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  • emresensoy
  • emresensoy
13 Aug 2025 08:19
New EtherCAT Slave Devices REAL data to HAL was created by emresensoy

New EtherCAT Slave Devices REAL data to HAL

Category: EtherCAT

Hi there,
I made a new ethercat slave device, that you can connect any incremental encoder to ethercat network,
you can watch its video;


Everything is ok with Twincat, I can read A B Z pin situations, encoder puls register (s32), encoder rpm value (real)
But in HAL, I cant get ENC2RPM value correctly, it shows irrelevant numbers,
in xml file there is;
<pdoEntry idx="0006" subIdx="01" bitLen="32" halPin="ENC2RPM" halType="float" />

Main question;
what should be the halType for a variable that can read successfully in Twincat (REAL)


Slave devices ethercat xml command output is here;
<!-- Slave 3 -->
    <Vendor>
      <Id>1640067</Id>
    </Vendor>
    <Descriptions>
      <Devices>
        <Device>
          <Type ProductCode="#x00000001" RevisionNo="#x00000002">ENCODER INTERFACE</Type>
          <Name><![CDATA[ENCODER INTERFACE]]></Name>
          <Sm Enable="1" StartAddress="#x1000" ControlByte="#x64" DefaultSize="0" />
          <Sm Enable="1" StartAddress="#x1200" ControlByte="#x20" DefaultSize="0" />
          <RxPdo Sm="0" Fixed="1" Mandatory="1">
            <Index>#x1600</Index>
            <Name>Outputs</Name>
            <Entry>
              <Index>#x0005</Index>
              <SubIndex>1</SubIndex>
              <BitLen>32</BitLen>
              <Name>ENC1_PULS_PER_REV</Name>
              <DataType>UINT32</DataType>
            </Entry>
            <Entry>
              <Index>#x0005</Index>
              <SubIndex>2</SubIndex>
              <BitLen>32</BitLen>
              <Name>ENC2_PULS_PER_REV</Name>
              <DataType>UINT32</DataType>
            </Entry>
          </RxPdo>
          <TxPdo Sm="1" Fixed="1" Mandatory="1">
            <Index>#x1a00</Index>
            <Name>Inputs</Name>
            <Entry>
              <Index>#x0006</Index>
              <SubIndex>1</SubIndex>
              <BitLen>32</BitLen>
              <Name>ENC1RPM</Name>
              <DataType>UINT32</DataType>
            </Entry>
            <Entry>
              <Index>#x0006</Index>
              <SubIndex>2</SubIndex>
              <BitLen>32</BitLen>
              <Name>REAL_ENC1_PULSE_PER_REV</Name>
              <DataType>UINT32</DataType>
            </Entry>
            <Entry>
              <Index>#x0006</Index>
              <SubIndex>3</SubIndex>
              <BitLen>32</BitLen>
              <Name>ENC2RPM</Name>
              <DataType>UINT32</DataType>
            </Entry>
            <Entry>
              <Index>#x0006</Index>
              <SubIndex>4</SubIndex>
              <BitLen>32</BitLen>
              <Name>REAL_ENC2_PULSE_PER_REV</Name>
              <DataType>UINT32</DataType>
            </Entry>
            <Entry>
              <Index>#x0006</Index>
              <SubIndex>5</SubIndex>
              <BitLen>16</BitLen>
              <Name>ENC2POSITION</Name>
              <DataType>UINT16</DataType>
            </Entry>
            <Entry>
              <Index>#x0006</Index>
              <SubIndex>6</SubIndex>
              <BitLen>16</BitLen>
              <Name>ENC1POSITION</Name>
              <DataType>UINT16</DataType>
            </Entry>
            <Entry>
              <Index>#x0006</Index>
              <SubIndex>7</SubIndex>
              <BitLen>8</BitLen>
              <Name>ENC2A</Name>
              <DataType>UINT8</DataType>
            </Entry>
            <Entry>
              <Index>#x0006</Index>
              <SubIndex>8</SubIndex>
              <BitLen>8</BitLen>
              <Name>ENC2B</Name>
              <DataType>UINT8</DataType>
            </Entry>
            <Entry>
              <Index>#x0006</Index>
              <SubIndex>9</SubIndex>
              <BitLen>8</BitLen>
              <Name>ENC2Z</Name>
              <DataType>UINT8</DataType>
            </Entry>
            <Entry>
              <Index>#x0006</Index>
              <SubIndex>10</SubIndex>
              <BitLen>8</BitLen>
              <Name>ENC1A</Name>
              <DataType>UINT8</DataType>
            </Entry>
            <Entry>
              <Index>#x0006</Index>
              <SubIndex>11</SubIndex>
              <BitLen>8</BitLen>
              <Name>ENC1Z</Name>
              <DataType>UINT8</DataType>
            </Entry>
            <Entry>
              <Index>#x0006</Index>
              <SubIndex>12</SubIndex>
              <BitLen>8</BitLen>
              <Name>ENC1B</Name>
              <DataType>UINT8</DataType>
            </Entry>
          </TxPdo>
        </Device>
      </Devices>

