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Wow, something I actually know something about on this forum.

For anyone wanting to explore FreeCAD I would highly recommend using the latest development versions. There are nightly builds available through a ppa but I personally would (and do) opt for the near weekly builds of the AppImages from here - github.com/FreeCAD/FreeCAD-Bundle/releases/tag/weekly-builds - Linux, Mac and Window$. No worries about dependences and if any given build has a showstopper bug, you can still have the last weeks to keep going until the next build that will, 99% of the time have that bug fixed. Lots of advanced and more complete features keep showing up. Especially in the CAM workbench. 

FreeCAD is my daily driver and unlike this LinuxCNC stuff, I took to FreeCAD like a duck to water. I personally find it very easy to use but I know I am amoung only a few that do. There are a vast number of vids on youtube and a forum every bit as active as this one to help get you started.

For the money, you won't beat it, and before you know, you will be knocking out parts left and right.

cnc@debian:~$ ethercat slaves
0  0:0  PREOP  E  L7NH - Standard EtherCAT drive(CoE,EoE,FoE)
1  0:1  OP     +  L7NH - Standard EtherCAT drive(CoE,EoE,FoE)
2  0:2  OP     +  L7NH - Standard EtherCAT drive(CoE,EoE,FoE)
cnc@debian:~$ ethercat slaves
0  0:0  OP  +  L7NH - Standard EtherCAT drive(CoE,EoE,FoE)
1  0:1  OP  +  L7NH - Standard EtherCAT drive(CoE,EoE,FoE)
2  0:2  OP  +  L7NH - Standard EtherCAT drive(CoE,EoE,FoE)
cnc@debian:~$ ethercat slaves
0  0:0  PREOP  +  L7NH - Standard EtherCAT drive(CoE,EoE,FoE)
1  0:1  OP     +  L7NH - Standard EtherCAT drive(CoE,EoE,FoE)
2  0:2  OP     +  L7NH - Standard EtherCAT drive(CoE,EoE,FoE)
cnc@debian:~$ ethercat slaves
0  0:0  OP  +  L7NH - Standard EtherCAT drive(CoE,EoE,FoE)
1  0:1  OP  +  L7NH - Standard EtherCAT drive(CoE,EoE,FoE)
2  0:2  OP  +  L7NH - Standard EtherCAT drive(CoE,EoE,FoE)
cnc@debian:~$ 

/////////////////////////////////////////////////////////////////////////////////////////////////////////////////

