the virtual X
  • Switched back to normal
    • All jogging/g-code/MDI work normally
    • X-axis position goes back to pre-switch position (G53 X0)
    • Same for V-axis
Remaining issues
  • Axis GUI screen buttons can still jog joint-0/V-axis when in switched mode
    • I don't plan to use Axis once I'm done configuring & sorting out the lathe, but I don't know how to stop NML background messages from a GUI from moving the true X-axis.  Any ideas how to no-kidding stop an axis from being moved without disabling the drive? like DEACTIVATE_JOINT or something?
    • Bad Things will happen if the real X-axis moves when I've got the main and sub-spindles both clamped on a part.
  • Jogging the slide while in switched mode results in half the motion I'd expect.
    • i.e. the DRO doesn't match the physical distance the slide moves.
    • This may be due to a scale component I've got in the X-axis jogging logic so I can jog in diameter mode.  Maybe I need to get rid of that and change the joint-0 scale.

Not posting config or other files until I've tested CSS and sort out the jog motion issue.

Big thanks to @Aciera for the help.
  • Hakan
  • Hakan
02 Apr 2026 04:45
Replied by Hakan on topic Ethercat SDOS to XML

Ethercat SDOS to XML

Category: EtherCAT

Any clues in syslog?
  • rodw
  • rodw's Avatar
02 Apr 2026 04:44
Replied by rodw on topic Ethercat SDOS to XML

Ethercat SDOS to XML

Category: EtherCAT

So in summary, this slave won't let you set SDO's again after they are set. Power cycling the slave resets all the SDO's to zero and allows linuxcnc to set them as per the ethercat xml file
  • rodw
  • rodw's Avatar
02 Apr 2026 04:36
Replied by rodw on topic Ethercat SDOS to XML

Ethercat SDOS to XML

Category: EtherCAT

Weird. I was right all along. !!!

After powering the IO board on and off, the SDO's are set to zero.
Restarting Linuxcnc again in this state linuxcnc opens without reporting any errors.
But if you close Linuxcnc and restart it, it reports errors on all of the SDO's.
I've never seen that before.
 

Thanks for the help. At least I can proceed to actually test on the spindle now!
  • Hakan
  • Hakan
02 Apr 2026 04:30
Replied by Hakan on topic Ethercat SDOS to XML

Ethercat SDOS to XML

Category: EtherCAT

I also set them in xml. But troubleshoot and experiment on the command line.
  • rodw
  • rodw's Avatar
02 Apr 2026 04:23
Replied by rodw on topic Ethercat SDOS to XML

Ethercat SDOS to XML

Category: EtherCAT

answer no they don't
  • rodw
  • rodw's Avatar
02 Apr 2026 04:21
Replied by rodw on topic Ethercat SDOS to XML

Ethercat SDOS to XML

Category: EtherCAT

I've always set the SDOs in the xml
So I had a play when I worked out I needed to use 0x3000 and despite all of linuxcnc's complaining, the entries were set correctly.
Do SDO's persist on power cycles?
 
  • spumco
  • spumco
02 Apr 2026 04:20
Replied by spumco on topic Need help with Bash M-code

Need help with Bash M-code

Category: General LinuxCNC Questions

Solved.

Short answer(s) for anybody in the future reading this:
  1. No, do not need to change (INI_FILE_NAME)
  2. Yes, yes, and I no longer care what "catch" does.
  3. Yes.  You can just write each hal command line out in a readable form.
  4. Yes, the way it's written permits changing "x y z" at the top and everything below gets sorted out.  Clever, but miserable for us Luddites to unravel.
  • Hakan
  • Hakan
02 Apr 2026 03:41
Replied by Hakan on topic Ethercat SDOS to XML

Ethercat SDOS to XML

Category: EtherCAT

Strange. If it's in the sdos listing I have always been able to read the value with
ethercat upload -p 0 0x3000 2
for example.
  • rodw
  • rodw's Avatar
02 Apr 2026 03:20
Replied by rodw on topic Ethercat SDOS to XML