           
  • RotarySMP
  • RotarySMP's Avatar
13 Aug 2025 08:18 - 13 Aug 2025 08:21
Replied by RotarySMP on topic Heidenhain EXE610 - which MESA board would be needed to connect 4 of them?

Heidenhain EXE610 - which MESA board would be needed to connect 4 of them?

Category: Driver Boards

The scale has an emitter (LED or bulb) and a receiver , so they both need power and ground, but per the note the power lines (pins 3 and 12) and the grounds grounds (pin 10 and 11) are internally connected. So you just need to supply +5VDC to either pin 3 or 12, and a ground to pin 10 or ll.

You show both Ua1 and Ua2 connected to pin 5 of the Mesa. Ua2 shoud be connected to pin7.
  • RotarySMP
  • RotarySMP's Avatar
13 Aug 2025 08:03
Replied by RotarySMP on topic Announcing Deckard: StreamDeck support for LinuxCNC

Announcing Deckard: StreamDeck support for LinuxCNC

Category: Show Your Stuff

You did a nice design to integrate the streamdeck, and all the other controls into that interface unit.
  • WKS-3D
  • WKS-3D's Avatar
13 Aug 2025 07:33
Replied by WKS-3D on topic Glasmaßstab EIA-422 an Mesa 7i85 (S)

Glasmaßstab EIA-422 an Mesa 7i85 (S)

Category: Deutsch

@PCW
Okay, I'll try it next weekend and let you know how it goes.

Ps.: By the way, I've always wanted to ask you, what's with the goat in the picture? 
File Attachment:
  • RotarySMP
  • RotarySMP's Avatar
13 Aug 2025 06:56
Replied by RotarySMP on topic New member from Germany - CNC retrofit of a Leinen FM1

New member from Germany - CNC retrofit of a Leinen FM1

Category: General LinuxCNC Questions

Wow, what a beautiful machine. In fantastic condition.

So there are separate motors on each of the axis? Should not be that difficult to retrofit LinuxCNC to it. You should be able to leave that lovely antique Heinhain control untouched, and just make up a separate LinuxCNC Controller with connectors for all the cables.
  • Kieran
  • Kieran
13 Aug 2025 04:13
Replied by Kieran on topic Get rid of username/password?

Get rid of username/password?

Category: Basic Configuration

ok I made a file called cnc.desktop in ect/xdg/autostart.

[Desktop Entry]
Type=Application
Exec=/home/cnc/Desktop/Ecat5.desktop
Hidden=false
NoDisplay=false
X-GNOME-Autostart-enable=true
Name=CNCMILL
Comments=Start Linuxcnc Ecat5 mill.

It doest seem to work on a restart. Do i have to point it to home/linuxcnc/configs or something? how do i tell linuxcnc which config to launch?
  • Kieran
  • Kieran
13 Aug 2025 03:59 - 13 Aug 2025 04:00
Replied by Kieran on topic Get rid of username/password?

Get rid of username/password?

Category: Basic Configuration

Thank you MaHa! That did the trick. I messed with the lightdm.conf last night but I didn't know what i was doing, got scared, and changed it back to how it was. :D

RotorySMP, im gonna try the auto-launch next.
  • KaveMan
  • KaveMan
13 Aug 2025 03:32
Replied by KaveMan on topic Raspbery pi5 pcie adapter to parport card

Raspbery pi5 pcie adapter to parport card

Category: General LinuxCNC Questions

Thanks. but, I am unsure how and or what I would target for the permission? would you have an example?
  • rodw
  • rodw's Avatar
13 Aug 2025 03:19
Replied by rodw on topic Set program zero using XY positioning laser

Set program zero using XY positioning laser

Category: Advanced Configuration

Have a look at how Qtplasmac does it. Normally, you would home the machine, turn the laser on and jog the machine. When the laser is in position, press a GUI button  that sets the G54 offsets based on the XY difference between the tool and the laser. Then optionally, goto 0,0 to centre the tool over the laser position. You need to save those offsets somewhere, but best to do in the ini file.
eg:
[LASER]
laser-x 20
laser-y 30
  • rodw
  • rodw's Avatar
13 Aug 2025 03:08
Replied by rodw on topic Mesa 7i76eu gpio pins not working