ethercat slaves -v
cnc@debian:~$ ethercat slaves -v
=== Master 0, Slave 0 ===
Device: Main
State: OP
Flag: +
Identity:
  Vendor Id:       0x00007595
  Product code:    0x00010001
  Revision number: 0x00000001
  Serial number:   0x00000000
DL information:
  FMMU bit operation: no
  Distributed clocks: yes, 64 bit
  DC system time transmission delay: 0 ns
Port  Type  Link  Loop    Signal  NextSlave  RxTime [ns]  Diff [ns]   NextDc [ns]
   0  MII   up    open    yes             -   2788414231           0           0
   1  MII   up    open    yes             1   2788417151        2920         720
   2  N/A   down  closed  no              -            -           -           -
   3  N/A   down  closed  no              -            -           -           -
Mailboxes:
  Bootstrap RX: 0x0000/0, TX: 0x0000/0
  Standard  RX: 0x1000/128, TX: 0x1400/128
  Supported protocols: EoE, CoE, FoE
General:
  Group: ServoDrive
  Image name: DRIVE
  Order number: L7NH - Standard EtherCAT drive
  Device name: L7NH - Standard EtherCAT drive(CoE,EoE,FoE)
  CoE details:
    Enable SDO: yes
    Enable SDO Info: yes
    Enable PDO Assign: yes
    Enable PDO Configuration: yes
    Enable Upload at startup: no
    Enable SDO complete access: yes
  Flags:
    Enable SafeOp: yes
    Enable notLRW: yes
  Current consumption: 0 mA
=== Master 0, Slave 1 ===
Device: Main
State: OP
Flag: +
Identity:
  Vendor Id:       0x00007595
  Product code:    0x00010001
  Revision number: 0x00000001
  Serial number:   0x00000000
DL information:
  FMMU bit operation: no
  Distributed clocks: yes, 64 bit
  DC system time transmission delay: 720 ns
Port  Type  Link  Loop    Signal  NextSlave  RxTime [ns]  Diff [ns]   NextDc [ns]
   0  MII   up    open    yes             0   2898738888           0         720
   1  MII   up    open    yes             2   2898740368        1480         740
   2  N/A   down  closed  no              -            -           -           -
   3  N/A   down  closed  no              -            -           -           -
Mailboxes:
  Bootstrap RX: 0x0000/0, TX: 0x0000/0
  Standard  RX: 0x1000/128, TX: 0x1400/128
  Supported protocols: EoE, CoE, FoE
General:
  Group: ServoDrive
  Image name: DRIVE
  Order number: L7NH - Standard EtherCAT drive
  Device name: L7NH - Standard EtherCAT drive(CoE,EoE,FoE)
  CoE details:
    Enable SDO: yes
    Enable SDO Info: yes
    Enable PDO Assign: yes
    Enable PDO Configuration: yes
    Enable Upload at startup: no
    Enable SDO complete access: yes
  Flags:
    Enable SafeOp: yes
    Enable notLRW: yes
  Current consumption: 0 mA
=== Master 0, Slave 2 ===
Device: Main
State: OP
Flag: +
Identity:
  Vendor Id:       0x00007595
  Product code:    0x00010001
  Revision number: 0x00000001
  Serial number:   0x00000000
DL information:
  FMMU bit operation: no
  Distributed clocks: yes, 64 bit
  DC system time transmission delay: 1460 ns
Port  Type  Link  Loop    Signal  NextSlave  RxTime [ns]  Diff [ns]   NextDc [ns]
   0  MII   up    open    yes             1   2768192999           0         740
   1  MII   down  closed  no              -            -           -           -
   2  N/A   down  closed  no              -            -           -           -
   3  N/A   down  closed  no              -            -           -           -
Mailboxes:
  Bootstrap RX: 0x0000/0, TX: 0x0000/0
  Standard  RX: 0x1000/128, TX: 0x1400/128
  Supported protocols: EoE, CoE, FoE
General:
  Group: ServoDrive
  Image name: DRIVE
  Order number: L7NH - Standard EtherCAT drive
  Device name: L7NH - Standard EtherCAT drive(CoE,EoE,FoE)
  CoE details:
    Enable SDO: yes
    Enable SDO Info: yes
    Enable PDO Assign: yes
    Enable PDO Configuration: yes
    Enable Upload at startup: no
    Enable SDO complete access: yes
  Flags:
    Enable SafeOp: yes
    Enable notLRW: yes
  Current consumption: 0 mA
cnc@debian:~$ 

