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Mine were 10 pound poms.

And to be sure we're quite proud of Australia being built by convicts.

Insult an Aussie and they'll take on as a badge of honour, Rats of Tobruk is an example, something the OP fails to understand, tho the little weasel hasn't bothered to reply.

forum.linuxcnc.org/38-general-linuxcnc-q...official-images-only

Index to major thread, there's a section regarding your query with an example for a simple 3 axis machine that works.

I would like to call a subroutine some arbitrary number of times.  Some gCode variants support M91 Psubroutline Lcount.  But not linuxCNC.  Any suggestions how to do this?  I do not need anything as fancy as a while loop.  Juist count executions.

Yeah, i might have shot from the hip there ...

Moved to "user exchange" .

Adjusted motor tuning, its fine now. moves and is happy. Still need to tweak the y a little.

It does seem that tuning in the omron software is not *quite* the same as running under position control. Didn't lose anything, just small tweaks. X was the howling one and it still tracks within 3 microns during acceleration. The Y has 2 microns lad in straight motion and 6 during accel. Bigger motor and MUCH more mass. Just trying to keep it "stiff" as possible. Anything under 10 microns during accel is a win. (this machine does high speed surfacing).

Anyhow, break time, I'm very happy. thanks for all the uh.. moral support? hahah. I get frustrated a lot when the instructions are missing big blocks of important information. I think I need to write a "ethercat setup for dummies" post so other people can follow something a bit more straight forward. The "implied prior knowledge" is what really turns people away from linuxcnc in general.

You can go into halshow and look at some of the cia402.x.stat pins like if stat_op_enabled is set.
The drive needs to be in op_enabled to start moving. It should be just to jog and it should move.
You have the position commanded and actual and more there to get the state of the drive.

Yeah, later today I'm gonna reconnect the omron software and see what's up. its possible they got wiped somehow, but seems unlikely.

I don't really thing there's anything on the linuxcnc side that could be at fault though, its not even commanding a movement yet, just enabling the drives.

Yes, I am using interpolated position (which is very precise with the hardware generated "encoder' signals)
 

You are right. There is no pid control loop for the axis in ini or hal.
It's all in the servo drive.

It can help to lower P in the servo drive for the noise. But you said you tuned them, so