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Yes that is it, and sorry forgot to mention, read until Host Interface section.

Thanks for the reply. I have LinuxCNC installed on a computer now but I’m still waiting for the Mesa card to arrive (should be this week). When you wrote ‘Mesa manual’ do you mean the ‘7i96s Ethernet Step/Dir Motion control interface’ document? If so, I’ve read it but will admit to not fully understanding all of it (yet).

Oh! I thought feedback would be required for coordinated motion.

What are the limitations or benefits without/with encoder feedback to LinuxCNC+Mesa?

Yes, to have all servos/drives start acting on new data/position data at the same time.
For servos and drives you want distributed clock mode.

The following error in LinuxCNC with EtherCat is somewhat superficial.
If the drive offers a following error, use that, if possible.

Hi Mars,

Great to hear that you are giving Remora a try. Those are just warnings, and can be ignored.

Let see if I grasp the concept. You have an existing reed switch that detects that the support is in extended position and you like stop all axis from moving when switch is active.
1) Wire the reed switch to your mesa digital input.
2) Load the new revised .comp file
3) You may need the change operations by changing the state of pins. for example, trigger=1; to trigger=0; same for halt and reedsw.

Attached is revised the revised spinport.comp

I am not super familiar with ethercat, but I would think you'd want a shared glocal clock for all the servos if maximal accuracy of motion was your goal.

Hi,

To inform you, i recieved a mail from a Tormach software engineer.

The mail is longer and contributes to testing etc.
I told him to inform his boss, that there is still a legal issue to be solved. legal issue

Then it was quiet. He did not respond.
Does any one know if this legal issue is solved so there can be a collaboration started ?

but doesn't take the constraints of the individual axes into account.
This is correct. In the source code the trajectory path is used to calculate xyz coordinates.
There it doesn't apply any calculation to reduce any speed for x or y or z. So if Z maxvel is very low, it does not reduce
speed for z.

Will this be available for Debian 13 in the foreseeable future? Currently, there's an error message regarding the Python version, which requires Python3 (< 3.12) for the version in the repo. However, the minimum version for Debian 13 is 3.13. There's also a message stating that the key will no longer be valid within a year.

I give up, I've tried to explain, given links, but it appears a waste of time.

Not a goat but rather one of our Blackbelly sheep.

You still have coordinated motion even without position feedback to LinuxCNC
 

Is there some way to also provide encoder feedback to LinuxCNC to have coordinated motion? This is an important functionality for the application.

The machine will have multiple axes: 4 linear (3 + 1 redundant for gantry), 2 rotary, and 2 for a galvo (XY2-100) for a laser.

In that case I would run it open loop from LinuxCNC
(local closed loop to the drive)