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  • DerKlotz
  • DerKlotz
17 Oct 2025 16:00
Replied by DerKlotz on topic Combine Glade Togglebutton with Physical Input

Combine Glade Togglebutton with Physical Input

Category: GladeVCP

halui.machine.is-on is already linked to machine-is-on

I´ll continue tomorrow
  • tommylight
  • tommylight's Avatar
17 Oct 2025 16:00
Replied by tommylight on topic Is there a new Linuxcnc release in the wings ?

Is there a new Linuxcnc release in the wings ?

Category: General LinuxCNC Questions

A: is it open source?
B: not even on backports?
C: never a good idea
D: List?
E: what file was included ?
  • tommylight
  • tommylight's Avatar
17 Oct 2025 15:52
Replied by tommylight on topic Terminated with an error, I'm begging for help

Terminated with an error, I'm begging for help

Category: General LinuxCNC Questions

From your error log
RMM0705HZ.hal:30: Pin 'hm2_5i25.0.7i76.0.0.input-00' does not exist
Does the 7i76 have field power connected?
  • PanikEspoir
  • PanikEspoir
17 Oct 2025 15:37
Terminated with an error, I'm begging for help was created by PanikEspoir

Terminated with an error, I'm begging for help

Category: General LinuxCNC Questions

I know basically nothing about code. The program will not start. I don't know where else to look for help.Not that you care and not to be dramatic, but my father is recovering from a bad car crash and I need to keep the business going.Print file information:RUN_IN_PLACE=noLINUXCNC_DIR=LINUXCNC_BIN_DIR=/usr/binLINUXCNC_TCL_DIR=/usr/lib/tcltk/linuxcncLINUXCNC_SCRIPT_DIR=LINUXCNC_RTLIB_DIR=/usr/realtime-3.4-9-rtai-686-pae/modules/linuxcncLINUXCNC_CONFIG_DIR=LINUXCNC_LANG_DIR=/usr/share/linuxcnc/tcl/msgsINIVAR=inivarHALCMD=halcmdLINUXCNC_EMCSH=/usr/bin/wish8.5LINUXCNC - 2.7.0Machine configuration directory is '/home/router/linuxcnc/configs/RMM0705HZ'Machine configuration file is 'RMM0705HZ.ini'INIFILE=/home/router/linuxcnc/configs/RMM0705HZ/RMM0705HZ.iniPARAMETER_FILE=linuxcnc.varTASK=milltaskHALUI=haluiDISPLAY=axisStarting LinuxCNC...Starting LinuxCNC server program: linuxcncsvrLoading Real Time OS, RTAPI, and HAL_LIB modulesStarting LinuxCNC IO program: ioStarting HAL User Interface program: haluiFound file(REL): ./RMM0705HZ.halShutting down and cleaning up LinuxCNC...Running HAL shutdown scriptKilling task linuxcncsvr, PID=4735Removing HAL_LIB, RTAPI, and Real Time OS modulesRemoving NML shared memory segments Debug file information:./RMM0705HZ.hal:30: Pin 'hm2_5i25.0.7i76.0.0.input-00' does not exist4735  PID TTY      STAT   TIME COMMANDStopping realtime threadsUnloading hal components
  • snowgoer540
  • snowgoer540's Avatar
17 Oct 2025 15:23
Replied by snowgoer540 on topic No underspeed with temporary material

No underspeed with temporary material

Category: Plasmac

Thanks for the long reply. I've been doing this long enough to know that that a good bug hunter is worth their weight in gold.


I like to think so haha

> I am not sure when you'd actually want to use cutter comp, I've always just relied on the CAM to offset the paths for me

I don't fully understand what you mean there since in this scenario MetalHeadCAM is the CAM. Do you mean that you normally offset it in CAD? Or that you use G40/41/42 in gcode? FYI, support for LinuxCNC's native offsetting via G40/41/42 will probably come in the next release.

I added offsets for a few reasons. 1) visualize the actual cut path 2) possible future support for controllers that don't have G40/41/42 3) eventually support true arc and NURBS offset paths since LinuxCNC G40... only does lines.


