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That PC sounds like E-waste.

Make sure RAM is dual-channel.

Just a buy new (possibly used) a PC with ethernet.

Are there PS/2 port(s)?

PS/2 keyboards are still good, arguably better than USB.

Did you know that laptops touchpads, even modern ones, are usually PS/2?

Looks like a maybe a major EMI or grounding issue.
Your odd voltmeter reading also suggests this.

Are the step/dir drives near the 7I96S?
How are step/dir wired to the drives? (single ended or differential)

My experience exactly!

Default values are often default for a reason.

BTW, LEDs take forever get dimmer.

Like they should at least 15 years b/c you don't have them on 24/7.

Long story short , new to me, milling machines built around 2006-2010 . Computers are password protected ( guy was a real tinfoil hat )  I have issues that i can not rectify with out killing the install anyhow.  Only input to the computers is USB , no disc drives , no ethernet or modems. 
     The original install is emc2 , 2.4.6 , Ubuntu 10.4 , Kernel 2.6.32-122-rtai . Computer is Intel Atom 1.66GHZ , 800MHZ Memory , 2048MB RAM.
Is the computer good enough for modern version? 
          I have all the pin maps for the machines. Most of the Schematics . Any recommendations would be great , this crap is so old , no one can gi

 What is the safest and Easiest to install . just keep it simple for an dummy!
Just tired of wasting time with this , Im Not a real computer expert either . Appreciate the help guys .

Thanks all for the insightful inputs!

I did as suggested, scrapped old config and created a new one using Mesa CT with the suggested home settings.
All golden now! (I had been going around in circles before...).

Opto switches - I had not considered the scenario where the LED had deteriorated, considering now putting some good old fashioned limit switches in, and using the opto for homing only (they have great repeatability).

Now to make some chips - I have 3D printed prototype hardware for the ball screw mounts (using ASA with 100% infill), now to see if I can coax them to at least center drill the parts in aluminum, after squaring up with Z physically locked and taking very cautious lateral cuts.

Yes,  so as a starting value, your ~52 analog scale setting  and
FF1=1.0 is at least a reasonable starting point.
 

10 turns is about 10.4~" and my calculated is 10.47".
Encoder scale set to 960 is perfect.

OK that makes more sense on a plasma machine

If you are uncertain with your gear ratios, can you
rotate the motor shaft say 10 turns and measure
the linear position change? getting this right is needed
for the encoder scaling as well.




 

Pues estuvo cortando durante un tiempo pero se a vuelto a quemar hay algún problema pero no se que es

Hay un pequeño punto en U5 el que cambie antes también lo tenia aun que cambia los dos

Hi I did some corrections for you, definitely will work now

###########################################################
#  cia402.hal – Corrected and functional version
# 

---

#  • Slave-0..2 = X,Y,Z in CSP (Cyclic Synchronous Position)
#  • Slave-3    = Spindle in CSV (Cyclic Synchronous Velocity)
#  • LinuxCNC 2.9+ · EtherLab lcec · servo-thread 1 ms
###########################################################

######################## 1. Real-time & Userspace Components ###
loadrt [KINS]KINEMATICS
loadrt [EMCMOT]EMCMOT    servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS

loadusr -W lcec_conf ethercat-conf.xml
loadrt  lcec
loadrt  cia402 count=4               # 0,1,2 = axes | 3 = spindle

# Scaling for spindle speed command & feedback
loadrt scale            names=spin_cmd_scaler,spin_fb_scaler
loadrt conv_s32_float   names=spin_fb_converter

######################## 2. Add Functions to Servo Thread ###
addf lcec.read-all             servo-thread
addf cia402.0.read-all         servo-thread
addf cia402.1.read-all         servo-thread
addf cia402.2.read-all         servo-thread
addf cia402.3.read-all         servo-thread

# Process spindle feedback
addf spin_fb_converter         servo-thread
addf spin_fb_scaler            servo-thread

addf motion-command-handler    servo-thread
addf motion-controller         servo-thread

# Prepare spindle command
addf spin_cmd_scaler           servo-thread

# Write data back to drives
addf cia402.0.write-all        servo-thread
addf cia402.1.write-all        servo-thread
addf cia402.2.write-all        servo-thread
addf cia402.3.write-all        servo-thread
addf lcec.write-all            servo-thread

######################## 3. Global Settings & Parameters ###
# --- X/Y/Z axes in CSP mode ---
setp cia402.0.csp-mode 1
setp cia402.1.csp-mode 1
setp cia402.2.csp-mode 1

setp cia402.0.pos-scale 26214  # match your encoder counts
setp cia402.1.pos-scale 26214
setp cia402.2.pos-scale 26214

# --- Spindle in CSV mode ---
setp cia402.3.csp-mode   0
setp cia402.3.velo-scale 2048

# Gain for 0.1 RPM units ↔ RPM
setp spin_cmd_scaler.gain 10.0   # 1 RPM → 10 (0.1 RPM units)
setp spin_fb_scaler.gain  0.1    # 10 (0.1 RPM units) → 1 RPM