sudo dmesg

///////////////////////////////////////////////////////////////////////////////////////////////////////////////
cnc@debian:~$ sudo dmesg -C 
[sudo] password for cnc: 
cnc@debian:~$ sudo dmesg
[  136.638023] EtherCAT ERROR 0-1: AL status message 0x0032: "PLL error".
[  136.640259] EtherCAT 0-1: Acknowledged state SAFEOP.
[  136.664315] EtherCAT WARNING 0-1: Other mailbox protocol response for eoe0s1.
[  136.696316] EtherCAT WARNING 0-1: Other mailbox protocol response for eoe0s1.
[  137.046021] EtherCAT ERROR 0-2: AL status message 0x0032: "PLL error".
[  137.048223] EtherCAT 0-2: Acknowledged state SAFEOP.
[  137.096340] EtherCAT ERROR 0-2: Mailbox error response received - Unknown error reply code 0x0000.
[  137.096347] EtherCAT WARNING 0-2: Invalid mailbox response for eoe0s2.
[  137.128322] EtherCAT WARNING 0-2: Other mailbox protocol response for eoe0s2.
[  137.452212] EtherCAT 0: Slave states on main device: SAFEOP, OP + ERROR.
[  137.461022] EtherCAT ERROR 0-0: AL status message 0x0032: "PLL error".
[  137.463020] EtherCAT 0-0: Acknowledged state SAFEOP.
[  137.540312] EtherCAT WARNING 0-0: Other mailbox protocol response for eoe0s0.
cnc@debian:~$ sudo dmesg
[  136.638023] EtherCAT ERROR 0-1: AL status message 0x0032: "PLL error".
[  136.640259] EtherCAT 0-1: Acknowledged state SAFEOP.
[  136.664315] EtherCAT WARNING 0-1: Other mailbox protocol response for eoe0s1.
[  136.696316] EtherCAT WARNING 0-1: Other mailbox protocol response for eoe0s1.
[  137.046021] EtherCAT ERROR 0-2: AL status message 0x0032: "PLL error".
[  137.048223] EtherCAT 0-2: Acknowledged state SAFEOP.
[  137.096340] EtherCAT ERROR 0-2: Mailbox error response received - Unknown error reply code 0x0000.
[  137.096347] EtherCAT WARNING 0-2: Invalid mailbox response for eoe0s2.
[  137.128322] EtherCAT WARNING 0-2: Other mailbox protocol response for eoe0s2.
[  137.452212] EtherCAT 0: Slave states on main device: SAFEOP, OP + ERROR.
[  137.461022] EtherCAT ERROR 0-0: AL status message 0x0032: "PLL error".
[  137.463020] EtherCAT 0-0: Acknowledged state SAFEOP.
[  137.540312] EtherCAT WARNING 0-0: Other mailbox protocol response for eoe0s0.
[  142.548211] EtherCAT WARNING 0-0: Slave did not sync after 5000 ms.
[  142.888220] EtherCAT 0: Slave states on main device: OP.
cnc@debian:~$ sudo dmesg
[  136.638023] EtherCAT ERROR 0-1: AL status message 0x0032: "PLL error".
[  136.640259] EtherCAT 0-1: Acknowledged state SAFEOP.
[  136.664315] EtherCAT WARNING 0-1: Other mailbox protocol response for eoe0s1.
[  136.696316] EtherCAT WARNING 0-1: Other mailbox protocol response for eoe0s1.
[  137.046021] EtherCAT ERROR 0-2: AL status message 0x0032: "PLL error".
[  137.048223] EtherCAT 0-2: Acknowledged state SAFEOP.
[  137.096340] EtherCAT ERROR 0-2: Mailbox error response received - Unknown error reply code 0x0000.
[  137.096347] EtherCAT WARNING 0-2: Invalid mailbox response for eoe0s2.
[  137.128322] EtherCAT WARNING 0-2: Other mailbox protocol response for eoe0s2.
[  137.452212] EtherCAT 0: Slave states on main device: SAFEOP, OP + ERROR.
[  137.461022] EtherCAT ERROR 0-0: AL status message 0x0032: "PLL error".
[  137.463020] EtherCAT 0-0: Acknowledged state SAFEOP.
[  137.540312] EtherCAT WARNING 0-0: Other mailbox protocol response for eoe0s0.
[  142.548211] EtherCAT WARNING 0-0: Slave did not sync after 5000 ms.
[  142.888220] EtherCAT 0: Slave states on main device: OP.
[  189.704214] EtherCAT 0: Slave states on main device: SAFEOP, OP + ERROR.
[  189.734024] EtherCAT ERROR 0-2: AL status message 0x0032: "PLL error".
[  189.736022] EtherCAT 0-2: Acknowledged state SAFEOP.
[  189.768320] EtherCAT WARNING 0-2: Other mailbox protocol response for eoe0s2.
[  189.820332] EtherCAT ERROR 0-2: Mailbox error response received - Unknown error reply code 0x0000.
[  189.820338] EtherCAT WARNING 0-2: Invalid mailbox response for eoe0s2.
[  190.146022] EtherCAT ERROR 0-0: AL status message 0x0032: "PLL error".
[  190.148223] EtherCAT 0-0: Acknowledged state SAFEOP.
[  190.184313] EtherCAT WARNING 0-0: Other mailbox protocol response for eoe0s0.
[  190.200317] EtherCAT WARNING 0-0: Other mailbox protocol response for eoe0s0.
[  190.232315] EtherCAT ERROR 0-0: Mailbox error response received - Unknown error reply code 0x0000.
[  190.232320] EtherCAT WARNING 0-0: Invalid mailbox response for eoe0s0.
[  195.229022] EtherCAT WARNING 0-0: Slave did not sync after 5000 ms.
[  195.550023] EtherCAT ERROR 0-1: AL status message 0x0032: "PLL error".
[  195.552216] EtherCAT 0-1: Acknowledged state SAFEOP.
[  195.636321] EtherCAT ERROR 0-1: Reception of CoE download response failed: 
[  195.636320] EtherCAT WARNING 0-1: Other mailbox protocol response for eoe0s1.
[  195.636325] No response.
[  195.636327] EtherCAT WARNING 0-1: Failed to set number of assigned PDOs of SM3.
[  195.636328] EtherCAT WARNING 0-1: Currently assigned PDOs: (none). PDOs to assign: 0x1A00
[  195.636332] EtherCAT WARNING 0-1: PDO configuration failed.
[  195.964216] EtherCAT 0: Slave states on main device: OP.
cnc@debian:~$ 


