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I think Linuxcnc predates ethercat by 20 years or more so linuxcnc had to do it all. Don't forget there is a lot of other things involved in homing like squaring the gantry etc. How do you tell an ethercat drive it has a mate on the other side of the gantry and they are not perfectly aligned so it needs to move 2.0mm more to be square by a HOME_OFFSET? What about the HOME_SEQUENCE to lift the Z axis up above possible obstacles before moving X & Y? This is not specific to ethercat. We still need some of the standard elements of homing.c

The whole concept of the custom homing module is to do exactly what you seek. That is to tell linuxcnc to get out of the way so the drive can home itself. But the custom homing module was only a conceptual skeleton written by one very smart LCNC developer and its not just for ethercat. Its up to us to make it work for ethercat it.

If you read some of the lengthy issues on Scott Laids Git repo, you will find that CIA402 is not as rigid a standard as you think it is.

The other issue is that there needs to be a method to enable the drive and commence homing at the right time. Thats not in the homing module or the hal driver.

When I got involved in this, I was really stuck because I could not get ethercat installed on Bullseye that I had to run to get kernel support for my NIC drivers. Grotius was a life saver as he built a .deb file for me. At the time we were relying on an obsolete ethercat master code repository. Eventually I found the igh Repository on Gitlab and finally worked out how to simplify installation which I documented on the forum here. Over time Igh improved their repo as it came out of beta. I was really lucky to get some support from the guys at igh who contributed to some of my work by debugging the hal driver that had not been worked on for a long time

I built the 2.9 Bookworm installation ISO on the downloads page and moved  elements of my sticky into the ISO. Initially, I was hosting a repo for the hal driver. Then igh struck a deal with Sasha Ittner who initially wrote the hal driver to host the debs on their ethercat repo. This let me retire my repo. Not long later, Scott Laird got permission from Sasha to take over maintenance of the hal driver and started to do some significant upgrades to it. I was able to join the dots and before long, with help from igh, Scott had an automated build and test environment on his repo and his debs are automoatically built and deployed on the igh repo with the ethercat driver debs thanks to Bjarne at igh. 

So we now we finally have a reasonable ethercat installation path  for users in comparison to the dark mysterious abyss that existed before I got involved. There is enormous interest in ethercat now and many users are taking the plunge.
The time is finally right to push forward with ethercat as the build and distribution environment is in place.

So lets assume we get this homing sorted out in the short term, the next step is the sequencing of the switch on and start homing  logic.
I dd a lot of work to attempt to bring this into an earlier homing module that was never finished because it was obsoleted by big (but positive) changes to the custom homing framework and i lost interest in this for a long time and nobody attempted to take it on until recently.

I subsequently have formed a view that this is the wrong place for it. The reason  is that while homing is serviced by the servo thread, because it is an internal module, it will sit outside of the lcec ethercat loop. At best, this means our cia402 control will lag one cycle behind and at worst things will break. So the sequencing needs to happen in the hal loop (between lcec read and lcec write ) either as a seperate component or built into a ethercat driver module.

So sorry for the long winded essay, but ther is a lot of history to understand to go forward.

Hello, I am honored to be in such a forum.
First of all, I would like to say that I am new to Linuxcnc. I have 4 mtors and drivers that are not absolute encoders with ethercat cia402a support?? The drivers are working now but I couldn't manage to make it home. drivers manual link download.plcsystems.ru/Xinje/docs/DS5C1_servo_manual.pdf

I have 4 units of the 750w model, I can buy more After installing rodowan step by step and making the settings I knew, I made the step settings of the motors and started them.
Now the home and limit switch are not working????
All are in working order, so tested on Linux CNC The drive has h cw and ccw limit siiwtch inputs, but I did not understand how to connect it as a tom and I could not find enough information in the user manual for the connection.
All the additional linear rails and screw precision mills required for the machine I want to build are available, all of them are THK or Bosch brands.
I would be honored to test it I'm new to linuxcnc But I bought all the necessary hardware and all that remained was testing and processing.
If you wish, I am open to testing via remote access. ???? Please note that I have limited knowledge of Linuxcnc. I have a thinkercentre pc, asus touch lcd and many other hardware,
even a second cnc. I BOUGHT MES 7i95T, I will open a topic soon and add my progress for two cncs.
I will continue with the drivers of the other CNC, a delta asda-m-0721 3 axis single driver, a special driver. I am ready to test anything regarding ethercat. I am open to anything if desired. I speak a foreign language. I would like to thank Google Translete for its valuable contributions every time. I'M SO SORRY IF I DROPPED THE TOPIC.   

I've put a question in with the UK distributor for Leadshine to see if they have any info.

Did you try Leadshine directly? Or ask where the person on github got theirs?

I think R2EC are new so may not have made it to retail channels like Aliexpress yet

Step/dir for spindle servo?

Why not ethercat servo for the spindle?

