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  • f355
  • f355's Avatar
23 Oct 2025 05:39 - 23 Oct 2025 06:45
Replied by f355 on topic Update LinuxCNC 2.9.5 on debian 13

Update LinuxCNC 2.9.5 on debian 13

Category: Installing LinuxCNC

EDIT: I see there is already a workflow, but it doesn't build for arm64 or trixie, nor does it publish a github release with built packages. I'll see if I can fix that.

github actions/workflows support both amd64 and arm64, and are free to use for public repositories. I'll see if I can cook up something to build the packages using that, and pull-request it if it works. it could also potentially replace the buildbot altogether - I'm not sure if that's a good idea or not.

that said, I'm a bit short on time at the moment, so don't expect the PR tomorrow.
  • f355
  • f355's Avatar
23 Oct 2025 05:26
Replied by f355 on topic Proposal RPi Linuxcnc Image Based on Raspi OS All welcome/encoraged to comment

Proposal RPi Linuxcnc Image Based on Raspi OS All welcome/encoraged to comment

Category: Installing LinuxCNC

interesting, the check was removed quite a while ago . I wonder what else does it want.

as to LXDE vs XFCE, I'd probably go with the latter, it's true and tried, and almost no one uses the former - Pi OS uses Wayland and some Wayland-based desktop environment by default, I don't think many people switch to Xorg apart from us.
  • NickyDoes
  • NickyDoes's Avatar
23 Oct 2025 04:17 - 23 Oct 2025 04:26
5-axis Isel-based machine - Logosol to LinuxCNC? was created by NickyDoes

5-axis Isel-based machine - Logosol to LinuxCNC?

Category: CNC Machines

I've been diligently building up a 5-axis machine for machining small analytical instrument parts like fluid manifolds. My work envelope requirement is quite small. It's common to drill 0.5 mm holes 10 mm deep, and have them connect with an intersecting hole on another axis.

 

The pictured machine is wired with a Logosol CNC package (5 Logosol LS-231 drives + 1 kW spindle drive + a supervisory controller that manages door safety and more). This package is likely in many small specialty CNC machines produced around the world. I've been using Logosol's Windows based CNC program, which is free (Thanks, Logosol!) but is not really supported, updated, or documented. I've been in touch with a Logosol support person, who has been great to work with, but the software feels like a dead end. It's been great for proving the concept, but I'm forecasting a move to LinuxCNC.

The Logosol drives and supervisory controller are nicely wired - so it would be a shame to alter the reliable wiring to use ±10V or step + direction. Logosol's protocol is via RS-485, and includes 256 point path buffering.

My thought is to write HAL components to interface LinuxCNC pins to Logosol's LDCN protocol. The servo drives run a 51.2 microsecond update rate, so 20 servo ticks is 1.024 ms. LinuxCNC's update rate is 1 ms. I can either alter LinuxCNC's rate, or downsample the path points to match (feedback here is appreciated!).

I'm based in Raleigh NC, USA and welcome helpers or onlookers in my shop!

Edit: Isel is the company that made the 3 linear axes and the 2-axis A&B trunnion. They made the vertical brackets, the extruded aluminum base, and many other components. I presume they integrated the whole machine as a 'box builder', and the CNC vendor is more of an applications specialist. The build quality is fantastic.

One more note: The spindle is a Jaeger, and supports tool changes. You can see 12 tool holders dismounted from the bed + a tool height sensor.
  • NickyDoes
  • NickyDoes's Avatar
23 Oct 2025 04:02 - 23 Oct 2025 04:03
Replied by NickyDoes on topic Changing an Isel FB2 to LinuxCNC?

Changing an Isel FB2 to LinuxCNC?

Category: CNC Machines

I'm going through old Logosol posts. I'd appreciate hearing where you are on this project.

