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Really nice and very useful debug tool. Thanks for sharing! I think this should be shipped with linuxcnc. What do you think?

Only a little note to the selection behaviour - when I click on several components after each other, and when I hold down on the last one and drag, all the previous clicked components are in the selection and are moved together. I think it would be more intuitive to do that with Ctrl click.

The BASE_PERIOD in the sim config is too low for that spindle speed so the sim_encoder component cannot calculate the speed correctly.
Setting a lower BASE_PERIOD in the gmoccapy.ini increases the possible maximum spindle speed
 

Yes with adding the conditional code from the manual seems to be working just the way I want it to.
Here is what I have in the on_abort.ngc file

I started playing with the on_abort.ngc and it might work. I need to play a little more. At this point it does a little more than I want it to. It will trigger it for F2 (what I want), but also triggers it when exiting a running milling file with the escape key (not what I want) and the machine does not enter machine off.

The machine state I'm dealing with is particular about how it is entered and exited. I can't simply turn it on or off without the machine moving, when the M-code is active, it can be turned off without issue when the machine is not enabled (in machine off). So I only want the on_abort sequence to cancel my M-code state when the machine is aborting to machine off. Aborting to a machine on state, such as when aborting a running g-code file, the M-code state needs to be left alone, and the operator will have to clear it themselves (else the machine will shutdown with following error alarms.)

In the remap instructions I read about making some things conditional. I'm going to try to play with that now.

You can try this in your hal-file:

This reduces the acceleration of the axes when moving with the pendant.

Also ich hab mal geschaut.
Standartmäßig gibt es meistens max 3 Kanal für die typischen ABZ Encoder.
Gegenfrage: was hast du vor, evtl. gibt es eine andere Lösung?

According to the docs, shutdown.ngc only gets run when exiting normally.  Machine-off state does not trigger it, and neither does a PC crash.

I think on-abort.ngc should work without explicitly remapping.  A quick test could confirm:

• Create a test abort.ngc file with something in it to test (i.e. halcmd to set a pin value)
• Add the file to you INI
• Create user M-code (M1xx) which creates some sort of call to the abort.
  • All of my M66 checks in the various tool-change (or similar) sequences have something like:

  • [*]M66 P9 L3 Q2                                        ; Check ATC door open sensor
    O100 if [#5399 LT 0]
          M65 P8                                          ; Turn off ATC door open solenoid
        (abort, ATC door not open)                      ; Abort if the sensor does not activate in 2 seconds
      O100 endif
    [*]

You could make the abort.ngc be the bash script, or you could create another M1xx bash script and use abort.ngc to call that M-code.

Once you've got everything set up, open halshow and add the hal pin you want to twiddle using abort.ngc.  Call the M-code which will abort and see if the hal pin changes state.

The conversion interface parts depend on the signal levels needed.

For RS-422 (going into a line receiver on the drive ) where 3V signals into a load are OK,
any RS422 driver will work (say 26LS31 equivalent for 4 channels/chip)

If you wish to drive optocoupled drive inputs that expect 5V signals, you would need
a driver with 5V outputs. AFAIK the only 4 channel RS-422 drivers that do this are
the ISL32174,ISL34172 and MAX3042 (The MAX parts are expensive)

Another option for 5V signals is to use a combination of ACT driver chips with inverting
and non-inverting  outputs, say a 74ACT540 and a 74ACT541.

Hello guys,

Here is a little update. Since my last post, I had a detailed look at my picture gallery, specifically at the pictures of an EL5021 terminal I bought and disassembled back in early 2025. The original plan back then was to add an axial resistor in order to get it to read 11µA encoder signals. I quickly realized that wouldn't work, took some pictures, reassembled it, and returned it to the seller.

Last weekend, I took another detailed look at the PCB of the EL5021 and recognized the interpolator IC Beckhoff is using: an iC-Haus iC-NQI. For my own interpolator solution, I had actually copied the typical application circuit straight from that datasheet. That's why I immediately reordered an EL5021 terminal off eBay, opened it up, and properly reverse-engineered it today.
Beckhoff is actually following this required application circuit almost exactly ( Datasheet iC-NQI, Page 24, Figure 30 ). They are also using 4.7k Ohm resistors for RS1 and RS2. Those have to be swapped for 50k Ohm ones (I will test if these are too big; possibly 43k or 47k are better suited), and lastly the 120 Ohm resistors need to be removed. This way, the EL5021 terminal should be able to read 11µA sensors. By adding a 120 Ohm axial resistor across each input channel (A & /A, B & /B, and C & /C), the EL5021 can again be used for 1V signals. In theory, it would also support TTL signals, but that is outside the scope of this test.

Other than that, I vibe-coded a CiA402 dashboard tab for LinuxCNC to be able to see any problems with the Danfoss VFD directly in one place, without needing to decode the status word or the command word. The Danfoss VFD is now also able to read the frequency of an inductive sensor, internally calculates the motor speed, and reports that speed back via a PDO as feedback speed.

Additionally, the decision was made not to keep the original relay-based DC gearmotor solution, but to switch to two Beckhoff EL7332 terminals. Details about that coming soon™.

I'll test the functionality of the modified EL5021 terminal and keep you posted Wishing you all a great weekend!

Does a shutdown hal file only run on exiting out of Linuxcnc, or would it run when ever the machine is disabled to the machine off (F2) state? That sounds like the simplest way if it the shutdown hal is exicuted when ever the machine is put to the off state.

Will the on_abort.ngc work without remap? I'm assuming that the file should not have any motion causing codes in it. Are there any restrictions as to what commands can be executed in it? If I can execute some custom M-codes in it, that should be good enough for my purposes.

It sounds like the maybe Ethernet on the host has power management or enabled or something similar

what does:

ethtool --show-eee [ethernet device name]

report?

[ethernet device name] is the name of the Ethernet device connected to the 7I76E,
something like eth0 or eno1. You can get the device name from a the results of
the command

ip a



 

This problem has always been there, it is a new build I just completed last week and I have gotten this error from the start.

How do I read this variable the pictures attac

OK, the /INIT LED is illuminated on the 7I76E which means this is not a 7I76E power issue
but either a host or 7I76E network issue. (The /INIT LED indicates a watchdog bite)

Is this a new problems or has it always been there?

Gibt es so eine Lösung evtl. auch gleich mit mehreren Kanälen?
Da kommen ja doch einige Module zusammen bei 3 oder 4 Achsen...