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Sorry for the late reply.

To do it all with G-code you would remove the carousel.comp from the system. It's not really helping if you define the changer as an axis.
(Note that you _could_ define the changer as an "extrajoint" if you really wanted to not have a spurious A axis appear in the GUI, but that's a topic for another day).

Your remapped toolchange routine has access to a set of built-in variables:http://linuxcnc.org/docs/stable/html/gcode/overview.html#gcode:predefined-named-parameters

Your routine could use #<_selected_pocket>

So, your toolchamge.ngc would be something like

There is no tool unload in this routine, so it won't work as-is. But is illustrates the idea. It's a lot like the rack-toolchanger example in the sim configs.

ethercat slaves indicates drives are in PREOP
halshow shows no pins

sudo dmesg output:
[3991690.001706] EtherCAT DEBUG 0: ec_master_send_datagrams(device_index = 0)
[3991690.001707] EtherCAT DEBUG 0: Adding datagram 0x0B
[3991690.001708] EtherCAT DEBUG 0: frame size: 46
[3991690.001709] EtherCAT DEBUG 0: Sending frame:
[3991690.001709] EtherCAT DEBUG: FF FF FF FF FF FF 2C 44 FD 25 D0 28 88 A4 0E 10
[3991690.001714] EtherCAT DEBUG: 04 0B 01 00 30 01 02 00 00 00 00 00 00 00 00 00
[3991690.001719] EtherCAT DEBUG: 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00
[3991690.001723] EtherCAT DEBUG: 00 00 00 00 00 00 00 00 00 00 00 00
[3991690.009637] EtherCAT DEBUG 0: Received frame:
[3991690.009639] EtherCAT DEBUG: FF FF FF FF FF FF 2E 44 FD 25 D0 28 88 A4 0E 10
[3991690.009645] EtherCAT DEBUG: 04 0B 01 00 30 01 02 40 00 00 02 00 01 00 00 00
[3991690.009650] EtherCAT DEBUG: 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00
[3991690.009655] EtherCAT DEBUG: 00 00 00 00 00 00 00 00 00 00 00 00
[3991690.009663] EtherCAT DEBUG 0: ec_master_send_datagrams(device_index = 0)
[3991690.009664] EtherCAT DEBUG 0: Adding datagram 0x0C
[3991690.009665] EtherCAT DEBUG 0: frame size: 46
[3991690.009666] EtherCAT DEBUG 0: Sending frame:
[3991690.009666] EtherCAT DEBUG: FF FF FF FF FF FF 2C 44 FD 25 D0 28 88 A4 0E 10
[3991690.009671] EtherCAT DEBUG: 04 0C 02 00 30 01 02 00 00 00 00 00 00 00 00 00
[3991690.009676] EtherCAT DEBUG: 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00
[3991690.009681] EtherCAT DEBUG: 00 00 00 00 00 00 00 00 00 00 00 00

The ethercat-conf.xml file came from the output of the command lcec_configgen


I replaced ethercat-conf.xml with your suggestions, and still get the same error

phil@SodickA:~/linuxcnc/configs/sim.axis$ linuxcnc lathe.ini
LINUXCNC - 2.9.3
Machine configuration directory is '/home/phil/linuxcnc/configs/sim.axis'
Machine configuration file is 'lathe.ini'
Starting LinuxCNC...
libnml/buffer/shmem.cc 320: Shared memory buffers toolCmd and toolCmd may conflict. (key=1004(0x3EC))
libnml/buffer/shmem.cc 320: Shared memory buffers toolSts and toolSts may conflict. (key=1005(0x3ED))
libnml/buffer/shmem.cc 320: Shared memory buffers emcError and emcError may conflict. (key=1003(0x3EB))
linuxcnc TPMOD=tpmod HOMEMOD=homemod EMCMOT=motmod
Note: Using POSIX realtime
Found file(REL): ./ethercat.hal
./ethercat.hal:50: Pin 'lcec.0.0.statusword' does not exist
Shutting down and cleaning up LinuxCNC...
Note: Using POSIX realtime
LinuxCNC terminated with an error.  You can find more information in the log:
    /home/phil/linuxcnc_debug.txt
and
    /home/phil/linuxcnc_print.txt
as well as in the output of the shell command 'dmesg' and in the terminal
 

i tried typing sudo make setuid but u got make:: *** No rule to make target setuid. Stop

Hey, i have no idea what this means. I can tell you that I downloaded the linux cnc from here linuxcnc.org/downloads/ 2025 version, I made a bootable flash drive and installed it like this, initially I was using only the USB but then I installed it properly and it's the only thing on this PC.

could you tell me what I should do from here?

Look at gearchange.comp (I think) on my repository above, I think that is close to what you want. (not exactly, but would be a reasonable starting point)

A workaround if you are worried about phase error on reversal is to use a tension-comopression tap holder to absorb the axial mismatch.

Anything HAL in GTK will have come with the LinuxCNC installation.

