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This is quite an old version of the file. Update linuxcnc , or try adding "self.factor = 1.0" as in the screenshot.

Hi,everyone 
    I've tried to follow the orient hal map to build a hal to test if it can be workable for orient ,but met some problem. while running M3 S100,M4 S100 such command it's all OK, but when I tried to use M19 R180 ,it didnt rotate at all. Using halshow display GUI,I noticed that while I run M3/M4 command,the spindle.on is true,but while I run the M19 R180  ,it is false.I dont know if it is the reason.Wish someone could help me ,point out where is the error of my hal .Thanks

###########################################################
#
# CIA 402 example snippet Hal
#
###########################################################

###########################################################
# Setup
###########################################################


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=2
loadrt pid names=pos-pid,velo-pid
loadrt orient count=1
loadrt mux2 count=1


###########################################################
# Functions servo-thread
###########################################################

addf lcec.read-all servo-thread                 #reading from servo
addf cia402.0.read-all servo-thread
addf cia402.1.read-all servo-thread

addf motion-command-handler servo-thread
addf motion-controller servo-thread             #linuxcnc module ,cia402 module as a translator
addf pos-pid.do-pid-calcs servo-thread             
addf velo-pid.do-pid-calcs servo-thread
addf orient.0 servo-thread
addf mux2.0 servo-thread


addf cia402.0.write-all servo-thread
addf cia402.1.write-all servo-thread            #writing to servo
addf lcec.write-all servo-thread                


#########################################
#nets
#########################################
net emc-enable => iocontrol.0.emc-enable-in
sets emc-enable 1

#config

 
#
# Joint 0
#
setp cia402.0.csp-mode 0
setp cia402.0.velo-scale 166

#FOR SPINDLE
setp velo-pid.deadband 0.3      #limit pid tolerance
setp velo-pid.maxoutput 500     #limit pid maxoutput to protect
setp pos-pid.deadband 0.3
setp pos-pid.maxoutput 500    

net 0-statusword                                 lcec.0.0.cia-statusword  => cia402.0.statusword
net 0-opmode-display                             lcec.0.0.opmode-display  => cia402.0.opmode-display
net 0-drv-act-pos                                lcec.0.0.actual-position => cia402.0.drv-actual-position    
net 0-drv-act-velo                               lcec.0.0.actual-velocity => cia402.0.drv-actual-velocity 
net 0-speed-fb                                   cia402.0.velocity-fb     => velo-pid.feedback
net 0-pos-fb        pos-pid.feedback        <=   cia402.0.pos-fb          => orient.0.position  

#for spindle orient
#from linuxcnc motion to cia402 / cia402 to motion
#net 0-spindleON     spindle.0.on             => cia402.0.enable 
#net 0-target-speed  spindle.0.speed-out      => cia402.0.velocity-cmd

net 0-home-index    spindle.0.index-enable   => cia402.0.home
net 0-spindleON     velo-pid.enable          <= spindle.0.on         => cia402.0.enable
net 0-target-speed  spindle.0.speed-out      => velo-pid.command

net 0-orient        pos-pid.enable           <= spindle.0.orient     => orient.0.enable  => mux2.0.sel
net 0-angle         spindle.0.orient-angle   => orient.0.angle
net 0-orient_topos  orient.0.command         => pos-pid.command
  
net 0-pospid-tomux  pos-pid.output           => mux2.0.in1
net 0-velopid-tomux velo-pid.output          => mux2.0.in0
net 0-muxtoabs-final-speed      mux2.0.out   => cia402.0.velocity-cmd 
net 0-amp-fault     spindle.0.amp-fault-in   <= cia402.0.drv-fault


#from cia402 to servo
net 0-controlword         cia402.0.controlword         => lcec.0.0.cia-controlword
net 0-modes-of-operation  cia402.0.opmode              => lcec.0.0.opmode
net 0-drv-target-pos      cia402.0.drv-target-position => lcec.0.0.target-position
net 0-drv-target-velo     cia402.0.drv-target-velocity => lcec.0.0.target-velocity



#
# Joint 1
#
setp cia402.1.csp-mode 1
setp cia402.1.pos-scale 166

#from servo to cia402
net 1-statusword      lcec.0.1.cia-statusword  => cia402.1.statusword
net 1-opmode-display  lcec.0.1.opmode-display  => cia402.1.opmode-display
net 1-drv-act-pos     lcec.0.1.actual-position => cia402.1.drv-actual-position
net 1-drv-act-velo    lcec.0.1.actual-velocity => cia402.1.drv-actual-velocity