You can communicate from a PC to a chain of Logosol drives with a USB to RS-485 converter. No Mesa ports to work with.
These converters typically use a chip like an FTDI for USB-to-UART conversion, plus an RS-485 transceiver (like a MAX485) to handle the differential signaling and half-duplex operation on the bus.
RS-232 vs RS-485:
RS-485 is half-duplex (not full duplex). It uses two wires (A/B or +/-) that are shared for both transmitting and receiving - devices take turns communicating on the same pair. RS-232 is full-duplex, using separate transmit and receive lines.
The key advantage of RS-485 is differential signaling, which eliminates common mode noise and allows much longer cable runs (up to 4,000 feet) compared to RS-232's typical 50-foot limit.
RS-232: Uses separate RX, TX, and GND lines. Single-ended signaling measures voltage relative to ground.
RS-485: Uses differential pairs (A/B or +/-). The receiver compares the voltage difference between the two wires to determine logic levels. Since noise affects both wires equally (common mode), it cancels out in the differential measurement, making the signal much more robust.
  • Hakan
  • Hakan
23 Oct 2025 03:52 - 23 Oct 2025 03:52
Replied by Hakan on topic Help with Delta E3 Ethercat drives - hal and ethercat-conf.xml

Help with Delta E3 Ethercat drives - hal and ethercat-conf.xml

Category: EtherCAT

Just glancing through the enable parameters I don't see they are needed.
Many are settings for the modes you disabled, or optional.
Obviously, if you need digital io you need to enable that and such.
  • NickyDoes
  • NickyDoes's Avatar
23 Oct 2025 03:49
Replied by NickyDoes on topic Can Linux control a Logosol analog drive?

Can Linux control a Logosol analog drive?

Category: General LinuxCNC Questions

The Logosol drives communicate over RS-485 using their LDCN (Logosol Device Control Network) protocol.

The protocol is pretty simple, though I'm more familiar with their LS-231SE drives, which have a 256 point path-point buffer.

Alternatively, the drives can be controlled via step & dir or ±10V.
  • shaying526
  • shaying526
23 Oct 2025 03:27
Replied by shaying526 on topic Issue with OP Entry Delay and Failures in LinuxCNC + EtherCAT System

Issue with OP Entry Delay and Failures in LinuxCNC + EtherCAT System

Category: EtherCAT

Hi, I'm back to provide feedback.
Following your instructions, I have solved this problem. It worked after I updated the r8168-dkms network card driver.
The datagrams UNMATCHED situation no longer occurs. The device can enter the PREOP state normally as soon as it starts, and it can enter the OP state 100% of the time. Previously, some slaves were in INIT+E or PREOP+E state.
Thank you so much!
  • SPH
  • SPH's Avatar
23 Oct 2025 03:23
Replied by SPH on topic Help with Delta E3 Ethercat drives - hal and ethercat-conf.xml