I think we are talking past each other a bit.

I am saying that your CAM software should drive the offset, by producing a G-Code path that is offset inside or outside depending on the feature by the kerf amount. It should not rely on using G40/41/42 in the G-Code output.

The reason to not use it specifically with LinuxCNC is as follows (quoted from the manual)
Important
IF CUTTER COMPENSATION IS IN EFFECT G-CODE THC, VELOCITY BASED THC AND OVER CUT ARE NOT ABLE TO BE USED; AN ERROR MESSAGE WILL BE DISPLAYED.

> I am unsure what all of your goals are for the project, but if you need inspiration, SheetCAM is a pretty good software to try and emulate. I cant think of much I would want to do that it does not. It's nice to have free options for sure!

I currently use SheetCAM. It's great, but I don't love the interface. I also think that $279 is too much for most hobbyists. I'm also an open source maximalist so it will forever bother me that I have a closed program in my workflow.


I missed when SheetCAM became so expensive. I agree, that's too much for hobbyists. I swear when I bought it it was $79, and not $279! But I am still on version 7.

The rest I'll reply to in order:

1. I'm going to add some sort of documentation to the landing page on this. You're not actually uploading anything. MetalHeadCAM runs as a Javascript app in your browser. There's literally no backend to upload to; it's just HTML and Javascript delivered via a CDN. At some point I'm going to make it available for download as a fat HTML page so that you can run the whole thing offline.


Understood.

2. I've just deployed a new version that has first-class Imperial support. At first I wasn't sure if I should stop with the Norman conquest, or add cubits too. Go to the hamburger menu > Settings > Reset Application before trying it again because you'll need to wipe out the old metric-only state.


Good news, I will try to make time over the weekend to retest!

3. I need to scale zoom factor based on size. That's on the TODO list.

4. Edit and Prepare stages are gone now.

5. Tools are in hamburger menu > Tools. I need to get rid of the hamburger menu as that is really a mobile thing.

6. Rapid speed is in Simulation now.

7. There's now a Select All button.

8. Fit is gone. That was an experiment.

9. Should be fixed. Normals calculation needed improvement.

10. Should be fixed. There was a bug in spline tesselation.

11. This one is admittedly confusing. Default is Part because it implements "the kerf always be toward the scrap (or away from the part)?". Allowing the user to set Inside and Outside is just my way of avoiding making a hasty assumption.


Acknowledged on all of these, looking forward to giving it a go. It's nice to have CAM options.

12. Not sure what was up with that. I can't reproduce it.


If I see it again, I will try to find exact steps to reproduce. I know how valuable that is to squishing bugs.

Great work overall. Will report back after I've had another play.
  • Bram kersten
  • Bram kersten
17 Oct 2025 15:08
Replied by Bram kersten on topic WCS Problem with Linuxcnc/qtdragon

WCS Problem with Linuxcnc/qtdragon

Category: General LinuxCNC Questions

correct, i'm gonna change that, it's the safer option. sadly this isn't a fix for the problem.
  • MaHa
  • MaHa
17 Oct 2025 14:55
Replied by MaHa on topic WCS Problem with Linuxcnc/qtdragon

WCS Problem with Linuxcnc/qtdragon

Category: General LinuxCNC Questions

Your Z configuration seems to have zero at the bottom, normally not recommended.
I would change Z machine home to top, something like


[AXIS_Z]
MIN_LIMIT = -350
MAX_LIMIT = 0.001
HOME = 0.0
  • laurentl38
  • laurentl38
17 Oct 2025 14:42
Replied by laurentl38 on topic increment 4 MPG jog wheels with Basic Probe

increment 4 MPG jog wheels with Basic Probe

Category: QtPyVCP

Ok, I understand, thanks for the information.
For now, I've decided to add physical switches to select the wheel increments. The wheels will be decoupled from the soft increments.
This is the simplest solution for me. I already have something that works; I need to refine it.
  • Aciera
  • Aciera's Avatar
17 Oct 2025 14:37
Replied by Aciera on topic Pas de déplacement avec le MPG