Ethercat SDOS to XML

Category: EtherCAT

yeh, I tried 0x3000 and had no more luck (it is a hex value)
  • Hakan
  • Hakan
02 Apr 2026 03:18
Replied by Hakan on topic Ethercat SDOS to XML

Ethercat SDOS to XML

Category: EtherCAT

0x3000 perhaps? Try upload to read the register.
  • rodw
  • rodw's Avatar
02 Apr 2026 03:06
Replied by rodw on topic Ethercat SDOS to XML

Ethercat SDOS to XML

Category: EtherCAT 

cnc@linuxcnc:~/linuxcnc/configs/catioa$ ethercat slaves
0  0:0  PREOP  +  IMC IO MODEL with EtherCAT
cnc@linuxcnc:~/linuxcnc/configs/catioa$ ethercat download -p 0 3000 2 0x1000 -t uint16
SDO transfer aborted with code 0x06020000: This object does not exist in the object directory

Apparently not. Looks like I have to lug a spindle into my office. Is the syntax right?
  • Hakan
  • Hakan
02 Apr 2026 02:35
Replied by Hakan on topic Ethercat SDOS to XML

Ethercat SDOS to XML

Category: EtherCAT

Does it work when you set the values with ethercat download/ethercat upload?
  • rodw
  • rodw's Avatar
02 Apr 2026 02:25
Ethercat SDOS to XML was created by rodw

Ethercat SDOS to XML

Category: EtherCAT

I'm trying to set the catio-a I/O module to talk to a VFD via Modbus but I am at a bit of a loss.
Excerpt from Ethercat sdos
SDO 0x3000, "Set Modbus reg W"
  0x3000:00, r-r-r-, uint8, 8 bit, "SubIndex 000"
  0x3000:01, rwrwrw, uint16, 16 bit, "SubIndex 001"
  0x3000:02, rwrwrw, uint16, 16 bit, ""
  0x3000:03, rwrwrw, uint8, 8 bit, ""
  0x3000:04, rwrwrw, uint8, 8 bit, ""
  0x3000:05, rwrwrw, uint8, 8 bit, ""
  0x3000:06, rwrwrw, uint8, 8 bit, ""
  0x3000:07, rwrwrw, uint16, 16 bit, "�"

I got this for the xml file but I get errors reported but eventually axis opens without any syntax issues with 
Failed to Execute SDO download size 1, byte0=0 error -5, abort code 06010000
<sdoConfig idx="3000" subIdx="2"><sdoDataRaw data="00 10"/></sdoConfig> <!-- Address 0x1000 (Swapped) -->
<sdoConfig idx="3000" subIdx="3"><sdoDataRaw data="10"/></sdoConfig>    <!-- Length: 16 (Hex 10) -->
<sdoConfig idx="3000" subIdx="4"><sdoDataRaw data="01"/></sdoConfig>    <!-- Slave ID: 1 -->
<sdoConfig idx="3000" subIdx="5"><sdoDataRaw data="04"/></sdoConfig>    <!-- Type: 4 (Holding Register) -->
<sdoConfig idx="3000" subIdx="6"><sdoDataRaw data="01"/></sdoConfig>    <!-- Enable: 1 -->

subIdx 0 = read only
subIdx 1 is a PDO so no need to set in SDOs, PDO definition works
SubIdx 7 is a error count

If you have ideas, please have a go.

Would the VFD need to be connected via rs485? I have not done that yet.
 
  • kello711
  • kello711's Avatar
02 Apr 2026 00:38
Replied by kello711 on topic XHC WHB04B development?

XHC WHB04B development?

Category: General LinuxCNC Questions

I have this pendant and would like to test out your firmware. Where do I find it/install it from? I'm tired of this device working and then just deciding to quit working in the middle of operations.
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