///////////////////////////////////////////////////////////////////////////////////////////////////////////////////
ethercat pdos -v
cnc@debian:~$ ethercat pdos -v
=== Master 0, Slave 0 ===
SM0: PhysAddr 0x1000, DefaultSize  128, ControlRegister 0x26, Enable 1
SM1: PhysAddr 0x1400, DefaultSize  128, ControlRegister 0x22, Enable 1
SM2: PhysAddr 0x1800, DefaultSize   12, ControlRegister 0x64, Enable 0
  RxPDO 0x1600 ""
    PDO entry 0x6040:00, 16 bit, ""
    PDO entry 0x607a:00, 32 bit, ""
    PDO entry 0x60ff:00, 32 bit, ""
    PDO entry 0x6071:00, 16 bit, ""
    PDO entry 0x60b8:00, 16 bit, ""
    PDO entry 0x6060:00,  8 bit, ""
SM3: PhysAddr 0x1c00, DefaultSize   20, ControlRegister 0x20, Enable 0
  TxPDO 0x1a00 "1st Transmit PDO Mapping"
    PDO entry 0x6041:00, 16 bit, ""
    PDO entry 0x6064:00, 32 bit, ""
    PDO entry 0x606c:00, 32 bit, ""
    PDO entry 0x6077:00, 16 bit, ""
    PDO entry 0x60b9:00, 16 bit, ""
    PDO entry 0x6061:00,  8 bit, ""
    PDO entry 0x60ba:00, 32 bit, ""
    PDO entry 0x603f:00, 16 bit, ""
    PDO entry 0x60fd:00, 32 bit, ""
=== Master 0, Slave 1 ===
SM0: PhysAddr 0x1000, DefaultSize  128, ControlRegister 0x26, Enable 1
SM1: PhysAddr 0x1400, DefaultSize  128, ControlRegister 0x22, Enable 1
SM2: PhysAddr 0x1800, DefaultSize   12, ControlRegister 0x64, Enable 0
  RxPDO 0x1600 "1st Receive PDO Mapping"
    PDO entry 0x6040:00, 16 bit, ""
    PDO entry 0x607a:00, 32 bit, ""
    PDO entry 0x60ff:00, 32 bit, ""
    PDO entry 0x6071:00, 16 bit, ""
    PDO entry 0x60b8:00, 16 bit, ""
    PDO entry 0x6060:00,  8 bit, ""
SM3: PhysAddr 0x1c00, DefaultSize   20, ControlRegister 0x20, Enable 0
  TxPDO 0x1a00 "1st Transmit PDO Mapping"
    PDO entry 0x6041:00, 16 bit, ""
    PDO entry 0x6064:00, 32 bit, ""
    PDO entry 0x606c:00, 32 bit, ""
    PDO entry 0x6077:00, 16 bit, ""
    PDO entry 0x60b9:00, 16 bit, ""
    PDO entry 0x6061:00,  8 bit, ""
    PDO entry 0x60ba:00, 32 bit, ""
    PDO entry 0x603f:00, 16 bit, ""
    PDO entry 0x60fd:00, 32 bit, ""
=== Master 0, Slave 2 ===
SM0: PhysAddr 0x1000, DefaultSize  128, ControlRegister 0x26, Enable 1
SM1: PhysAddr 0x1400, DefaultSize  128, ControlRegister 0x22, Enable 1
SM2: PhysAddr 0x1800, DefaultSize   12, ControlRegister 0x64, Enable 0
  RxPDO 0x1600 "1st Receive PDO Mapping"
    PDO entry 0x6040:00, 16 bit, ""
    PDO entry 0x607a:00, 32 bit, ""
    PDO entry 0x60ff:00, 32 bit, ""
    PDO entry 0x6071:00, 16 bit, ""
    PDO entry 0x60b8:00, 16 bit, ""
    PDO entry 0x6060:00,  8 bit, ""
SM3: PhysAddr 0x1c00, DefaultSize   20, ControlRegister 0x20, Enable 0
  TxPDO 0x1a00 "1st Transmit PDO Mapping"
    PDO entry 0x6041:00, 16 bit, ""
    PDO entry 0x6064:00, 32 bit, ""
    PDO entry 0x606c:00, 32 bit, ""
    PDO entry 0x6077:00, 16 bit, ""
    PDO entry 0x60b9:00, 16 bit, ""
    PDO entry 0x6061:00,  8 bit, ""
    PDO entry 0x60ba:00, 32 bit, ""
    PDO entry 0x603f:00, 16 bit, ""
    PDO entry 0x60fd:00, 32 bit, ""
cnc@debian:~$ 
/////////////////////////////////////////////////////////////////////////////////////////////////////////////