Help with Delta E3 Ethercat drives - hal and ethercat-conf.xml

Category: EtherCAT

Any way to know which of the parameters I should actually be setting to true? I can get axis to run if I false basically everything out but I doubt that's going to lead to any kind of success.
<masters>
  <master idx="0">
    <slave idx="0" type="basic_cia402" vid="0x000001dd" pid="0x10306081" name="D1">
      <modParam name="ciaRxPDOEntryLimit" value="8"/>
      <modParam name="ciaTxPDOEntryLimit" value="8"/>
      <modParam name="enablePP" value="false"/>
      <modParam name="enablePV" value="false"/>
      <modParam name="enableTQ" value="false"/>
      <modParam name="enableHM" value="false"/>
      <modParam name="enableIP" value="disabled"/>
      <modParam name="enableCSP" value="true"/>
      <modParam name="enableCSV" value="false"/>
      <modParam name="enableCST" value="false"/>
      <modParam name="enableActualCurrent" value="false"/>
      <modParam name="enableActualFollowingError" value="true"/>
      <modParam name="enableActualTorque" value="true"/>
      <modParam name="enableDigitalInput" value="true"/>
      <modParam name="digitalInChannels" value="16"/>
      <modParam name="enableDigitalOutput" value="true"/>
      <modParam name="digitalOutChannels" value="16"/>
      <modParam name="enableErrorCode" value="true"/>
      <modParam name="enableFollowingErrorWindow" value="true"/>
      <modParam name="enableHomeAccel" value="true"/>
      <modParam name="enableInterpolationTimePeriod" value="false"/>
      <modParam name="enableMaximumAcceleration" value="true"/>
      <modParam name="enableMaximumDeceleration" value="true"/>
      <modParam name="enableMaximumMotorRPM" value="false"/>
      <modParam name="enableMaximumTorque" value="false"/>
      <modParam name="enableMotorRatedCurrent" value="false"/>
      <modParam name="enableMotorRatedTorque" value="false"/>
      <modParam name="enablePositionDemand" value="false"/>
      <modParam name="enablePositioningTime" value="false"/>
      <modParam name="enablePositioningWindow" value="false"/>
      <modParam name="enableProbeStatus" value="false"/>
      <modParam name="enableProfileAccel" value="false"/>
      <modParam name="enableProfileDecel" value="false"/>
      <modParam name="enableProfileMaxVelocity" value="false"/>
      <modParam name="enableProfileVelocity" value="false"/>
      <modParam name="enableTargetTorque" value="false"/>
      <modParam name="enableTorqueDemand" value="false"/>
      <modParam name="enableTorqueSlope" value="false"/>
      <modParam name="enableVelocityDemand" value="false"/>
      <modParam name="enableVelocityErrorTime" value="false"/>
      <modParam name="enableVelocityErrorWindow" value="false"/>
      <modParam name="enableVelocityThresholdWindow" value="false"/>
    </slave>
  </master>
</masters>
  • SPH
  • SPH's Avatar
23 Oct 2025 03:01
Replied by SPH on topic Help with Delta E3 Ethercat drives - hal and ethercat-conf.xml

Help with Delta E3 Ethercat drives - hal and ethercat-conf.xml

Category: EtherCAT

Legend, thank you. I'll have a bit more of a play and see where I get to.
  • Hakan
  • Hakan
23 Oct 2025 02:53 - 23 Oct 2025 02:55
Replied by Hakan on topic Help with Delta E3 Ethercat drives - hal and ethercat-conf.xml

Help with Delta E3 Ethercat drives - hal and ethercat-conf.xml

Category: EtherCAT

Oh I see, it selected the basic-cia402 driver.
Set all those enableXXX modes in the second listing to false
Except enableCSP leave at true.

That xml you found is an esi file, Linuxcnc doesn't use that.
You can find the synchronization modes the drive support, assignactivate items.
That can be helpful. All other needed info is read from the drive.
  • unknown
  • unknown
23 Oct 2025 02:49
Replied by unknown on topic Proposal RPi Linuxcnc Image Based on Raspi OS All welcome/encoraged to comment

Proposal RPi Linuxcnc Image Based on Raspi OS All welcome/encoraged to comment

Category: Installing LinuxCNC

which version of LinuxCNC you're on? before 2.9.5 (I think) it required /sys/kernel/realtime to be present, which is not the case in the Pi kernels. if you're on 2.9.4, you can work around it by setting LINUXCNC_FORCE_REALTIME env var to 1 (I just do 'echo "export LINUXCNC_FORCE_REALTIME=1" >/etc/profile.d/linuxcnc-force-realtime.sh'), or update to a later version.


Just built linuxcnc-2.9.7 on trixie, still appears to need the export, no big issue really.


Don't know if XFCE is the way to go or the LXDE version that comes with raspios.
  • SPH
  • SPH's Avatar
23 Oct 2025 02:24
Replied by SPH on topic Help with Delta E3 Ethercat drives - hal and ethercat-conf.xml

Help with Delta E3 Ethercat drives - hal and ethercat-conf.xml

Category: EtherCAT

Thought I'd add that Delta does have a xml file in their downloads section for these drives but I'm not sure if it's useful or not.
  • SPH
  • SPH's Avatar
23 Oct 2025 02:17
Replied by SPH on topic Help with Delta E3 Ethercat drives - hal and ethercat-conf.xml

