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Das hier wäre meine Version mit dem geklautem Code aus dem Forum:



########################################
# 7i73/7i75 hal connections for the MPG#
# von Norbert Schechner kopiert #
########################################

# Here the mpg counts are connected
net jog-wheel-counts joint.0.jog-counts <= hm2_7i796s.0.7i73.0.0.enc0.count
net jog-wheel-counts joint.1.jog-counts
net jog-wheel-counts joint.2.jog-counts
net jog-wheel-counts axis.x.jog-counts
net jog-wheel-counts axis.y.jog-counts
net jog-wheel-counts axis.z.jog-counts

# we need a mux component to select the step increments
loadrt mux2 names=jog-mode-sel
addf jog-mode-sel servo-thread

net jog-scale-out jog-mode-sel.in0 <= gmoccapy.jog.jog-increment
# my default on continious jogging is 0,05 mm / count
setp jog-mode-sel.in1 0.050

# need to get the jog mode
# Mode 0 all steps will be done, Mode 1 joint will stop as soon as you stop spinning the mpg
net jog-vel-mode gmoccapy.jog.jog-inc-0 <= jog-mode-sel.sel <= hm2_7i796s.0.gpio.041.in
net jog-vel-mode joint.0.jog-vel-mode
net jog-vel-mode joint.1.jog-vel-mode
net jog-vel-mode joint.2.jog-vel-mode
net jog-vel-mode axis.x.jog-vel-mode
net jog-vel-mode axis.y.jog-vel-mode
net jog-vel-mode axis.z.jog-vel-mode

# already connected cont_joging on jog vel mode selection
# here we connect the physical buttons to select the jog increment
# net jog_cont gmoccapy.jog.jog-inc-0 <= hm2_7i76e.0.7i73.0.1.input-07
net jog_1000 gmoccapy.jog.jog-inc-1 <= hm2_7i796s.0.gpio.042.in
net jog_0100 gmoccapy.jog.jog-inc-2 <= hm2_7i796s.0.gpio.044.in
net jog_0010 gmoccapy.jog.jog-inc-3 <= hm2_7i796s.0.gpio.046.in
# net jog_0001 gmoccapy.jog.jog-inc-4 <= hm2_7i796s.0.gpio.041.in

# This is to change between jog modes 0 and 1
net jog_scale-out joint.0.jog-scale <= jog-mode-sel.out
net jog_scale-out joint.1.jog-scale
net jog_scale-out joint.2.jog-scale
net jog_scale-out axis.x.jog-scale
net jog_scale-out axis.y.jog-scale
net jog_scale-out axis.z.jog-scale

# this is to enable the selected joint / axis
net jog-x-enable joint.0.jog-enable <= hm2_7i796s.0.gpio.034.in
net jog-x-enable axis.x.jog-enable
net jog-y-enable joint.1.jog-enable <= hm2_7i796s.0.gpio.036.in
net jog-y-enable axis.y.jog-enable
net jog-z-enable joint.2.jog-enable <= hm2_7i796s.0.gpio.038.in
net jog-z-enable axis.z.jog-enable

# Buttons START PAUSE STOP mit Gmoccapy

net Button_Start gmoccapy.h-button.button-2 <= hm2_7i796s.0.gpio.035.in
net Button_Pause gmoccapy.h-button.button-4 <= hm2_7i796s.0.gpio.037.in
net Button_Stop gmoccapy.h-button.button-3 <= hm2_7i796s.0.gpio.039.in

Ich habe für Buttons und Handrad chatGPT bemüht. Linux 2.9.7 mit Gmoccapy .
Leider kann ich nicht beurteilen, ob das alles Sinnvoll ist. Kann jemand Wissender drüberschauen?
Handrad:
#* Handrad-Encoder
#* Achswahl X/Y/Z über Drehschalter
#* Vorschubfaktor 1 / 10 / 100
#* Jog Mode über GPIO 041 („Stop sofort“ oder „Schritte zu Ende“)
#* Debounce für alle Schalter
#* Saubere Logik für gmoccapy

