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  • CNCJIM
  • CNCJIM
28 Oct 2026 22:46
Replied by CNCJIM on topic Remora for RP2040

Remora for RP2040

Category: Computers and Hardware

From what I understand - this doesn't have configuration and hal files to match just yet - bit as Mars mentioned it is a complex project - but a cost effective linuxcnc solution would be a big plus to the community. I was considering building an STM32F446 or an STMF32F7xx custom card with a LAN9252 Microchip to use as an EtherCAT controller. This setup might be a lot less expensive overall. Once your team is ready to introduce the wider community to Remora for RP2040 that would be great. I also apprecieate the complexity - and the "small team" working out the details.
  • mwc
  • mwc
28 Oct 2026 22:37
AMSAMOTION IO module was created by mwc

AMSAMOTION IO module

Category: EtherCAT

I'm starting a new thread for this, as I'm sure other people will likely be looking at these modules. The exact module I have is a AMSAMOTION EC1A-IO16R-AM6, which has 16 Digital Inputs, 16 Digital (relay) Outputs, 4 Analogue Inputs, 2 Analogue Outputs, and a ModBus connection.

The main reason I've selected this module is for the Analogue Inputs, as I want to use one for a Plasma THC, and another for FRO.

I've had it connected for a while, but have been concentrating on the Lichuan drivers first, so as it stands, I've only got as far as the lcec_configgen output -