#from linuxcnc motion to cia402 / cia402 to motion
net 1-home-index joint.1.index-enable   => cia402.1.home
net 1-enable     joint.1.amp-enable-out => cia402.1.enable
net 1-amp-fault  joint.1.amp-fault-in   <= cia402.1.drv-fault
net 1-pos-cmd    joint.1.motor-pos-cmd  => cia402.1.pos-cmd
net 1-pos-fb     joint.1.motor-pos-fb   <= cia402.1.pos-fb


#from cia402 to servo
net 1-controlword         cia402.1.controlword         => lcec.0.1.cia-controlword
net 1-modes-of-operation  cia402.1.opmode              => lcec.0.1.opmode
net 1-drv-target-pos      cia402.1.drv-target-position => lcec.0.1.target-position
net 1-drv-target-velo     cia402.1.drv-target-velocity => lcec.0.1.target-velocity

I am using raspberry pi-5 for my project to build linuxcnc . I actually build linuxcnc from source file following this site (linuxcnc.org/docs/master/html/code/build...nc.html#sub:realtime). and  i also build ethercat using this two (forum.linuxcnc.org/ethercat/49771-etherc...ce-full-instructions  // forum.linuxcnc.org/ethercat/42048-notes-...at-on-raspberry-pi-4). but at stage of testing i am facing issues in ethercat . i attached that error below .   

Hello, sorry for using the wrong section and thank you for your answer.
The  system I use is this one:
Linuxcnc: 2.9.0~pre1 git20230208.f1270d6ed7
System:
System:
LMDE 6 Faye 6.0.4

Kernel 6.1.0-22-rt-amd64

Pentium© Dual-Core
CPU      
E5400  @ 2.70GHz × 2
I attach the qtdragon_hadler.py file  

I translated the post from Chinese into English using Google Translate. It may not be clear, feel free to ask questions if you don't understand.

You can run it multiple times to find the servo drive that can OP every time. Use ethercat sii_read to read the sii data in it and compare it with the sii data in the drive that cannot OP to find the difference. The easiest way is to use ethercat sii_write to write the good sii data. It has been several months since I solved this problem and this problem has never appeared again.

It is recommended to solve the problem from the root. One of the three servo drives I had before, the z-axis, also randomly failed to operate. Later, I found that the xml version in this drive was different from the other two. It was higher than the xml version in the other two drives, and it would automatically create a network interface. Later, I copied the sii data in the x-axis servo drive and wrote it to the z-axis servo drive that randomly failed to operate.

Now, do I need to invert "lcec.0.0.drivestatus-0" ? How it can be done?

Maybe try the 'NOT' component:
linuxcnc.org/docs/devel/html/man/man9/not.9.html

Anyone?

Linuxcnc 2.9.3 is now available in Debian trixie. Debian builds Linuxcnc for many platforms including ARM64. You may wish to try installing it from the debs there
packages.debian.org/trixie/arm64/linuxcnc-uspace/download

Yep, run gui session. If that seems slow or sluggish or unresponsive I would suggest to try another board.
Linuxcnx is more geared towards a PC like platform rather embedded solutions .
If you can install Linuxcnx using apt get do that, run a latency test, if the latency is too great the board you are attempting to use is not suitable.

The new version of qtdragon already sets spindle inhibit when the probe page is active. It has an input field for the probe tool number and a button to load the tool via M61. However, it doesn't have a checkbox to enable spindle inhibit while probing. But it soon will because that is a good idea.
If you are feeling adventurous, you can try it out at github.com/persei802/QtDragon_hd
Jim
 

You could do it with offset or sum2 but its a bit awkward as they both
use float pins (so you would have to use the conv_u32_float and
conv_float_u32 type conversion components)

Maybe cloning sum2 and making a new component (sum2int?)
would be the cleanest way

I've spent a fair bit of time searching the docs for a way to aggregate pin values into a total. This is desired as my mb2hal configuration ends up with an error count for each type of transaction. The VFD I am using is a Stepper online EV200 (Similar to a Mollum) that only supports functions 0x03 and 0x06. I have the interface working pretty well and using the QtDragonHD ui. I get one pin for modbus errors with QtDragon. I can either drop into some programming on the Qt side or use some slight of hand to aggregate all of the different transaction errors. I thought I would find an add2 component, but that doesn't seem to exist. I would really appreciate a pointer to a technique or capability to handle this. The files are in a state of flux so sorry about the lack of organization...

Thanks in advance,
Bill

Sorry, I would like to confirm what X is, xfce? Do I use `apt-get install linuxcnc` when installing LinuxCNC?

My LinuxCNC source code has been modified and `apt-get` may not be suitable.

Sincerely thank you for replying.