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At the very top of your hal file, there is some symbol that does not belong there, seem like '

All Mesa cards have the ability to use every pin as I/O if not used for special purposes, like stepgen or PWM or encoder, so you can use the step/dir of stepgen 4 (5'th stepgen) by loading just 4 stepgens.
No idea about the pinout though, been a long time, but manual should have everything explained.

www.forum.linuxcnc.org/38-general-linuxc...4-16?start=10#315975

If yes, where do I find them in HALSHOW?

I'm making a little interface board and have some leftover space, so I could gain a few extra o/p points if I can take advantage of these, perhaps drive a few SSR's.

Mesa 7i96s

Is that "missing amd gpu firmware something or another"?
That is not a fault, just a warning about missing firmwares for older GPU's.

I am getting an error on startup after adding the lines about offset mode.  I attached error report and current hal.

Machine jogs around well.  Its when I hit the power button in qtplasmac that enables the motors that they move/jump a little bit.  Offset mode would  correct/dampen that I assume?

Yes there is an example. Two normal stepper drives and one stepper motor spindle.
In the example directory.
 

Hi Hakan
thank you
What should the whole thing look like in the hall and ini? is there an sample?
 

Yes, you would have to set it manually in HAL, something like:

setp hm2_7i97.0.pwmgen.00.offset-mode true

I think you hit all problems.
"raspi-firmware: missing /boot/firmware, did you forget to mount it?"

You can use this component instead of the standard cia402 component.
github.com/MetalMusings/cia402pv
The drive uses PV (Profile Velocity) mode which is more suitable
for a spindle motor as it has its own speed ramp up and down.
 

You can search Debian install amdgpu fault via Google or you can try the text installer.

1. Remove 'loadrt matrixkins' from your hal file
2. The KINEMATICS entry of the [KINS] section in your ini file needs to look like this (matrixkins does not support the 'coordinates' parameter):

Hi rodw, Im sorry to bother you - the link to your doc in google docs is deleted, can you please tell me where I can find this again actually? I'm again struggling with packet losses.
docs.google.com/document/d/1jeV_4VKzVmOI...diY/edit?usp=sharing is deleted.

Thanks for your efforts!
Hanno

Colleagues,

I installed the kernel 5.4.290 + the linuxcnc 2.9.4 build that came with it
With the kinematics option KINEMATICS = trivkins coordinates=XXYYZ, everything starts and works.

We have a description here -
linuxcnc.org/docs/devel/html/man/man9/matrixkins.9.html
the example section of hal + ini files is empty.
We also have a description here -
github.com/LinuxCNC/linuxcnc/blob/master...ents/matrixkins.comp
where examples of specifying matrix elements are indicated.
However, there are no examples for hal + ini.
I tried to do the following by analogy with other methods -

HAL -

#2025-11-20 для версии 2.9.4
#loadrt [KINS]KINEMATICS

#программная коррекция
#https://linuxcnc.org/docs/devel/html/man/man9/matrixkins.9.html
#https://github.com/LinuxCNC/linuxcnc/blob/master/src/hal/components/matrixkins.comp
loadrt matrixkins
setp matrixkins.C_xy 0 # Skew Y axis towards X axis
setp matrixkins.C_xx 1 # X axis scale
setp matrixkins.C_xz 0 # Skew Z axis towards X axis
setp matrixkins.C_yx 0 # Skew X axis towards Y axis
setp matrixkins.C_yy 1 # Y axis scale
setp matrixkins.C_yz 0 # Skew Z axis towards Y axis
setp matrixkins.C_zx 0 # Skew X axis towards Z axis
setp matrixkins.C_zy 0 # Skew Y axis towards Z axis
setp matrixkins.C_zz 1 # Z axis scale


loadrt [EMCMOT]EMCMOT base_period_nsec=[EMCMOT]BASE_PERIOD servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS
loadrt hal_parport cfg="0 out"
setp parport.0.reset-time 5000
loadrt stepgen step_type=0,0,0,0,0

INI -
[KINS]
JOINTS = 5

#2025-11-20 для 2.9.4
#KINEMATICS = trivkins coordinates=XXYYZ
KINEMATICS=matrixkins coordinates=XXYYZ

When you try to launch it, it drops and shows an error -
Debug file information:
./t.hal:16: Can't find module 'matrixkins' in /usr/realtime-5.4.290-rtai-amd64/modules/linuxcnc
1485
Stopping realtime threads
Unloading hal components

for kernel 5.4.254, the situation and error are exactly the same (with corresponding linuxcnc + linuxcnc-dev)

how to fix this?

I note an error in man - there is no [KINS] section in the HAL file, there is such a section in ini, st 149 -