ethercat cstruct

cnc@debian:~$ ethercat cstruct
/* Master 0, Slave 0, "L7NH - Standard EtherCAT drive"
 * Vendor ID:       0x00007595
 * Product code:    0x00010001
 * Revision number: 0x00000001
 */

ec_pdo_entry_info_t slave_0_pdo_entries[] = {
    {0x6040, 0x00, 16},
    {0x607a, 0x00, 32},
    {0x60ff, 0x00, 32},
    {0x6071, 0x00, 16},
    {0x60b8, 0x00, 16},
    {0x6060, 0x00, 8},
    {0x6041, 0x00, 16},
    {0x6064, 0x00, 32},
    {0x606c, 0x00, 32},
    {0x6077, 0x00, 16},
    {0x60b9, 0x00, 16},
    {0x6061, 0x00, 8},
    {0x60ba, 0x00, 32},
    {0x603f, 0x00, 16},
    {0x60fd, 0x00, 32},
};

ec_pdo_info_t slave_0_pdos[] = {
    {0x1600, 6, slave_0_pdo_entries + 0},
    {0x1a00, 9, slave_0_pdo_entries + 6}, /* 1st Transmit PDO Mapping */
};

ec_sync_info_t slave_0_syncs[] = {
    {0, EC_DIR_OUTPUT, 0, NULL, EC_WD_DISABLE},
    {1, EC_DIR_INPUT, 0, NULL, EC_WD_DISABLE},
    {2, EC_DIR_OUTPUT, 1, slave_0_pdos + 0, EC_WD_ENABLE},
    {3, EC_DIR_INPUT, 1, slave_0_pdos + 1, EC_WD_DISABLE},
    {0xff}
};