Pas de déplacement avec le MPG

Category: Français

Qui, il'y a un problem avec les version 2.9.5 et 2.9.6. Pouvez installer le .deb (quand c'est la):
forum.linuxcnc.org/21-axis/57364-axis-co...-9-6?start=10#336538

Ou rester avec 2.9.4 et attends 2.9.7
  • Aciera
  • Aciera's Avatar
17 Oct 2025 14:31
Replied by Aciera on topic Combine Glade Togglebutton with Physical Input

Combine Glade Togglebutton with Physical Input

Category: GladeVCP

remove the led pin from where you have it and connect it to the the halui.machine.is-on pin instead:
net some_signal_name <= halui.machine.is-on => gladevcp.led_Startstopp
  • Lcvette
  • Lcvette's Avatar
17 Oct 2025 14:12
Replied by Lcvette on topic increment 4 MPG jog wheels with Basic Probe

increment 4 MPG jog wheels with Basic Probe

Category: QtPyVCP

the stock increment selector is a qtpyvcp linuxcnc widget. for what you are doing you might could use the user sidebar tab and make an exclusive button group using hal buttons tied to increment settings. just setup the pinBaseName for your hal pins in designer. that would allow for updating with out overwriting your changes with the stock widget.

The main issue with the on screen increment widget is how to keep it and a physical rotary switch synchronized, you could have the rotary knob sync the buttons but not the other way. you would use momentary push buttons, that would work bidirectionally as there would not be a static set switch. you could also have outputs to illuminate the momentary buttons for which increment was selected if you have enough IO. but there were so many scenarios to contend with that we ultimately decide to just leave the increment settings connected solely to the on screen jog buttons.
  • DerKlotz
  • DerKlotz
17 Oct 2025 13:43
Replied by DerKlotz on topic Combine Glade Togglebutton with Physical Input

Combine Glade Togglebutton with Physical Input

Category: GladeVCP

Tried something, but to much chinese ;-). I did some comments after #
#[Startknopf]
loadrt or2
addf or2.0 servo-thread

loadrt not
addf not.0 servo-thread
net Start.not.in => not.0.in #<= ???? must be hm2_7i76e.0.7i76.0.0.input-04
#net Start.not.out => not.0.out

net Start.ext.an <= gladevcp.Start => or2.0.in0
net Start.ext.an1 <= hm2_7i76e.0.7i76.0.0.input-04 => or2.0.in1
net Start.or <= or2.0.out => hm2_7i76e.0.7i76.0.0.output-05 => gladevcp.led_Startstopp => halui.machine.on

#net Start.or <= not.0.in => hm2_7i76e.0.7i76.0.0.output-06 => halui.machine.off
#net Start.ext.aus <= not.0.out => hm2_7i76e.0.7i76.0.0.output-06 => halui.machine.off ## almost work, but gladevcp.led_Startstopp doesn´t work
  • lorenzing
  • lorenzing
17 Oct 2025 13:00
Festo CMMT-ST was created by lorenzing

Festo CMMT-ST

Category: EtherCAT

Good morning, I'm trying to build an XYYZZ gantry with two motors on the Y and Z axes. To do this, I've used 5 CMMT-ST drives with absolute encoder servomotors. I have some doubts about the homing procedure. At the moment I can see the drives, but I haven't managed to move them yet. Before causing any damage, I wanted to get your opinion on the configuration files, since this is my first time using LinuxCNC.

ethercat.ini
[EMC]
VERSION = 1.1
# Debug level, 0 means no messages. See src/emc/nml_int/emcglb.h for others
#DEBUG = 0x7FFFFFFF
DEBUG = 0

[DISPLAY]
DISPLAY = axis
CYCLE_TIME = 0.1
MAX_LINEAR_VELOCITY = 50.0
DEFAULT_LINEAR_VELOCITY = 10.0
POSITION_OFFSET = RELATIVE
POSITION_FEEDBACK = ACTUAL