#

# 

#
# ==========================================================
# mpg_2.9.7.hal
#
# Handrad-Pendant für GMoccapy / LinuxCNC 2.9.7
# Mesa 7i96S + 7i73
#
# Funktionen:
# - Achswahl X/Y/Z
# - Vorschubfaktor 1 / 10 / 100
# - Jog Mode über GPIO 041
# - Handrad Encoder
# ==========================================================

#

---

# Komponenten laden
#

---

loadrt debounce cfg=7
loadrt and2 count=6
loadrt mux4 count=1
loadrt scale count=1

addf debounce.0 servo-thread
addf and2.0 servo-thread
addf and2.1 servo-thread
addf and2.2 servo-thread
addf and2.3 servo-thread
addf and2.4 servo-thread
addf and2.5 servo-thread
addf mux4.0 servo-thread
addf scale.0 servo-thread


# ==========================================================
# Handrad Encoder Eingang
# ==========================================================
# Encoder: hm2_7i96s.0.7i73.0.0.enc0.count
net mpg-count hm2_7i96s.0.7i73.0.0.enc0.count


# ==========================================================
# Jog Mode Input
# ==========================================================
# GPIO 041: TRUE = Stop sofort, FALSE = Schritte zu Ende
net jogmode-raw hm2_7i96s.0.gpio.041.in => debounce.0.6.in
net jogmode debounce.0.6.out => halui.axis.jog-mode


# ==========================================================
# Achswahl X/Y/Z über Drehschalter
# ==========================================================
net axis-x-raw hm2_7i96s.0.gpio.034.in => debounce.0.0.in
net axis-y-raw hm2_7i96s.0.gpio.036.in => debounce.0.1.in
net axis-z-raw hm2_7i96s.0.gpio.038.in => debounce.0.2.in

net axis-x debounce.0.0.out
net axis-y debounce.0.1.out
net axis-z debounce.0.2.out


# ==========================================================
# Vorschubfaktor (1 / 10 / 100)
# ==========================================================
net scale-1-raw   hm2_7i96s.0.gpio.042.in => debounce.0.3.in
net scale-10-raw  hm2_7i96s.0.gpio.044.in => debounce.0.4.in
net scale-100-raw hm2_7i96s.0.gpio.046.in => debounce.0.5.in

net scale-1   debounce.0.3.out
net scale-10  debounce.0.4.out
net scale-100 debounce.0.5.out


# Mux4 wählt den Vorschubfaktor
setp mux4.0.in0 1
setp mux4.0.in1 10
setp mux4.0.in2 100
setp mux4.0.in3 1

# Auswahl
net scale-1  => mux4.0.sel0
net scale-10 => mux4.0.sel1
net scale-100 => mux4.0.sel2

net jog-scale mux4.0.out => scale.0.gain


# ==========================================================
# Encoder skalieren
# ==========================================================
net mpg-count => scale.0.in
net jog-count scale.0.out


# ==========================================================
# Jog nur wenn Jog-Mode aktiv
# ==========================================================
# In LinuxCNC 2.9.7 reicht halui.axis.jog-mode, daher hier nur direkte Weiterleitung
# Jog-count wird direkt an die Achsen gesendet


# ==========================================================
# Achs-Jogging für gmoccapy / HALUI
# ==========================================================
# X-Achse
net jog-count => and2.0.in0
net axis-x   => and2.0.in1
net jog-x and2.0.out => halui.axis.x.jog-counts