/* Master 0, Slave 1, "L7NH - Standard EtherCAT drive"
 * Vendor ID:       0x00007595
 * Product code:    0x00010001
 * Revision number: 0x00000001
 */

ec_pdo_entry_info_t slave_1_pdo_entries[] = {
    {0x6040, 0x00, 16},
    {0x607a, 0x00, 32},
    {0x60ff, 0x00, 32},
    {0x6071, 0x00, 16},
    {0x60b8, 0x00, 16},
    {0x6060, 0x00, 8},
    {0x6041, 0x00, 16},
    {0x6064, 0x00, 32},
    {0x606c, 0x00, 32},
    {0x6077, 0x00, 16},
    {0x60b9, 0x00, 16},
    {0x6061, 0x00, 8},
    {0x60ba, 0x00, 32},
    {0x603f, 0x00, 16},
    {0x60fd, 0x00, 32},
};

ec_pdo_info_t slave_1_pdos[] = {
    {0x1600, 6, slave_1_pdo_entries + 0}, /* 1st Receive PDO Mapping */
    {0x1a00, 9, slave_1_pdo_entries + 6}, /* 1st Transmit PDO Mapping */
};

ec_sync_info_t slave_1_syncs[] = {
    {0, EC_DIR_OUTPUT, 0, NULL, EC_WD_DISABLE},
    {1, EC_DIR_INPUT, 0, NULL, EC_WD_DISABLE},
    {2, EC_DIR_OUTPUT, 1, slave_1_pdos + 0, EC_WD_ENABLE},
    {3, EC_DIR_INPUT, 1, slave_1_pdos + 1, EC_WD_DISABLE},
    {0xff}
};

/* Master 0, Slave 2, "L7NH - Standard EtherCAT drive"
 * Vendor ID:       0x00007595
 * Product code:    0x00010001
 * Revision number: 0x00000001
 */

ec_pdo_entry_info_t slave_2_pdo_entries[] = {
    {0x6040, 0x00, 16},
    {0x607a, 0x00, 32},
    {0x60ff, 0x00, 32},
    {0x6071, 0x00, 16},
    {0x60b8, 0x00, 16},
    {0x6060, 0x00, 8},
    {0x6041, 0x00, 16},
    {0x6064, 0x00, 32},
    {0x606c, 0x00, 32},
    {0x6077, 0x00, 16},
    {0x60b9, 0x00, 16},
    {0x6061, 0x00, 8},
    {0x60ba, 0x00, 32},
    {0x603f, 0x00, 16},
    {0x60fd, 0x00, 32},
};

ec_pdo_info_t slave_2_pdos[] = {
    {0x1600, 6, slave_2_pdo_entries + 0}, /* 1st Receive PDO Mapping */
    {0x1a00, 9, slave_2_pdo_entries + 6}, /* 1st Transmit PDO Mapping */
};

ec_sync_info_t slave_2_syncs[] = {
    {0, EC_DIR_OUTPUT, 0, NULL, EC_WD_DISABLE},
    {1, EC_DIR_INPUT, 0, NULL, EC_WD_DISABLE},
    {2, EC_DIR_OUTPUT, 1, slave_2_pdos + 0, EC_WD_ENABLE},
    {3, EC_DIR_INPUT, 1, slave_2_pdos + 1, EC_WD_DISABLE},
    {0xff}
};

cnc@debian:~$ 

 

I am a beginner in linuxcnc ethercat I am waiting for your help
.4 Chinese drivers work without any problems in the same system operating modeLs servo ????? op problemsethercat slaves    ?????????
 I couldn't find the reason why it was switching to op mode and not switching to it.I am adding demesg and other outputs that you can askI couldn't find the reason for this, I would be very happy if you could help me. I bought 10 of these servo motors, but I couldn't solve the problem of whether it was connected or not.

