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Yes,  so as a starting value, your ~52 analog scale setting  and
FF1=1.0 is at least a reasonable starting point.
 

10 turns is about 10.4~" and my calculated is 10.47".
Encoder scale set to 960 is perfect.

OK that makes more sense on a plasma machine

If you are uncertain with your gear ratios, can you
rotate the motor shaft say 10 turns and measure
the linear position change? getting this right is needed
for the encoder scaling as well.




 

Pues estuvo cortando durante un tiempo pero se a vuelto a quemar hay algún problema pero no se que es

Hay un pequeño punto en U5 el que cambie antes también lo tenia aun que cambia los dos

Hi I did some corrections for you, definitely will work now

###########################################################
#  cia402.hal – Corrected and functional version
# 

---

#  • Slave-0..2 = X,Y,Z in CSP (Cyclic Synchronous Position)
#  • Slave-3    = Spindle in CSV (Cyclic Synchronous Velocity)
#  • LinuxCNC 2.9+ · EtherLab lcec · servo-thread 1 ms
###########################################################

######################## 1. Real-time & Userspace Components ###
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=4               # 0,1,2 = axes | 3 = spindle

# Scaling for spindle speed command & feedback
loadrt scale            names=spin_cmd_scaler,spin_fb_scaler
loadrt conv_s32_float   names=spin_fb_converter

######################## 2. Add Functions to Servo Thread ###
addf lcec.read-all             servo-thread
addf cia402.0.read-all         servo-thread
addf cia402.1.read-all         servo-thread
addf cia402.2.read-all         servo-thread
addf cia402.3.read-all         servo-thread

# Process spindle feedback
addf spin_fb_converter         servo-thread
addf spin_fb_scaler            servo-thread

addf motion-command-handler    servo-thread
addf motion-controller         servo-thread

# Prepare spindle command
addf spin_cmd_scaler           servo-thread

# Write data back to drives
addf cia402.0.write-all        servo-thread
addf cia402.1.write-all        servo-thread
addf cia402.2.write-all        servo-thread
addf cia402.3.write-all        servo-thread
addf lcec.write-all            servo-thread

######################## 3. Global Settings & Parameters ###
# --- X/Y/Z axes in CSP mode ---
setp cia402.0.csp-mode 1
setp cia402.1.csp-mode 1
setp cia402.2.csp-mode 1

setp cia402.0.pos-scale 26214  # match your encoder counts
setp cia402.1.pos-scale 26214
setp cia402.2.pos-scale 26214

# --- Spindle in CSV mode ---
setp cia402.3.csp-mode   0
setp cia402.3.velo-scale 2048

# Gain for 0.1 RPM units ↔ RPM
setp spin_cmd_scaler.gain 10.0   # 1 RPM → 10 (0.1 RPM units)
setp spin_fb_scaler.gain  0.1    # 10 (0.1 RPM units) → 1 RPM

######################## 4. EtherCAT PDO Mapping ########

## X-Axis (slave-0)
net x-stw    lcec.0.0.cia-statusword      => cia402.0.statusword
net x-opdisp lcec.0.0.opmode-display     => cia402.0.opmode-display
net x-actpos lcec.0.0.actual-position    => cia402.0.drv-actual-position
net x-ctlw   cia402.0.controlword        => lcec.0.0.cia-controlword
net x-opcmd  cia402.0.opmode              => lcec.0.0.opmode
net x-tgtpos cia402.0.drv-target-position => lcec.0.0.target-position

## Y-Axis (slave-1)
net y-stw    lcec.0.1.cia-statusword      => cia402.1.statusword
net y-opdisp lcec.0.1.opmode-display     => cia402.1.opmode-display
net y-actpos lcec.0.1.actual-position    => cia402.1.drv-actual-position
net y-ctlw   cia402.1.controlword        => lcec.0.1.cia-controlword
net y-opcmd  cia402.1.opmode              => lcec.0.1.opmode
net y-tgtpos cia402.1.drv-target-position => lcec.0.1.target-position

## Z-Axis (slave-2)
net z-stw    lcec.0.2.cia-statusword      => cia402.2.statusword
net z-opdisp lcec.0.2.opmode-display     => cia402.2.opmode-display
net z-actpos lcec.0.2.actual-position    => cia402.2.drv-actual-position
net z-ctlw   cia402.2.controlword        => lcec.0.2.cia-controlword
net z-opcmd  cia402.2.opmode              => lcec.0.2.opmode
net z-tgtpos cia402.2.drv-target-position => lcec.0.2.target-position

## Spindle (slave-3)
net s-stw    lcec.0.3.cia-statusword      => cia402.3.statusword
net s-opdisp lcec.0.3.opmode-display     => cia402.3.opmode-display
net s-ctlw   cia402.3.controlword         => lcec.0.3.cia-controlword
net s-opcmd  cia402.3.opmode              => lcec.0.3.opmode

# — Velocity feedback: Drive → HAL → LinuxCNC
net s-vel-raw   lcec.0.3.actual-velocity    => spin_fb_converter.in \
                                             => cia402.3.drv-actual-velocity
net s-vel-float spin_fb_converter.out      => spin_fb_scaler.in

Hi all,For context: I'm currently building the control system for a Samurai 120 CNC machine (please see the attached photo).Machine electronic hardware configuration:

• 3 × Leadshine EL8 EtherCAT servo drives
• 2 × 400W Leadshine motors with optical encoders and battery backup
• 1 × 400W Leadshine motor with motor brake, also with optical encoder and battery backup
• 1 × Beckhoff EK1100 EtherCAT coupler
• 1 × Raspberry Pi 5 for control

Current progress:

1. Successfully installed LinuxCNC on the Raspberry Pi 5
2. Updated to the latest version
3. Installed CIA402 using Rodw’s guide
4. Configured the Pi as an EtherCAT master

Where I need help: I'm struggling to understand how to configure LinuxCNC to communicate with the servo drives in a basic setup.From what I understand, LinuxCNC relies on three main configuration files:

1. .ini

   – Loads the user interface and references the

   .hal

   file

2. .hal

   – The Hardware Abstraction Layer, which defines machine characteristics and connects components

3. .xml

   – Extracts and defines information from the servo drives

I found Marco Reps’ GitHub repository, which uses a similar configuration. I downloaded all the files and attempted to launch LinuxCNC using the "el8" configuration, but it failed to load.
 Could someone please provide a step-by-step  on how to configure Linux CNC for my current setup? Any help would be greatly appreciated! 

I intend on eventually using the probe basic user interface as I an touchscreen this would work well with. https://samuraimachinetools.com/cdn/shop/files/IMG_9964.jpg?v=1722652171&width=1445