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When you home the machine Linuxcnc uses the Forward kinematics to calculate the Axis positions (ie the values you see in the DRO of the gui) and from there on it uses the Inverse kinematic to calculate the joint (ie motor) positions after homing.
If your machine is moving the correct distances when you issue say G0 or G1 commands then you should be fine.


Don't forget that you need to run 'halcompile --install ...' again after making changes.

Hi I try to invert the enable logic on my mesa 7i96s without luck.# --- MACHINE-IS-ENABLED ---setp hm2_7i96s.0.ssr.invert.00 truenet machine-is-enabled => hm2_7i96s.0.ssr.00.out-00
 
But the signal is still not inverted. Any help on this?

my connection is
5v ->   ena+
ena- ->  out+(mesa)
out- -> gnd

now it is when it is enabled the driver is disabled

Thanks Aciera!

I went through the process described and tweaked around a little and I think I got it to work.

Now I'll admit that I'm having a bit of a hard time to wrap my head around exactly what the inverse transformation is used for. I think I got it right but even when I try to deliberately sabotage the inverse formula I can't see any errors or different behavior in AXIS.

I guess what I'm asking is if there are any simple way of testing that I got the inverse formula right?

Hi everyone,
I know this question has come up before, but are there any current plans for an EtherCAT version of a Mesa Card?In my opinion, such a card would be a fantastic addition, especially for setups involving encoders or more complex configurations like Smart Serial connections.

For those retrofitting CNCs, the benefits would be substantial. For example, if you purchase a new spindle servo with EtherCAT, you could simply add a Mesa EtherCAT card and consolidate everything into a single communication line.

The challenge right now is the lack of high-quality, affordable EtherCAT options. Most available solutions are either industrial-grade (and prohibitively expensive) or limited in functionality. As a reference, even used single encoder cards from Beckhoff cost around 100€ or more.

It feels like there’s a real opportunity here, particularly for encoder cards. Personally, I’d love to have the option to integrate linear encoders into my axes with ethercad. And in my opinion it would future proof the mesa cards.

Just wanted to share my thoughts—what do others think PCW?