cnc@debian:~$ ethercat slaves
0  0:0  PREOP  E  L7NH - Standard EtherCAT drive(CoE,EoE,FoE)
1  0:1  OP     +  L7NH - Standard EtherCAT drive(CoE,EoE,FoE)
2  0:2  OP     +  L7NH - Standard EtherCAT drive(CoE,EoE,FoE)
cnc@debian:~$ ethercat slaves
0  0:0  OP  +  L7NH - Standard EtherCAT drive(CoE,EoE,FoE)
1  0:1  OP  +  L7NH - Standard EtherCAT drive(CoE,EoE,FoE)
2  0:2  OP  +  L7NH - Standard EtherCAT drive(CoE,EoE,FoE)
cnc@debian:~$ ethercat slaves
0  0:0  PREOP  +  L7NH - Standard EtherCAT drive(CoE,EoE,FoE)
1  0:1  OP     +  L7NH - Standard EtherCAT drive(CoE,EoE,FoE)
2  0:2  OP     +  L7NH - Standard EtherCAT drive(CoE,EoE,FoE)
cnc@debian:~$ ethercat slaves
0  0:0  OP  +  L7NH - Standard EtherCAT drive(CoE,EoE,FoE)
1  0:1  OP  +  L7NH - Standard EtherCAT drive(CoE,EoE,FoE)
2  0:2  OP  +  L7NH - Standard EtherCAT drive(CoE,EoE,FoE)
cnc@debian:~$ 
 

I tried to enter the estop from tuxcnc above and got this error.

I attached my hal and ini files. Does this mean I can only have the watchdog or the estop latch but not both?

*Edit*
I have just tried the estop latch with the tuxcnc code with the watchdog commented out and after fixing the typo in the last line where it starts out - net remote-estp ... - it is missing the o in estop. That error is in the attached hal, didn't catch it befor attaching. It works, exactly one time, by opening the circuit and thats all she wrote. reconnecting the circuit and can not reset the estop and power back on the machine without closing down and restarting the gui.

Thank you for your answer.

The tool length transfer also works with G43 and is also applied to the loaded tool after a change in the tool table. However, the tool diameter is not transferred. The data is only transferred when explicitly unloading or when switching to another tool and then back to the changed tool using the M61 Q? button. Unfortunately, only M61 Q? doesn't work because I get a message saying the tool is already in the spindle.
Can I somehow initiate the diameter change?

I think I have a different understanding of tool length. Fundamentally, machining can only be performed with a measured tool with a specific length. Therefore, tool length compensation should always be active. Which is why I can't understand why there is a G49 in the "on_abort" subroutine. If I have to abort the program, the tool length is set to 0, which leads to errors when calling the program again if there is no explicit G43 in the program. I removed the G49 from the "on_abort" macro program.
So, for me, the tool length should always be active.

Thank you cakeslob for these posts. I went back and read the Remona manual again from the start and I did discover something I didn't know before and that is the included estop stuff at the beginning of the sample .hal is a coms watchdog and testing it by unplugging the ethernet cable triggers the estop. Shiny, I can understand the function of that part. How or why, cluless, but what it does is clear.

But you asked if there were any questions, and yes there are.

I'll start with a single line from the tuxcnc example above.

1. estop-loopout - where did that come from? Did a search "estop-loopout" site:https://linuxcnc.org/docs and got 0 returns, same with a search of the Remora doc site, 0 results.

2. estop-latch - this did return some results - linuxcnc.org/docs/html/man/man9/estop_latch.9.html but I do not see any connection there that would lead me to come up with those words being placed where they are in the example. How would one know to put that there?

3. <= and => - What do these mean? Do they denote the direction flow of data or signals, do they stand for less than and equal to and equal to and greater than or is it something else and why are they needed and what determines where they go? Is this explained somewhere?

To be truthful, maybe I should be looking for someone to hire that can do all this complex coding and programing for me as it seems far and beyond my ability with my learning handicap.