# Y-Achse
net jog-count => and2.1.in0
net axis-y   => and2.1.in1
net jog-y and2.1.out => halui.axis.y.jog-counts

# Z-Achse
net jog-count => and2.2.in0
net axis-z   => and2.2.in1
net jog-z and2.2.out => halui.axis.z.jog-counts


# ==========================================================
# OPTIONAL: GPIO Invertierungen (falls Low-aktiv)
# ==========================================================
# setp hm2_7i96s.0.gpio.034.invert 1
# setp hm2_7i96s.0.gpio.036.invert 1
# setp hm2_7i96s.0.gpio.038.invert 1
# setp hm2_7i96s.0.gpio.041.invert 1
# setp hm2_7i96s.0.gpio.042.invert 1
# setp hm2_7i96s.0.gpio.044.invert 1
# setp hm2_7i96s.0.gpio.046.invert 1
```

#---

## Merkmale

#* **X/Y/Z Achswahl** über Drehschalter
#* **Vorschubfaktor 1/10/100**
#* **Jog Mode** über GPIO 041:

 # * TRUE → Stop sofort
#  * FALSE → Schritt zu Ende
#* **Handrad-Encoder** wird auf gmoccapy `jog-counts` gemappt
#* Alle Eingänge sauber **entprellt**
#* Direkt **gmoccapy-kompatibel**

Buttons:
# Funktionsbeschreibung (Übersicht)

## Hardware

#* **Mesa 7i76S**
#* Momenttaster (NO)
#* Status-LEDs über GPIO-Ausgänge

## Belegung

#| GPIO | Funktion        |
#| ---- |

---

|
#| 035  | Start / Resume  |
#| 037  | Feed Hold       |
#| 039  | Stop / Reset    |
#| 050  | LED „Run“       |
#| 051  | LED „Feed Hold“ |
#| 052  | LED „Fault“     |

#

## Logik & Verhalten

### ▶ START (GPIO 035)

#* Nur wirksam, wenn **Machine ON**
#* Führt aus:

 # * `program.run`
 # * `program.resume`
 #* **löst Feed Hold**
#* Funktioniert parallel zu gmoccapy-Buttons

---

### ⏸ FEED HOLD (GPIO 037)

#* Stoppt Achsbewegungen sofort
#* Interpreter läuft weiter
#* **Gesperrt bei aktivem E-Stop**

#---

### STOP / RESET (GPIO 039)

#* **Kurz drücken (<1.5 s)** → `program.stop`
#* **Lang drücken (>1.5 s)** → `program.reset`
#* Reset **nur erlaubt, wenn Programm steht**


### STATUS-LEDs

* **RUN-LED** → Programm läuft
* **FEED HOLD-LED** → Feed Hold aktiv
* **FAULT-LED** → E-Stop ODER Maschine faulted

---

# buttons_complete.hal`


# ==========================================================
# buttons_complete.hal
#
# Hardware-Buttons + Status-LEDs
# LinuxCNC / gmoccapy
# Mesa 7i76S
#
# Funktionen:
# - Start = Run + Resume + Feed Hold lösen (nur bei Machine ON)
# - Feed Hold (gesperrt bei E-Stop)
# - Stop kurz = Program Stop
# - Stop lang (>1.5s) = Reset (nur wenn Maschine steht)
# - Status LEDs: Run / Feed Hold / Fault
# ==========================================================


#

---

# Komponenten laden
#

---

loadrt debounce cfg=3
loadrt not count=2
loadrt timedelay count=1
loadrt and2 count=6
loadrt or2 count=1

addf debounce.0 servo-thread
addf not.0 servo-thread
addf not.1 servo-thread
addf timedelay.0 servo-thread
addf and2.0 servo-thread
addf and2.1 servo-thread
addf and2.2 servo-thread
addf and2.3 servo-thread
addf and2.4 servo-thread
addf and2.5 servo-thread
addf or2.0 servo-thread


#

---

# Status-Signale aus HALUI
#

---

# Maschine eingeschaltet
net machine-on halui.machine.is-on

# Programm läuft
net program-running halui.program.is-running

# Feed Hold aktiv
net feedhold-active halui.program.feed-hold

# E-Stop aktiv
net estop-active halui.estop.is-engaged

# Maschine steht (Programm läuft NICHT)
net program-running => not.0.in
net machine-idle not.0.out


# ==========================================================
# START / RESUME / FEED HOLD LÖSEN
# GPIO 035
# ==========================================================

# Rohsignal
net start-raw hm2_7i796s.0.gpio.035.in => debounce.0.0.in

# Entprellt
net start-btn debounce.0.0.out

# Start nur wenn Machine ON
net start-btn => and2.0.in0
net machine-on => and2.0.in1
net start-valid and2.0.out

# Program Run + Resume
net start-valid => halui.program.run
net start-valid => halui.program.resume

# Feed Hold beim Start sicher lösen
net start-valid => not.1.in
net feedhold-release not.1.out => halui.program.feed-hold


# ==========================================================
# FEED HOLD (verriegelt bei E-Stop)
# GPIO 037
# ==========================================================

# Rohsignal
net feedhold-raw hm2_7i796s.0.gpio.037.in => debounce.0.1.in

# Entprellt
net feedhold-btn debounce.0.1.out

# Feed Hold nur wenn KEIN E-Stop
net feedhold-btn => and2.1.in0
net estop-active => and2.1.in1