Ethercat servos cost a bit more but mean you don't have to pay for other interface hardware

linuxcnc is part of mainline debian. Your usual method of installing packages should be ok. There are premade images but for SD card, I would try these out first to see if the RPi5 is suitable for your project.

Be warned at the moment the SPI is not a viable option for the RPi5 currently, unless you want to try via the spidev interface, but that has be found not to suitable for Realtime operation. I've attempted with Mesa hardware and it is not.

None of the projects that use the RPi4 bcxxx headers will work due to SPI now being on the RP1 chip on the PCIe bus. The only real options are direct use of the GPIO or etherent.

To use the GPIOs you will have to try this driver:
linuxcnc.org/docs/stable/html/drivers/hal_gpio.html

No drivers that can be currently used on the RPi4 (apart from the mesa ethernet drivers) can be used on the RPi5.

Even tho the Downloads page states that the RPi5 image is suitable for SPI this is not the case.

Hi guys ,
I am working on one cnc project that require linuxcnc , How can I install linuxcnc in resberry pi5. Below i given my system configration. i want install linuxcnc without using sdcard mode. is there any posssible way for this? 

System Information

---

Raspberry Pi 5 Model B Rev 1.0
PRETTY_NAME="Debian GNU/Linux 12 (bookworm)"
NAME="Debian GNU/Linux"
VERSION_ID="12"
VERSION="12 (bookworm)"

Raspberry Pi reference 2024-03-15
Generated using pi-gen, github.com/RPi-Distro/pi-gen, f19ee211ddafcae300827f953d143de92a5c6624, stage4

Linux raspberrypi 6.6.20+rpt-rpi-2712 #1 SMP PREEMPT Debian 1:6.6.20-1+rpt1 (2024-03-07) aarch64 GNU/Linux
Revision    : c04170
Serial        : a064e408d3a64e09
Model        : Raspberry Pi 5 Model B Rev 1.0
Throttled flag  : throttled=0x50005
Camera          : vc_gencmd_read_response returned -1 error=1 error_msg="Command not registered"

Looks like you are missing all the spindle stuff. All you have is:
net spindle-on => parport.0.pin-16-out

But nothing that actually feeds into the 'spindle-on' signal. So it's no surprise that the spindle is not working. Since you said that it used to work on AXIS GUI there must have been a config with the spindle relevant entries. Maybe try and find that or start stepconf and create a new config with a spindle.

The embedded panel is only for the zeroing of XYZ axes. No other functionality is being used with gladevcp.

I didn't run a different version of linuxcnc in the same folder, but I have copied my previous folder from the 2.8.4 machine to the configs directory, primarily to make similar changes to the .ini and .hal files.

No translations for text are being used.

grub-customizer can be used to set the default to the rtai kernel.
Should be under the system heading in the applications menu.

With regard to the Atom......I have a notebook with an Atom N455 1.66GHz and it's basically like wading through molasses. Hopefully yours is to better spec and the parallel offers you some fun.

If you have any more issues just yell/send smoke signals/bang on a drum/or whatever form of communication you prefer, I prefer crayons and a wall. And after being a graffiti cleaner crayon is one of the hardest to remove from most surfaces.

Ok This was a mess..

First things first.
I did a manual install it's not that scarey, but just easier, on a clean install.

I did edit /etc/apt/sources.list.d/linuxcnc-uspace.list
Changed https to http & changed the end of the line to 2.9-rt

Ok lets get what we need.
In a terminal

We have the packages we need

We have the latest

If we don't remove the doc packages we get errors on installing linuxcnc.

Reboot on the grub screen you may have to go to the advanced options and select the rtai kernel

Long and convulted, installing the docs may throw an issue.

First of all I’d sort out the message from apt.
Second removing the doc package prior to installing linuxcnc with fix up the desktop message.
Thirdly the repo for the rtai kernel needs to be added.
When I get a chance, I’ll find my notes and see how I did it. Tho I think I installed the kernel and modules manually after downloading them.

This post has a link to the packages.
forum.linuxcnc.org/38-general-linuxcnc-q...ters?start=20#303239

Also you still haven’t described the machine config you require. Without that it is impossible to do anything in regards to helping you.
Have you actually installed the development environment and attempted to build and program one of the configurations, just so to confirm that everything works ?
You haven’t even said whether you are using a PC or a RPi and whether you are using spi or Ethernet.

Like I said explore the github repo for other examples, they are there.
Page 6 of this thread discusses Hal & ini files with someone’s example.
I suggest that you read the entire topic.

The examples for the 5A-75E show the configuration for GPIO (in/out) 30/29 PWM 9
Stepgen (type) 9 (step/dir) Encoders (type) 9 (A/. There is a link to the JSON file. But it only contains GPIOs. What is the use of it? Is there JSON, ini, hal for this configuration? Or something like this. It will be something to start from. This is enough for 90% of users. imho.