Mesa 7i76eu gpio pins not working

Category: General LinuxCNC Questions

This is using the 7i76e but more or less the same

  • rodw
  • rodw's Avatar
13 Aug 2025 03:01
Replied by rodw on topic Raspbery pi5 pcie adapter to parport card

Raspbery pi5 pcie adapter to parport card

Category: General LinuxCNC Questions

probably need to give permissions to the user for the par port
  • unknown
  • unknown
13 Aug 2025 02:08
Replied by unknown on topic Raspbery pi5 pcie adapter to parport card

Raspbery pi5 pcie adapter to parport card

Category: General LinuxCNC Questions

pipci.jeffgeerling.com/#other-cards

Has a list of cards that work.

BAR and arm64 have issues or no support.
For extra IO either mesa or the RIO project are best bet.
  • KaveMan
  • KaveMan
13 Aug 2025 02:07
Replied by KaveMan on topic Raspbery pi5 pcie adapter to parport card

Raspbery pi5 pcie adapter to parport card

Category: General LinuxCNC Questions

Not sure if this helps?

cnc@raspberrypi:~$ sudo lspci -v
0000:00:00.0 PCI bridge: Broadcom Inc. and subsidiaries BCM2712 PCIe Bridge (rev 21) (prog-if 00 [Normal decode])
Flags: bus master, fast devsel, latency 0, IRQ 39
Bus: primary=00, secondary=01, subordinate=01, sec-latency=0
Memory behind bridge: 80000000-800fffff [size=1M] [32-bit]
Prefetchable memory behind bridge: [disabled] [64-bit]
Capabilities: [48] Power Management version 3
Capabilities: [ac] Express Root Port (Slot-), MSI 00
Capabilities: [100] Advanced Error Reporting
Capabilities: [160] Virtual Channel
Capabilities: [180] Vendor Specific Information: ID=0000 Rev=0 Len=028 <?>
Capabilities: [240] L1 PM Substates
Capabilities: [300] Secondary PCI Express
Kernel driver in use: pcieport

0000:01:00.0 Parallel controller: MosChip Semiconductor Technology Ltd. MCS9900 Multi-I/O Controller (prog-if 03 [IEEE1284])
Subsystem: Asix Electronics Corporation (Wrong ID) MCS9900 Multi-I/O Controller
Flags: fast devsel
Memory at 1b80000000 (32-bit, non-prefetchable) [disabled] [size=4K]
Memory at 1b80001000 (32-bit, non-prefetchable) [disabled] [size=4K]
Capabilities: [50] MSI: Enable- Count=1/1 Maskable- 64bit+
Capabilities: [78] Power Management version 3
Capabilities: [80] Express Legacy Endpoint, MSI 00
Capabilities: [100] Virtual Channel
Capabilities: [800] Advanced Error Reporting

0001:00:00.0 PCI bridge: Broadcom Inc. and subsi
  • tommylight
  • tommylight's Avatar
13 Aug 2025 00:15
Replied by tommylight on topic Raspbery pi5 pcie adapter to parport card

Raspbery pi5 pcie adapter to parport card

Category: General LinuxCNC Questions

Use sudo with lspci, a lot of info is not accessible without it
sudo lspci -v
  • PCW
  • PCW's Avatar
12 Aug 2025 23:27 - 12 Aug 2025 23:30
Replied by PCW on topic "pwm/dir" (Out1) switches for spindle CCW

"pwm/dir" (Out1) switches for spindle CCW

Category: Basic Configuration

The 5i25_5ABOBx2.bit is matching my china bob?

Yes, it has a slightly different pinout but is designed for that BOB.
It supports all 5 Axis (on each BOB) so has a stepgen pin on IO7=DB25 pin 17
but was designed to easily reclaim the pins as GPIO since it uses stepgen
8,9 for the per BOB 5th axis so by setting num_stepgens to 8, you can get 4 stepgens
per connector and still have the relay GPIO free.


You could also just recompile your bit file and change the PWM dir pin to just a GPIO pin

The problem with using the PWM DIR pin is that it depends on the PWM sign, this
may work if you connect the PWM value to the signed spindle speed command
rather than the absolute spindle speed command (you may still need to invert the DIR pin).
The advantage is that this may work with your existing bitfile.
 
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