setp and2.1.in1-invert TRUE

net feedhold-valid and2.1.out => halui.program.feed-hold


# ==========================================================
# STOP kurz / RESET lang
# GPIO 039
# ==========================================================

# Rohsignal
net stop-raw hm2_7i796s.0.gpio.039.in => debounce.0.2.in

# Entprellt
net stop-btn debounce.0.2.out


# --- Langdruck-Erkennung ---
setp timedelay.0.on-delay 1.5
setp timedelay.0.off-delay 0.0
net stop-btn => timedelay.0.in
net stop-long timedelay.0.out


# --- RESET nur wenn Maschine steht ---
net stop-long => and2.2.in0
net machine-idle => and2.2.in1
net reset-valid and2.2.out => halui.program.reset


# --- STOP nur bei kurzem Druck ---
net stop-btn => and2.3.in0
net stop-long => and2.3.in1
setp and2.3.in1-invert TRUE
net stop-short and2.3.out => halui.program.stop


# ==========================================================
# STATUS LEDs (GPIO Ausgänge)
# ==========================================================

# LED: Programm läuft
# net program-running => hm2_7i796s.0.gpio.050.out

# LED: Feed Hold aktiv
# net feedhold-active => hm2_7i796s.0.gpio.051.out

# LED: Fault (E-Stop oder Fault-Zustand)
# net estop-active => or2.0.in0
# net halui.machine.is-faulted => or2.0.in1
# net fault-led or2.0.out => hm2_7i796s.0.gpio.052.out


# ==========================================================
# OPTIONAL: GPIO Invertierungen (falls Low-aktiv)
# ==========================================================
# setp hm2_7i796s.0.gpio.035.invert 1
# setp hm2_7i796s.0.gpio.037.invert 1
# setp hm2_7i796s.0.gpio.039.invert 1

 

Hi,
I would probably not say quite cheap. But the support probably is worth it. I did not find anything about an actual usecase of the picoBOB.
As far as I understand right now the 7i96 is a 7i92 with an "integrated" breakoutboard right?
Then this would probably really be the easiest way. But disadvantage is probably if something smokes up the whole card is done. With a seperate breakout board maybe I need only to change the BOB.
Does someone knows a BOB that has the function of a 0-10V output for spindle that works with the 7i92?
For Inputs I would probably only need 3 Endpointswitches and one for the probe and toollength. If I would like to add the glass sensors later, can I do this with another daughter cards from mesa?
Thanks alot!
regards Han

Your jog settings are really slow. That's why it moves so slowly.
These are settings in the ini file. I don't use axis so can't advice further on that,
but many users do use axis and should be able to tell you what and where to change.
 

Test the following in the MDI "G1 X200 F20000"
that should give quite a bit better speed. Adjust velocity and acceleration settings in the ini file to your liking.
The drives should work fine. When you ask to much of them they will give you following errors. But you are not near that.

There are some optimizations you can do.

The 2 ms servo period is in itself not a problem. But if you use 2 ms servo period because your computer
can't keep up with 1 ms then you should work on the performance of the computer. It should run flawlessly
without any (well a single one would be ok) "UNMATCHED DATAGRAMS" in the syslog. Check that.

You should also set up DC synchronization of the drives, see here github.com/linuxcnc-ethercat/linuxcnc-et...istributed-clocks.md
syncToRefClock in the master line. dcConf statement for every slave.

When this works fine, check syslog again, there should be no (or maybe one) UNMATCHED DATAGRAMS or other messages
indicating performance problems. In which case you should work on the network performance especially use dkms drivers for
Realtek network adapters.

Then it is standard linuxcnc again. Tune the drives, adjust velocity and acceleration settings.

first steps

Does the PC have an add on graphic card? If yes, remove it and try with the onboard graphic, or vice versa, if it does not have one try finding a used one to test with.
Another thing to check is for locale to be set as UTF-8, and maybe try EN-US also.

Jon,

I have tried both 1.9 and 1.7 on the bios epp setting.

I tried the epp_dir=1 setting as you suggested.

The cable is the same one I have been using since I converted the machine back in 2015 or so.