Help with Delta E3 Ethercat drives - hal and ethercat-conf.xml

Category: EtherCAT

Thanks for the help! I've adjusted the file and get the attached error. Not sure what inputs I'd trim out.
Print file information:
RUN_IN_PLACE=no
LINUXCNC_DIR=
LINUXCNC_BIN_DIR=/usr/bin
LINUXCNC_TCL_DIR=/usr/lib/tcltk/linuxcnc
LINUXCNC_SCRIPT_DIR=
LINUXCNC_RTLIB_DIR=/usr/lib/linuxcnc/modules
LINUXCNC_CONFIG_DIR=
LINUXCNC_LANG_DIR=/usr/lib/tcltk/linuxcnc/msgs
INIVAR=inivar
HALCMD=halcmd
LINUXCNC_EMCSH=/usr/bin/wish8.6
LINUXCNC - 2.9.4
Machine configuration directory is '/home/cnc/linuxcnc/configs/sim.axis.gantry'
Machine configuration file is 'gantry.ini'
INIFILE=/home/cnc/linuxcnc/configs/sim.axis.gantry/gantry.ini
VERSION=1.1
PARAMETER_FILE=sim.var
TPMOD=
HOMEMOD=
TASK=milltask
HALUI=
DISPLAY=axis
COORDINATES=XYZY
KINEMATICS=trivkins coordinates=XYZY kinstype=BOTH
Starting LinuxCNC...
Starting LinuxCNC server program: linuxcncsvr
Loading Real Time OS, RTAPI, and HAL_LIB modules
Starting LinuxCNC IO program: io
emc/iotask/ioControl.cc 786: can't load tool table.
linuxcnc TPMOD=tpmod HOMEMOD=homemod EMCMOT=motmod
Found file(REL): ./ethercat.hal
Shutting down and cleaning up LinuxCNC...
Removing HAL_LIB, RTAPI, and Real Time OS modules
Removing NML shared memory segments

Debug file information:
Note: Using POSIX realtime
LCEC: slave 0.D1: FAILURE: FAILURE: more input PDO entries configured than your hardware supports.
Axis 1 has 13 PDO entries, vs a configured limit of 8.  You will need to edit your XML
configuration and either remove some <modParam name="enable*"> entries or increase 
<modParam name="ciaTxPDOEntryLimit">. Check your CiA 402 slave's hardware manual to determine the
correct limit.

Enabled features that impact this limit are:

  -  <modParam name="enableActualCurrent" value="true">
  -  <modParam name="enableActualFollowingError" value="true">
  -  <modParam name="enableActualTorque" value="true">
  -  <modParam name="enableErrorCode" value="true">
  -  <modParam name="enablePositionDemand" value="true">
  -  <modParam name="enableProbeStatus" value="true">
  -  <modParam name="enableTorqueDemand" value="true">
  -  <modParam name="enableVelocityDemand" value="true">

In addition, disabling unneeded CiA 402 modes may help, as some implicitly add additional PDO entries:

  -  <modParam name="enablePP" value="true">
  -  <modParam name="enablePV" value="true">
  -  <modParam name="enableCSP" value="true">
  -  <modParam name="enableCSV" value="true">
  -  <modParam name="enableCST" value="true">
  -  <modParam name="enableHM" value="true">
  -  <modParam name="enableTQ" value="true">

HAL: ERROR: thread 'servo-thread' not found
./ethercat.hal:3: addf failed
17208
Stopping realtime threads
Unloading hal components
Note: Using POSIX realtime
  • Hakan
  • Hakan
23 Oct 2025 02:05
Replied by Hakan on topic Help with Delta E3 Ethercat drives - hal and ethercat-conf.xml

Help with Delta E3 Ethercat drives - hal and ethercat-conf.xml

Category: EtherCAT

Those 2xxx sdo numbers are not universal and probably differ between your drive and rodw's.
Put the output of the command "lcec_configgen" into ethercat-conf.xml.
Modify the master line if needed and look over the naming of pins.
  • SPH
  • SPH's Avatar
23 Oct 2025 01:49
Replied by SPH on topic Help with Delta E3 Ethercat drives - hal and ethercat-conf.xml

Help with Delta E3 Ethercat drives - hal and ethercat-conf.xml

Category: EtherCAT

I've tried updating the first device in Rodw's .xml file with my drives id's as returned from ethercat-slaves and trimming the other devices out of the file. File is attached.Generates the following error when run. 
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