[TASK]
TASK = milltask
CYCLE_TIME = 0.01

[EMCMOT]
EMCMOT = motmod
# Timeout for comm to emcmot, in seconds
COMM_TIMEOUT = 1.0
# Servo task period, in nano-seconds
SERVO_PERIOD = 1000000


# section for main IO controller parameters -----------------------------------
[EMCIO]
# Name of IO controller program, e.g., io
EMCIO = io
# cycle time, in seconds
CYCLE_TIME = 0.100
TOOL_TABLE = tool.tbl

[HAL]
HALFILE = ethercat.hal
# Single file that is executed after the GUI has started.  Only supported by
# AXIS at this time (only AXIS creates a HAL component of its own)
#POSTGUI_HALFILE = test_postgui.hal
HALUI = halui

[RS274NGC]
PARAMETER_FILE = linuxcnc.var

[TRAJ]
COORDINATES = XYYZZ
LINEAR_UNITS = mm
ANGULAR_UNITS = degree
MAX_LINEAR_VELOCITY = 25.0
DEFAULT_LINEAR_VELOCITY = 2.50

[KINS]
JOINTS = 5
KINEMATICS = trivkins coordinates=XYYZZ kinstype=BOTH

# --- X Axis ---
[AXIS_X]
MAX_VELOCITY = 50.0
MAX_ACCELERATION = 200.0
MIN_LIMIT = -30.0
MAX_LIMIT = 1700.0


[JOINT_0]
TYPE = LINEAR
HOME = 0.0
MAX_VELOCITY = 50.0
MAX_ACCELERATION = 200.0
MIN_LIMIT = -30.0
MAX_LIMIT = 1700.0
FERROR = 1000
MIN_FERROR = 1000
HOME_ABSOLUTE_ENCODER = 2
HOME_SEQUENCE = 0


# --- Y Axis (dual) ---
[AXIS_Y]
MAX_VELOCITY = 50.0
MAX_ACCELERATION = 200.0
MIN_LIMIT = -30.0
MAX_LIMIT = 1700.0

[JOINT_1]
TYPE = LINEAR
HOME = 0.0
FERROR = 1000
MIN_FERROR = 1000
# both Y joints home together
HOME_SEQUENCE = 1
HOME_ABSOLUTE_ENCODER = 2
MAX_VELOCITY = 50.0
MAX_ACCELERATION = 200.0
MIN_LIMIT = -30.0
MAX_LIMIT = 1700.0

[JOINT_2]
TYPE = LINEAR
HOME = 0.0
FERROR = 1000
MIN_FERROR = 1000
# both Y joints home together
HOME_SEQUENCE = 1
HOME_ABSOLUTE_ENCODER = 2
MAX_VELOCITY = 50.0
MAX_ACCELERATION = 200.0
MIN_LIMIT = -30.0
MAX_LIMIT = 1700.0


# --- Z Axis (dual) ---
[AXIS_Z]
MAX_VELOCITY = 50.0
MAX_ACCELERATION = 200.0
MIN_LIMIT = -30.0
MAX_LIMIT = 1700.0

[JOINT_3]
TYPE = LINEAR
HOME = 0.0
MAX_VELOCITY = 50.0
MAX_ACCELERATION = 200.0
MIN_LIMIT = -30.0
MAX_LIMIT = 1700.0
FERROR = 1000
MIN_FERROR = 1000
# both Z joints home together
HOME_SEQUENCE = 2
HOME_ABSOLUTE_ENCODER = 2

[JOINT_4]
TYPE = LINEAR
HOME = 0.0
MAX_VELOCITY = 50.0
MAX_ACCELERATION = 200.0
MIN_LIMIT = -30.0
MAX_LIMIT = 1700.0
FERROR = 1000
MIN_FERROR = 1000
# both Z joints home together
HOME_SEQUENCE = 2
HOME_ABSOLUTE_ENCODER = 2

ethercat.hal
# --- load components ---
loadrt [KINS]KINEMATICS
loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=5