For the moment, I'll keep trying and hack away at it bit by bit. To much time invested to round file it all now, but please feel free to tell me to go pound sand when I become to much of a burden. I won't feel bad, happens all the time when I am confronted with this kind of complex programing.

Hi everyone, I've started to experiment with Ethercat and Beckhoff modules along with LinuxCNC. I have to say that it was easy to use the generic driver and get up and running. I've used some input/output modules, encoders, and analog outputs, for example the 2809, 1809, 5151, and 4032.
I was thinking about using modules with PWM outputs, and to my surprise, I saw that they are not included in the drivers (correct me if I'm wrong). I could try coding a specific driver, for example, for the 2502 and 2535 modules. Although if someone has already done it, perhaps it could save me some time.
The truth is that being able to use Beckhoff industrial modules with LinuxCNC has great hardware advantages, as interfacing with servo amplifiers, encoders, etc. is very simple. I've done some things with Remora and the RT1052 firmware, in which I've developed some encoder and PWM modules, but I always run into interface problems, especially with industrial modules. Obviously, compared to Beckhoff, this solution is much more economical.
Well, I hope for some answers, guys, about the EL2502 and EL2535 PWM modules. If anyone has developed something and wants to share it, I'd appreciate it in advance. Best regards.

If the homing direct does not change, then it's likely the you did not
change the correct ini constant (or perhaps there is another error in
the ini file homing constants or perhaps home switch operation)

I don't think you can eliminate the soft limits issue unless you get the
MIN_LIMIT and MAX_LIMIT setup properly (MIN_LIMIT < MAX_LIMIT)

It may also be the you have the hardware directions reversed, this you can
fix by inverting the direction pin or changing the sign of the joint SCALE
ini constant. (say 4000 to -4000)

Working like a charm.
Thank you very much Peter!

P.S.
Damn self-made DB25 cables. Firmware initially didn't make any difference. Apparently cables on P1 and P2 were backward. Reversed both DB25 connectors and now I see both 7I76 and 7I89 and encoders are working. These Mesa cards seem to be very robust, even all wrong signals on all the wrong pins didn't make them go dead.

paste your compiler error, I will make a suggestion that might get me shot, but Chat Gpt4o has been trained on the linuxcnc halcompile syntax, you have to bully it a bit to get it moving but it can help you debug, but share the compiler output I'll see what i can do to help.

7I76EU firmware with 7I76 on P1 and 7I89 on P2

 

Each connector is independent, though module channels may differ between firmwares
Note on the 7I89, you may need to turn on Encoder power (depending on jumpering) and it
also requires  both cable  _and_ external 5V supply to P1.

PCW wrote:

Wrong firmware, 7i76eu_7i76x1_7i88_7i89d.bin is for a 7I76EU +7I88 (P1) + 7I89 (P2)

I'll take a look at making a config for a 7I76 (P1) and 7I89 (P2), but probably tommorow...
 

Would it be 7I76U (with sink/source I/O option and spindle/encoder interface) on P1 and 7I89 on P2?
Also, 7i76eu_7i76x1_7i88_7i89d.bin has 7I89 on P2. Should 7I89 on P2 work even if 7I76 on P1 doesn't? Or P1 and P2 handling is interdependent?

Wrong firmware, 7i76eu_7i76x1_7i88_7i89d.bin is for a 7I76EU +7I88 (P1) + 7I89 (P2)

I'll take a look at making a config for a 7I76 (P1) and 7I89 (P2), but probably tommorow...
 

As you're asking for an interface board I'm Gunna assume you have a 7c81 at hand.
The expensive route but most complete, reliable and expandle route would be a 7i76, not the ethernet version but a plain version that you connect via a ribbon cable. This will give you everything you need except the stepper drivers on board.
In all honesty as a preference I much prefer the "standard" type stepper drivers rather than the types used on the smaller desktop CNC toys and such.
Unfortunately as you've found out there's not a lot of breakout boards available that handle 24v signals, most will be a DIY thing.