It _might_ help to install linuxcnc-uspace-dev (it won't hurt, at least)

LinuxCNC _is_ a motion controller, and can support a wide range of servo types. You are almost certainly going to need a better interface than the parallel port, but there are options to work with all sorts of (possibly second hand) servos and drivers using step/dir or analogue voltage control, and with encoder or resolver feedback.

There is definitely an advantage in a commercial setting of having drop-in replacement hardware readily available, though.

The things that can be displayed are:
Using POSIX non-realtime (this is bad)
Using Posix reatlime (this is fine, it means that you are using a preempt-rt kernel)
Using LXRT realtime (this is fine too, but is pretty rare, it means you are using LinuxCNC-uspace with an RTAI or Xenomai kernel)
<Nothing> Probably means that you are using RTAI, which is also fine.

Aha, many thanks for your speedy response.

There is currently no "missing tooth index" support in hostmot2
(there is experimental firmware but no driver support currently)

 

Hey i installed the 2025 linux cnc distribution and i am getting new problems.

i am using mesa 7i96s, with ip 10 10 10 10. my pc  i set up the ip to 10 10 10 100 using the following commands:
sudo ip addr flush dev enp6s0
sudo ip adr add 10 10 10 100/64 dev enp6s0
sudo ip link set dev ensp6s0 up

(using this method was kinda buggy)
i tried setting up the static ip address another was as well with the interface file:
auto enp6s0
iface enp6s0 inet static
address 10.10.10.11
hardware-irq-coalesce-rx-usecs 0

but i cant connect to the internet like this

after this i can ping the card as well as set up the pnc conf. i am able to control motors.
when i save the configuration i try to open it from the desktop launcher and i get an error i am attatching the report

Print file information:
RUN_IN_PLACE=no
LINUXCNC_DIR=
LINUXCNC_BIN_DIR=/usr/bin
LINUXCNC_TCL_DIR=/usr/lib/tcltk/linuxcnc
LINUXCNC_SCRIPT_DIR=
LINUXCNC_RTLIB_DIR=/usr/lib/linuxcnc/modules
LINUXCNC_CONFIG_DIR=
LINUXCNC_LANG_DIR=/usr/lib/tcltk/linuxcnc/msgs
INIVAR=inivar
HALCMD=halcmd
LINUXCNC_EMCSH=/usr/bin/wish8.6
LINUXCNC - 2.9.4
Machine configuration directory is '/home/cnc/linuxcnc/configs/RUTER_2_5_25'
Machine configuration file is 'RUTER_2_5_25.ini'
INIFILE=/home/cnc/linuxcnc/configs/RUTER_2_5_25/RUTER_2_5_25.ini
VERSION=1.1
PARAMETER_FILE=linuxcnc.var
TPMOD=
HOMEMOD=
TASK=milltask
HALUI=halui
DISPLAY=axis
COORDINATES=XYZ
KINEMATICS=trivkins coordinates=XYZ
Starting LinuxCNC...
Starting LinuxCNC server program: linuxcncsvr
Loading Real Time OS, RTAPI, and HAL_LIB modules
Starting LinuxCNC IO program: io
Starting HAL User Interface program: halui
linuxcnc TPMOD=tpmod HOMEMOD=homemod EMCMOT=motmod
Found file(REL): ./RUTER_2_5_25.hal
Shutting down and cleaning up LinuxCNC...
Running HAL shutdown script
hm2: loading Mesa HostMot2 driver version 0.15
hm2_eth: loading Mesa AnyIO HostMot2 ethernet driver version 0.2
hm2_eth: ERROR: Could not retrieve hardware address (MAC) of 10.10.10.10: Resource temporarily unavailable
hm2: unloading
Removing HAL_LIB, RTAPI, and Real Time OS modules
Removing NML shared memory segments

Debug file information:
Note: Using POSIX realtime
hm2_eth: rtapi_app_main: Resource temporarily unavailable (-11)
./RUTER_2_5_25.hal:9: waitpid failed /usr/bin/rtapi_app hm2_eth
./RUTER_2_5_25.hal:9: /usr/bin/rtapi_app exited without becoming ready
./RUTER_2_5_25.hal:9: insmod for hm2_eth failed, returned -1
1734
Stopping realtime threads
Unloading hal components
Note: Using POSIX realtime



 

Yes, that should work fine.

There is mention in the HAL of closed-loop steppers. Does this mean that you are closing the position loop in LinuxCNC HAL with encoders and PID (you clearly _are_ doing this) but do you also have closed-loop stepper drivers that also read the encoders?

It is possible that your problem is due to cascaded controllers.

I would be tempted to try a making an alternate config without the DPLL and with the stepgens in position mode, directly driven by motor-pos-cmd. Having a PID in HAL ought to give better results, but if the problem goes away with a more "classic" config then that at least suggests somewhere to look.

Originally my lathe had an encoder attached to the spindle head. 

My new spindle motor servo driver has an encoder output. Servo is geared 1to1 with the spindle. 

I’m assuming that will be enough fore position control.

I using a 7i96 board.