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  • SPH
  • SPH's Avatar
25 Oct 2025 12:27
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

Hakan, thanks so much for taking the time to help get this working. I can switch off for the night on a high now. Lots more to do but being able to jog a drive feels like a big step forward.
  • Will_cnc
  • Will_cnc
25 Oct 2025 12:24
Stepper online A6 Servo motor as Spindle motor was created by Will_cnc

Stepper online A6 Servo motor as Spindle motor

Category: General LinuxCNC Questions

I have a Stepperonline 1000W servo motor with an EtherCAT servo drive, which I intend to use as a temporary spindle motor until I can upgrade to a higher-power unit.
Currently, I have three axes configured to work with Leadshine servo drives via EtherCAT.How can I configure this servo motor to function as a spindle motor?
Specifically, what needs to be added or modified in the following configuration files:
.INI  
.HAL.  
.XML
I’ve tried setting it up based on information from other forum posts, but I haven’t had much success so far.
  • SPH
  • SPH's Avatar
25 Oct 2025 12:22
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

Ah, so simple. I've been committing the cardinal sin of making multiple changes at once.
Up and running again and OH YEAH! Got motor motion! Although I must admit I'm a bit unsure what's changed to make it start working...
  • matasbuk
  • matasbuk
25 Oct 2025 12:16
Replied by matasbuk on topic LinuxCNC randomly crashes reportedly due to Python bug

LinuxCNC randomly crashes reportedly due to Python bug

Category: Advanced Configuration

Hi,

do you perhaps now if this whole problem is now solved in the master branch or should I compile LCNC with the changes mentioned above to fix the problem?
  • Hakan
  • Hakan
25 Oct 2025 12:13
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

This one
check_config:
INCONSISTENT coordinates specifications:
trivkins coordinates=X
[TRAJ]COORDINATES=XZ

That is a line in the ini file
KINEMATICS = trivkins coordinates=X
should be XZ
  • SPH
  • SPH's Avatar
25 Oct 2025 12:10 - 25 Oct 2025 12:13
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

Ah, yep, stupid simple. I'd been going back and forward for about an hour trying to figure that out.

One step forward, two steps back. Now throwing the error:
[code][code]Error report created by /usr/lib/tcltk/linuxcnc/show_errors.tcl:

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/linuxcnc_leadshine_EL8'
Machine configuration file is 'EL8_machine.ini'
INIFILE=/home/cnc/linuxcnc/configs/linuxcnc_leadshine_EL8/EL8_machine.ini
VERSION=1.1

check_config:
INCONSISTENT coordinates specifications:
trivkins coordinates=X
[TRAJ]COORDINATES=XZ

PARAMETER_FILE=linuxcnc.var
TPMOD=
HOMEMOD=always_homed
TASK=milltask
HALUI=halui
DISPLAY=axis
COORDINATES=XZ
KINEMATICS=trivkins coordinates=X
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.
Starting HAL User Interface program: halui
linuxcnc TPMOD=tpmod HOMEMOD=always_homed EMCMOT=motmod
Found file(REL): ./EL8_machine.hal
Starting TASK program: milltask
Starting DISPLAY program: axis
Shutting down and cleaning up LinuxCNC...
task: 103 cycles, min=0.000008, max=0.010081, avg=0.008640, 0 latency excursions (> 10x expected cycle time of 0.010000s)
@@@always_homed.comp:extra_setup: home_parms=no_home_parms

!!!always_homed.comp: Skeleton Homing Module

Removing HAL_LIB, RTAPI, and Real Time OS modules
Removing NML shared memory segments