<slave idx="3" type="generic" vid="0x00000b96" pid="0x00001400" name="D4">
      <!--EC1A-CORE1-->
      <syncManager idx="0" dir="in"/>
      <syncManager idx="1" dir="out"/>
      <syncManager idx="2" dir="out">
        <pdo idx="1601">
          <!--Digital Output process data mapping-->
          <pdoEntry idx="7010" subIdx="01" bitLen="16" halPin="mapping-ch" halType="!!type 002e!!"/>
        </pdo>
        <pdo idx="1603">
          <!--Analog Output process data mapping-->
          <pdoEntry idx="7030" subIdx="01" bitLen="16" halPin="mapping-ch0" halType="u32"/>
          <pdoEntry idx="7030" subIdx="02" bitLen="16" halPin="mapping-ch1" halType="u32"/>
        </pdo>
        <pdo idx="1605">
          <!--Modbus Master Control process data mapping-->
          <pdoEntry idx="7050" subIdx="01" bitLen="32" halPin="tigger-bit" halType="!!type 002f!!"/>
          <pdoEntry idx="7050" subIdx="02" bitLen="32" halPin="clear-bit" halType="!!type 002f!!"/>
          <pdoEntry idx="7050" subIdx="03" bitLen="8" halPin="rs485-enable" halType="!!type 001e!!"/>
        </pdo>
      </syncManager>
      <syncManager idx="3" dir="in">
        <pdo idx="1a00">
          <!--Digital Input process data mapping-->
          <pdoEntry idx="6000" subIdx="01" bitLen="16" halPin="mapping-ch" halType="!!type 002e!!"/>
        </pdo>
        <pdo idx="1a02">
          <!--Analog Input process data mapping-->
          <pdoEntry idx="6020" subIdx="01" bitLen="16" halPin="mapping-ch0" halType="u32"/>
          <pdoEntry idx="6020" subIdx="02" bitLen="16" halPin="mapping-ch1" halType="u32"/>
          <pdoEntry idx="6020" subIdx="03" bitLen="16" halPin="ch2" halType="u32"/>
          <pdoEntry idx="6020" subIdx="04" bitLen="16" halPin="ch3" halType="u32"/>
        </pdo>
        <pdo idx="1a04">
          <!--Data process data mapping-->
          <pdoEntry idx="6040" subIdx="01" bitLen="16" halPin="word0" halType="u32"/>
          <pdoEntry idx="6040" subIdx="02" bitLen="16" halPin="word1" halType="u32"/>
          <pdoEntry idx="6040" subIdx="03" bitLen="16" halPin="word2" halType="u32"/>
          <pdoEntry idx="6040" subIdx="04" bitLen="16" halPin="word3" halType="u32"/>
          <pdoEntry idx="6040" subIdx="05" bitLen="16" halPin="word4" halType="u32"/>
          <pdoEntry idx="6040" subIdx="06" bitLen="16" halPin="word5" halType="u32"/>
          <pdoEntry idx="6040" subIdx="07" bitLen="16" halPin="word6" halType="u32"/>
          <pdoEntry idx="6040" subIdx="08" bitLen="16" halPin="word7" halType="u32"/>
        </pdo>
        <pdo idx="1a05">
          <!--Data process data mapping-->
          <pdoEntry idx="6050" subIdx="01" bitLen="8" halPin="err0" halType="s32"/>
          <pdoEntry idx="6050" subIdx="02" bitLen="8" halPin="err1" halType="s32"/>
          <pdoEntry idx="6050" subIdx="03" bitLen="8" halPin="err2" halType="s32"/>
          <pdoEntry idx="6050" subIdx="04" bitLen="8" halPin="err3" halType="s32"/>
          <pdoEntry idx="6050" subIdx="05" bitLen="8" halPin="err4" halType="s32"/>
          <pdoEntry idx="6050" subIdx="06" bitLen="8" halPin="err5" halType="s32"/>
          <pdoEntry idx="6050" subIdx="07" bitLen="8" halPin="err6" halType="s32"/>
          <pdoEntry idx="6050" subIdx="08" bitLen="8" halPin="err7" halType="s32"/>
          <pdoEntry idx="6050" subIdx="09" bitLen="8" halPin="err8" halType="s32"/>
          <pdoEntry idx="6050" subIdx="0a" bitLen="8" halPin="err9" halType="s32"/>
          <pdoEntry idx="6050" subIdx="0b" bitLen="8" halPin="err10" halType="s32"/>
          <pdoEntry idx="6050" subIdx="0c" bitLen="8" halPin="err11" halType="s32"/>
          <pdoEntry idx="6050" subIdx="0d" bitLen="8" halPin="err12" halType="s32"/>
          <pdoEntry idx="6050" subIdx="0e" bitLen="8" halPin="err13" halType="s32"/>
          <pdoEntry idx="6050" subIdx="0f" bitLen="8" halPin="err14" halType="s32"/>
          <pdoEntry idx="6050" subIdx="10" bitLen="8" halPin="err15" halType="s32"/>
          <pdoEntry idx="6050" subIdx="11" bitLen="8" halPin="err16" halType="s32"/>
          <pdoEntry idx="6050" subIdx="12" bitLen="8" halPin="err17" halType="s32"/>
          <pdoEntry idx="6050" subIdx="13" bitLen="8" halPin="err18" halType="s32"/>
          <pdoEntry idx="6050" subIdx="14" bitLen="8" halPin="err19" halType="s32"/>
          <pdoEntry idx="6050" subIdx="15" bitLen="8" halPin="err20" halType="s32"/>
          <pdoEntry idx="6050" subIdx="16" bitLen="8" halPin="err21" halType="s32"/>
          <pdoEntry idx="6050" subIdx="17" bitLen="8" halPin="err22" halType="s32"/>
          <pdoEntry idx="6050" subIdx="18" bitLen="8" halPin="err23" halType="s32"/>
          <pdoEntry idx="6050" subIdx="19" bitLen="8" halPin="err24" halType="s32"/>
          <pdoEntry idx="6050" subIdx="1a" bitLen="8" halPin="err25" halType="s32"/>
          <pdoEntry idx="6050" subIdx="1b" bitLen="8" halPin="err26" halType="s32"/>
          <pdoEntry idx="6050" subIdx="1c" bitLen="8" halPin="err27" halType="s32"/>
          <pdoEntry idx="6050" subIdx="1d" bitLen="8" halPin="err28" halType="s32"/>
          <pdoEntry idx="6050" subIdx="1e" bitLen="8" halPin="err29" halType="s32"/>
          <pdoEntry idx="6050" subIdx="1f" bitLen="8" halPin="err30" halType="s32"/>
          <pdoEntry idx="6050" subIdx="20" bitLen="8" halPin="err31" halType="s32"/>
        </pdo>
      </syncManager>
    </slave>



Now this obviously doesn't work, as there are a few unknown halTypes, so I'm expecting a few issues along the way to getting this working, however it's a job for tomorrow night, as I'm needing to go and get some sleep, but first step will be getting the Digital IO working.
  • mwc
  • mwc
28 Oct 2026 22:09
Replied by mwc on topic Ethercat drive configuration woes