######################## 4. EtherCAT PDO Mapping ########

## X-Axis (slave-0)
net x-stw    lcec.0.0.cia-statusword      => cia402.0.statusword
net x-opdisp lcec.0.0.opmode-display     => cia402.0.opmode-display
net x-actpos lcec.0.0.actual-position    => cia402.0.drv-actual-position
net x-ctlw   cia402.0.controlword        => lcec.0.0.cia-controlword
net x-opcmd  cia402.0.opmode              => lcec.0.0.opmode
net x-tgtpos cia402.0.drv-target-position => lcec.0.0.target-position

## Y-Axis (slave-1)
net y-stw    lcec.0.1.cia-statusword      => cia402.1.statusword
net y-opdisp lcec.0.1.opmode-display     => cia402.1.opmode-display
net y-actpos lcec.0.1.actual-position    => cia402.1.drv-actual-position
net y-ctlw   cia402.1.controlword        => lcec.0.1.cia-controlword
net y-opcmd  cia402.1.opmode              => lcec.0.1.opmode
net y-tgtpos cia402.1.drv-target-position => lcec.0.1.target-position

## Z-Axis (slave-2)
net z-stw    lcec.0.2.cia-statusword      => cia402.2.statusword
net z-opdisp lcec.0.2.opmode-display     => cia402.2.opmode-display
net z-actpos lcec.0.2.actual-position    => cia402.2.drv-actual-position
net z-ctlw   cia402.2.controlword        => lcec.0.2.cia-controlword
net z-opcmd  cia402.2.opmode              => lcec.0.2.opmode
net z-tgtpos cia402.2.drv-target-position => lcec.0.2.target-position

## Spindle (slave-3)
net s-stw    lcec.0.3.cia-statusword      => cia402.3.statusword
net s-opdisp lcec.0.3.opmode-display     => cia402.3.opmode-display
net s-ctlw   cia402.3.controlword         => lcec.0.3.cia-controlword
net s-opcmd  cia402.3.opmode              => lcec.0.3.opmode

# — Velocity feedback: Drive → HAL → LinuxCNC
net s-vel-raw   lcec.0.3.actual-velocity    => spin_fb_converter.in \
                                             => cia402.3.drv-actual-velocity
net s-vel-float spin_fb_converter.out      => spin_fb_scaler.in

Hi all,For context: I'm currently building the control system for a Samurai 120 CNC machine (please see the attached photo).Machine electronic hardware configuration:

• 3 × Leadshine EL8 EtherCAT servo drives
• 2 × 400W Leadshine motors with optical encoders and battery backup
• 1 × 400W Leadshine motor with motor brake, also with optical encoder and battery backup
• 1 × Beckhoff EK1100 EtherCAT coupler
• 1 × Raspberry Pi 5 for control

Current progress:

1. Successfully installed LinuxCNC on the Raspberry Pi 5
2. Updated to the latest version
3. Installed CIA402 using Rodw’s guide
4. Configured the Pi as an EtherCAT master

Where I need help: I'm struggling to understand how to configure LinuxCNC to communicate with the servo drives in a basic setup.From what I understand, LinuxCNC relies on three main configuration files:

1. .ini

   – Loads the user interface and references the

   .hal

   file

2. .hal

   – The Hardware Abstraction Layer, which defines machine characteristics and connects components

3. .xml

   – Extracts and defines information from the servo drives

I found Marco Reps’ GitHub repository, which uses a similar configuration. I downloaded all the files and attempted to launch LinuxCNC using the "el8" configuration, but it failed to load.
 Could someone please provide a step-by-step  on how to configure Linux CNC for my current setup? Any help would be greatly appreciated! 

I intend on eventually using the probe basic user interface as I an touchscreen this would work well with. https://samuraimachinetools.com/cdn/shop/files/IMG_9964.jpg?v=1722652171&width=1445
 

It is a rack and pinion plasma cutter.
I am just trying to tune the x and y servos.
I have no intention of running it at 52 ips and know it can't possibly go that fast.

I can set rpm at 10v on the servo drive, it's set to 3000 currently.

Hello all,

i really like the idea of using a Streadeck for CNC-Machines. i think it opens endless possibilities and is quite handy
Thank you for your great work, I will try it as soon as possible!

I plan to use it on my cnc lathe.
Hardware of the Handwheel/Keyboard is ready now

forum.linuxcnc.org/26-turning/55587-wema...rcat?start=10#331177



greetings 
Tom

Hardware of the Handwheel/Keyboard is ready now

Si la resistencia es de 2,4 Mohm la medi para asegurar pero si le doy la vuelta a los cables del multimetro me da -145V en negativos 

todos esos valores son cortando el material