Debug file information:
Note: Using POSIX realtime
note: MAXV max: 50.000 units/sec 3000.000 units/min
note: LJOG max: 50.000 units/sec 3000.000 units/min
note: LJOG default: 2.500 units/sec 150.000 units/min
Traceback (most recent call last):
File "/usr/bin/axis", line 3655, in <module>
ja_id = aletter_for_jnum(jnum)
^^^^^^^^^^^^^^^^^^^^^^
File "/usr/bin/axis", line 3642, in aletter_for_jnum
return trivkinscoords.upper()[jnum]
~~~~~~~~~~~~~~~~~~~~~~^^^^^^
IndexError: string index out of range
6055
6087
Stopping realtime threads
Unloading hal components
Note: Using POSIX realtime

Files attached. [/code][/code]
  • Hakan
  • Hakan
25 Oct 2025 11:25
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

Ok, it's the second line in the hal file,  num_joints=2
  • Clements
  • Clements
25 Oct 2025 11:10
Replied by Clements on topic gmoccapy probe

gmoccapy probe

Category: Basic Configuration

swapping the HDD gave some issues with the drivers for graphics card.
just gave it another try by installing 2.8.4 and somehow it sort of worked.

even pcloud installed
the issue is been solved for now, but I do find it confusing that an 'upgrade' to 2.9 breaks some functionality
  • SPH
  • SPH's Avatar
25 Oct 2025 11:09 - 25 Oct 2025 11:28
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

Righto I've added those lines in. No change on the x axis motor movement though.

In the interim I've connected up my second servo drive in order to start getting a full setup. I've essentially just copied and pasted the working x drive info but I'm getting
[code][code]./EL8_machine.hal:69: Pin 'joint.1.motor-pos-fb' does not exist
I've attached the files. No doubt it's some stupid simple thing.

*Is it easier if I just put the files straight into the post as code rather than attaching them? I want to make sure it's as easy as possible for everyone.[/code][/code]
  • boksi
  • boksi
25 Oct 2025 11:07 - 25 Oct 2025 11:25
Replied by boksi on topic Mesa smart serial or PktUART or serial over RS232 or udp for robot joints

Mesa smart serial or PktUART or serial over RS232 or udp for robot joints

Category: Advanced Configuration

It's good thing to know.
Do you know are there some configs with stmbl driving robots available around?
I saw some integrations with robots but encoders are read by mesa cards directly.
I would be more interested in this part which you mentioned if stmbls are set up in this way that they send position over smart serial.

Do you happen to know on higher level how this position report over smart serial works if we want to read 6 robot joints positions?
Correct me if I am wrong, but possibly in HAL we would have 6 sequential position requests, one request per each joint. We would wait for each one stmbl to report its position. So request + stmbl processing time + reply over smart serial and this happens 6 times. From fast look earlier not 100% sure but I think that there are 2 mcu in stmbl, so possibly one of them fast handles communication.
  • andypugh
  • andypugh's Avatar
25 Oct 2025 09:59
Replied by andypugh on topic Mesa smart serial or PktUART or serial over RS232 or udp for robot joints

Mesa smart serial or PktUART or serial over RS232 or udp for robot joints

Category: Advanced Configuration

Interesting that you mentioned stmbl, I remember they were integrated with some robot (video of manutec carrying a coin).
Do they send its position over smart serial ?

They do report position by smart-serial if configured to do so. And can also accept position commands the same way (but it is all configurable)

STMBL firmware has its own HAL so you can configure the command module and the feedback module (and quite a lot more) 
  • andypugh
  • andypugh's Avatar
25 Oct 2025 09:56
Replied by andypugh on topic Maho MH800e Retrofit Project

Maho MH800e Retrofit Project

Category: Milling Machines

watching the "DRO" the z axis zeros then moves, hits the index, zeros, and then hits the estop. I have the offset set to 0 so it should just stop correct?
 

There is a final move to the HOME position once the switches (and index, where specified) have been found.
linuxcnc.org/docs/stable/html/config/ini-homing.html

It is possible that your HOME_OFFSET has the wrong sign. 


 
  • Hakan
  • Hakan
25 Oct 2025 08:20 - 25 Oct 2025 08:26
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

That's what makes it so challenging with ethercat. Settings in several places and cross-dependencies.
Anyways, the second line in ethercat-conf.xml has the appTimePeriod setting.
There also :)


There are two more settings you can do now when things start to work.
Add this line right under the "<slave" line
<dcConf assignActivate="300" sync0Cycle="*1" sync0Shift="0"/>

and go back up to the second line in the file and add a minus-sign to the refClockSyncCycles value
<master idx="0" appTimePeriod="1000000" refClockSyncCycles="-1000"
  • ddVll
  • ddVll
25 Oct 2025 07:54
Replied by ddVll on topic RS-422 Linear Magnetic Encoder shows ERROR LED after power-on (Mesa 7i76 + 7i85)

RS-422 Linear Magnetic Encoder shows ERROR LED after power-on (Mesa 7i76 + 7i85)

Category: Driver Boards

You are right.

Switched the 7I85 channel to TTL mode, disconnected A−/B−/Z−, and kept +5, A+, B+, Z+, GND only.
The encoders now start in IDLE every time and looks work.

These Chinese “RS-422” linear scales most likely don’t have a true RS-422 line driver and cannot drive the 120 Ω termination on the Mesa inputs.

As a side note — it seems these low-cost Chinese sensors are often mislabeled:
one of my units was even shipped with 1 µm resolution instead of 5 µm as specified.
So if anyone else is buying similar “RS-422” magnetic scales, be cautious — the specs are not always accurate.
  • Aciera
  • Aciera's Avatar
25 Oct 2025 07:27 - 27 Oct 2025 13:44
VTK based version of Vismach was created by Aciera

VTK based version of Vismach

Category: Show Your Stuff

This is a new version of the 'vismach' simulation tool based on VTK instead of OpenGL:
github.com/Sigma1912/vtk-vismach

Still work in progress.
For more information see the README and the comments in the files.
 
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