Ethercat drive configuration woes

Category: EtherCAT

For a bit more thread completion, this is my current XML for a single CL3-E57H drive -

<slave idx="0" type="generic" vid="00000a79" pid="00001000" configPdos="true">
        <!-- Lichuan CL£-E57H -->
      <dcConf assignActivate="300" sync0Cycle="*1" sync0Shift="0"/>
      <sdoConfig idx="2303" subIdx="00"> <!-- Peak Current -->
        <sdoDataRaw data="a0 0f" />
      </sdoConfig>
      <syncManager idx="0" dir="out">
      </syncManager>
      <syncManager idx="1" dir="in">
      </syncManager>
      <syncManager idx="2" dir="out">
        <pdo idx="1600">
          <pdoEntry idx="6040" subIdx="00" bitLen="16" halPin="cia-controlword" halType="u32"/>
          <pdoEntry idx="6060" subIdx="00" bitLen="8" halPin="opmode" halType="s32"/>
          <pdoEntry idx="607A" subIdx="00" bitLen="32" halPin="target-position" halType="s32"/>
          <pdoEntry idx="60FF" subIdx="00" bitLen="32" halPin="target-velocity" halType="s32"/>
        </pdo>
      </syncManager>
      <syncManager idx="3" dir="in">
        <pdo idx="1a00">
          <pdoEntry idx="6041" subIdx="00" bitLen="16" halPin="cia-statusword" halType="u32"/>
          <pdoEntry idx="6061" subIdx="00" bitLen="8" halPin="opmode-display" halType="s32"/>
          <pdoEntry idx="6064" subIdx="00" bitLen="32" halPin="actual-position" halType="s32"/>
          <pdoEntry idx="606C" subIdx="00" bitLen="32" halPin="actual-velocity" halType="s32"/>
          <pdoEntry idx="6077" subIdx="00" bitLen="16" halPin="actual-torque" halType="u32"/>
          <pdoEntry idx="60fd" subIdx="00" bitLen="32" halPin="digital-inputs" halType="u32"/>
        </pdo>
      </syncManager>
    </slave>

This configures the drive to 4000mA current, and reads the digital inputs to a halPin.
I'll likely expand on it once things are installed on the machine, as I'd like it to fully configure the drive when the machine is powered on, but this is enough to get the basics working for now.
  • gonzalovargas1.
  • gonzalovargas1.
28 Oct 2026 20:08
Replied by gonzalovargas1. on topic Biesse Rover 18 CNC router

Biesse Rover 18 CNC router

Category: CNC Machines

Hello Bob,

We own two old Biesse CNC machines, a Rover 321R (1994) and a Rover 18 (1993), and we are looking to retrofit their obsolete control systems.

We need someone who could help us design, configure and, hopefully, preprogram a complete retrofit control system, preferably retaining the existing DC servo motors and SOPREL drives.

We might also need remote technical assistance, particularly if we cannot find someone locally in Bolivia with the necessary expertise to carry out the installation and commissioning.

Do you think you could help us develop this project?

If so, could you please provide an email address where we can contact you directly? Alternatively, you can reach us at This email address is being protected from spambots. You need JavaScript enabled to view it..

Thank you for your time.

Best regards,
Gonzalo Vargas
  • tuxcnc
  • tuxcnc
28 Oct 2026 16:57
Replied by tuxcnc on topic cia402.comp - can't compile in 2.10-pre2

cia402.comp - can't compile in 2.10-pre2

Category: EtherCAT

a compatible cia402 is released with the latest linuxcnc-ethercat you don't need to compile it yourself, I also rewritten it in C.

github.com/linuxcnc-ethercat/linuxcnc-et...releases/tag/v1.47.0

here is the fixed component in C if you want to take a look

github.com/linuxcnc-ethercat/linuxcnc-et.../master/src/cia402.c
 

I couldn't have known about this, as I didn't examine the source files; I simply used the pre-built package you provided a link to. It doesn't work and instead throws the following error:
lcec_conf: /lib/x86_64-linux-gnu/libethercat.so.1: version `LIBETHERCAT_1.6.13' not found (required by lcec_conf)
The `libethercat_1.6.13.g61cc654-1+41.1_amd64.deb` package contains a file named `libethercat.so.1.2.0`, which includes the strings `LIBETHERCAT_1.6` rather than `LIBETHERCAT_1.6.13`—this is likely the cause of the error.