The load fail red led does come on and stay on when I boot up linuxcnc and get the error messages. also the green estop ok led is lit as well. Prior to starting linuxcnc the light is off.

I decided to try and update to 2.9 linuxcnc and see if that helps but I am running into issues with that also. I need to get python3.7 installed but it is not playing nice. I will keep working on it but I suspect it is a hardware issue.

Do we need to try another eprom?
 

This is catching my interest. I think I will try it. I have at my fingertips a Pi 3 Model B+ but it is not working, not sure why. Maybe I dropped it a while back. I also have a Pi 3 Model B V1.2, I have it running a fresh install of Debian 12 Bookworm.

Now it is installing LXDE.
Next up is realtime kernel, I'm looking at linux-image-6.1.0-41-rt-arm64
And then LinuxCNC....
Fingers crossed...

Today i recognized a problem with radiobutton, hal_io . The button is set to checked in designer, but the hal_pin is not set to true at startup. A single radiobutton is even unchecked at startup.  To click an already checked radiobutton doesn't help. I need to check one of the unchecked radiobutton (to activate) set the hal_pin to true.

I think the language barrier made the text above a bit confusing, so adding some screenshot


 



 





 

On a 7I92T you can change the  GPIO  resistors from pullups (default) to pulldowns
to solve this issue (W2 down)

fixed the spindle with a R1000 resistor between pin1 of the db25 plug and ground. all good now!

So I built a CNC plasma cutter out of garbage.... and since I built it out of garbage, I used a very old computer to run it.  It's a 32bit computer, so I'm stuck running Linuxcnc 2.8.  I got a base configuration working and running fairly well, but because it's made out of garbage, it really needs torch height control.  I got a THCAD and got everything wired up to my Mesa 7i96s, and ran the PlasmaC configurator.  The buttons on the bottom of the screen work, I can test the ohmic probe, and the probe cycle seems to work, but I can't get any of the GladeVCP components to load.  The tabs are there, but they're blank, and if I try to configure it with a Run panel instead of the run tab, it doesn't show up.  The other issue I have is I can't load a G-code file, it seems to get stuck "Filtering."  On top of that, I'm now having latency issues I wasn't having before.  I've been staring at and trying to troubleshoot my configurations for way too long and I can't find anything obviously wrong, so I suspect this 20+ year old Dell just isn't up to the task.  Part of the "art" of this machine was that it's made of junk, so if I can keep using this computer, I'd like to... but I'd also like the machine to work properly, so I figured I'd at least upload my configs for someone more knowledgeable to look at before I buy something more modern.

I'm afraid that the 56U is not supported. Or at least I did not add explicit support for this.

I do not know if the 56 series supports the PulseEngine V2 which I'm using to control the motion. You could try though.

In the source code there is a check , if the device is a 57CNC, which only logs a warning.
And there is another check if the "external pulse generator" is used.

Excerpt from the documentation

Pulse engine v2 supports two different pulse generator modules:
- Internal: similar to basic Pulse engine, limited to 25 kHz pulse frequency at 3 channels, uses built-in circuitry and pins
- External: new in v2, limited to 125 kHz pulse frequency at 8 channels, requires external circuitry to deserialize the data to pulses

yes, that actually helped! Machine is running with a stock cable now and all commands work as expected. Thank you very much!

Except when I shutdown, the spindle starts. That is very uncomfortable. Still trying to understand why this is happening here. Any hints?

Oh and in uccnc the step scale was 160 for xy, 320 for z, here it is 80 for xy and 160 for z. Well, that's not a problem I guess. Maybe loosing some accuracy?

I am only at the start stages, building the machine. Actually not dealing at the moment with CSS. I was wondering if the beta version ready for use. Eventually I installed 3.1.3. The Machine is DMC2 MINI from here: shariffdmc.com/product/dmc2-mini-cnc/ It needed many mechanical modifications that took some time to overcome.