On the other hand, `linuxcnc-ethercat_1.45.0+getset-1+deb12u1_amd64.deb` works, but it does not contain `cia402.so`.
Consequently, I installed version 1.45 and used the `cia402.so` file extracted from the 1.47 package.
The machine works now.

Thank for your works.

 

File Attachment:

File Name: cia402.so.tar
File Size:30 KB

 
  • CNCJIM
  • CNCJIM
28 Oct 2026 16:41
Lenovo T490 Laptop Tuning issues was created by CNCJIM

Lenovo T490 Laptop Tuning issues

Category: General LinuxCNC Questions

This Lenovo Laptop is a 4 core  i5 8650 with hyper threading disabled and most of the I/O.  I was able to get the latency down to 1.4ms  for the Servo Thread and 2.5ms for the Base Thread, by manually tweaking the Grub default command line and adding a service to start at runtime to control the fans and power level.    But with this result.  Is the latency withing bounds of running a Mesa 7i96S without issue.  I have disabled all of the I/O except for  the USB  and disk drive.   I had to change the SSD from a NVME M.2  to an SATA III, m.w , Because interrupts were showing up for nvme0q4 causing issues.   Evidenlty all cpu's have these interrupt queues by default and nothing can be done to reassign them. 

GRUB_CMDLINE_LINUX_DEFAULT="quiet splash consoleblank=0 fbcon=blank:0  nvme.io_queues=2 isolcpus=managed_irq,domain,3 nohz=on nohz_full=3 rcu_nocbs=3 processor.max_cstate=1 pcie_aspm=off rqaffinity=0,1,2 kthread_cpus=0,1,2  ipv6.disable=1 i915.enable_dc=0 i915.enable_fbc=0 i915.enable_psr=0 i915.enable_rc6=0 intel_idle.max_cstate=1 intel_pstate=disable skew_tick=1 mitigations=off nosmt nosoftlockup nowatchdog  nvme_core.default_ps_max_latency_us=0 usbcore.autosuspend=-1"
GRUB_CMDLINE_LINUX=""

I did not run rt_setup.sh  -  because I see no history in the header about the package and its uipdate.   I do not know the vintage of the file. 
  • hhscott
  • hhscott
28 Oct 2026 13:59
Replied by hhscott on topic FabScan - LinuxCNC Camera-Assisted Tracing / Scanning Project

FabScan - LinuxCNC Camera-Assisted Tracing / Scanning Project

Category: Plasma & Laser

I am very interested in the development of this project. Many thanks for your work!

Do you know if your current version would have any issues running on a pi5 8GB machine? That's what I am using to run my full size CNC router.

HH
  • dberegovoy
  • dberegovoy
28 Oct 2026 12:09
WTT / WTS: Omron NX-ECC201 Coupler + I/O Kit (Looking for Differential Encoder M was created by dberegovoy

WTT / WTS: Omron NX-ECC201 Coupler + I/O Kit (Looking for Differential Encoder M

Category: User Exchange

Hi everyone,
I have a few Omron NX kits available, exactly as shown in the picture. I want to trade one of these kits for an encoder module or sell it.
The kit includes:
• 1x NX-ECC201 (EtherCAT Coupler)
• 3x NX-ID5342 (High-Speed Input Modules, 16 pins each, 48 total inputs)
• 2x NX-OD5121 (High-Speed Output Modules, 16 pins each, 32 total outputs)
I have already tested the coupler and toggled the output module LEDs directly from a Linux terminal via EtherCAT. I pulled the original ESI XML files from Sysmac Studio and can provide them if needed.
What I am looking for:
• Omron NX-EC0142 or NX-EC0132 (differential encoder modules with digital inputs)
Since I am doing this to learn EtherCAT, I am flexible and open to other brands. I am also willing to trade one of my kits for a Beckhoff EtherCAT coupler combined with a differential encoder input module.
Thanks!
 
  • dberegovoy
  • dberegovoy
28 Oct 2026 11:38
Replied by dberegovoy on topic Lathe Spindle Encoder: What are the options for EtherCAT?

Lathe Spindle Encoder: What are the options for EtherCAT?

Category: EtherCAT

Quick update: I made a mistake with the part numbers in my previous post. 

The NX-EC0222 and NX-EC0122 modules do not support differential signals. The correct Omron modules for a differential line driver setup are actually the NX-EC0132 or NX-EC0142. 

Also, I'm interested in pairing one of these encoder modules with an NX-DA3605 analog output module to control a heavy-duty CNC lathe spindle via ±10V (both for speed and C-axis positioning), as I have an eye on one such analog module. Has anyone here tried this specific combination? Any success or failure stories with this setup?
  • grandixximo
  • grandixximo's Avatar
28 Oct 2026 07:17 - 28 Oct 2026 07:18
Replied by grandixximo on topic cia402.comp - can't compile in 2.10-pre2

cia402.comp - can't compile in 2.10-pre2

Category: EtherCAT

Great work. I assume this is only for 2.10 or does it also work for 2.9?
Also, Dominic's original component did not support homing with switches attached to the drive (just encoders). Has this component included limit switch homing support (probably linking to a homecomp)


Both LinuxCNC 2.9.x and 2.10 are supported. The v1.47.0 release provides plain packages for 2.9.x and +getset packages for 2.10.0~pre2 and later. The component uses a compatibility layer for the old and new HAL APIs, while keeping the original pin and parameter names, so existing loadrt cia402 ... configurations should carry over.

On homing: your custom homecomp handles LinuxCNC-side homing integration and is not part of CiA 402, so it remains separate from the generic cia402 component. This release only ports Dominik's component to C. It still triggers and monitors drive-internal homing; the selected CiA 402 homing method, including methods using switches connected to the drive, is configured in the drive. No homecomp functionality has been added.
  • rodw
  • rodw's Avatar
28 Oct 2026 07:03
Replied by rodw on topic cia402.comp - can't compile in 2.10-pre2

cia402.comp - can't compile in 2.10-pre2

Category: EtherCAT

a compatible cia402 is released with the latest linuxcnc-ethercat you don't need to compile it yourself, I also rewritten it in C.

github.com/linuxcnc-ethercat/linuxcnc-et...releases/tag/v1.47.0

here is the fixed component in C if you want to take a look

github.com/linuxcnc-ethercat/linuxcnc-et.../master/src/cia402.c

Great work. I assume this is only for 2.10 or does it also work for 2.9?
Also, Dominic's original component did not support homing with switches attached to the drive (just encoders). Has this component included limit switch homing support (probably linking to a homecomp)
  • rodw
  • rodw's Avatar
28 Oct 2026 06:56
Replied by rodw on topic More advanced EtherCAT setup questions

More advanced EtherCAT setup questions

Category: EtherCAT

Generally, parameters are set in your xml file using SDO's/ I have found one device where it was more convenient to set these using ethercat upload and download commands outside of LinuxCNC
  • grandixximo
  • grandixximo's Avatar
28 Oct 2026 06:10
Replied by grandixximo on topic cia402.comp - can't compile in 2.10-pre2

cia402.comp - can't compile in 2.10-pre2

Category: EtherCAT

a compatible cia402 is released with the latest linuxcnc-ethercat you don't need to compile it yourself, I also rewritten it in C.

github.com/linuxcnc-ethercat/linuxcnc-et...releases/tag/v1.47.0

here is the fixed component in C if you want to take a look

github.com/linuxcnc-ethercat/linuxcnc-et.../master/src/cia402.c
  • PCW
  • PCW's Avatar
28 Oct 2026 05:00
Replied by PCW on topic 5i25, 6i25, 7i92, firmware request.

5i25, 6i25, 7i92, firmware request.

Category: Driver Boards

I have a new Proto Ethercat card, no promises on completion date though .
  • dberegovoy
  • dberegovoy
28 Oct 2026 04:51
Replied by dberegovoy on topic 5i25, 6i25, 7i92, firmware request.

5i25, 6i25, 7i92, firmware request.

Category: Driver Boards

Thank you very much, Peter! I really appreciate your help with this custom firmware.
I have already flashed it to the Mesa card.
By the way, I was wondering if you have any plans for developing a native EtherCAT Mesa card in the future?
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