# load EtherCAT xml then drivers
loadusr -W lcec_conf ethercat-conf.xml
loadrt lcec
loadrt cia402 count=5

# estop loopback
net estop-loop iocontrol.0.user-enable-out iocontrol.0.emc-enable-in

#machine enabled if no estop loopback
#setp iocontrol.0.emc-enable-in 1

# --- add functions to servo-thread ---
addf lcec.read-all            servo-thread

# read from cia402 drivers (one per joint)
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
addf cia402.4.read-all        servo-thread

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

# writes: cia402 then lcec
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 cia402.4.write-all       servo-thread
addf lcec.write-all           servo-thread


# =========================
# JOINT 0  (X)  -> cia402.0 -> lcec.0.4
# =========================
setp cia402.0.csp-mode 1
setp cia402.0.pos-scale 2000     # match SCALE in .ini; negate if direction reversed

# joint signals for motion
net x-pos-cmd   joint.0.motor-pos-cmd => cia402.0.pos-cmd
net x-pos-fb    joint.0.motor-pos-fb <= cia402.0.pos-fb
net x-enable    joint.0.amp-enable-out => cia402.0.enable
net x-amp-fault joint.0.amp-fault-in   <= cia402.0.drv-fault

# ethercat to cia402 driver
net x-statusword       lcec.0.4.cia-statusword  => cia402.0.statusword
net x-opmode-display   lcec.0.4.opmode-display  => cia402.0.opmode-display
net x-drv-act-pos      lcec.0.4.actual-position => cia402.0.drv-actual-position

# cia402 driver to ethercat
net x-controlword      cia402.0.controlword         => lcec.0.4.cia-controlword
net x-modes-of-operation cia402.0.opmode            => lcec.0.4.opmode
net x-drv-target-pos   cia402.0.drv-target-position => lcec.0.4.target-position

# homing (optional)
# net x-home-request joint.0.request-custom-homing => cia402.0.home
# net x-homing       joint.0.is-custom-homing <= cia402.0.stat-homing
# net x-homed        joint.0.custom-homing-finished <= cia402.0.stat-homed


# =========================
# JOINT 1  (Y1) -> cia402.1 -> lcec.0.2
# =========================
setp cia402.1.csp-mode 1
setp cia402.1.pos-scale 2000
#setp cia402.1.abs-encoder 1

net y1-pos-cmd   joint.1.motor-pos-cmd => cia402.1.pos-cmd
net y1-pos-fb    joint.1.motor-pos-fb <= cia402.1.pos-fb
net y1-enable    joint.1.amp-enable-out => cia402.1.enable
net y1-amp-fault joint.1.amp-fault-in   <= cia402.1.drv-fault

net y1-statusword      lcec.0.2.cia-statusword  => cia402.1.statusword
net y1-opmode-display  lcec.0.2.opmode-display  => cia402.1.opmode-display
net y1-drv-act-pos     lcec.0.2.actual-position => cia402.1.drv-actual-position

net y1-controlword         cia402.1.controlword         => lcec.0.2.cia-controlword
net y1-modes-of-operation  cia402.1.opmode              => lcec.0.2.opmode
net y1-drv-target-pos      cia402.1.drv-target-position => lcec.0.2.target-position


# =========================
# JOINT 2  (Y2) -> cia402.2 -> lcec.0.3
# =========================
setp cia402.2.csp-mode 1
setp cia402.2.pos-scale 2000
#setp cia402.2.abs-encoder 1

net y2-pos-cmd   joint.2.motor-pos-cmd => cia402.2.pos-cmd
net y2-pos-fb    joint.2.motor-pos-fb <= cia402.2.pos-fb
net y2-enable    joint.2.amp-enable-out => cia402.2.enable
net y2-amp-fault joint.2.amp-fault-in   <= cia402.2.drv-fault

net y2-statusword      lcec.0.3.cia-statusword  => cia402.2.statusword
net y2-opmode-display  lcec.0.3.opmode-display  => cia402.2.opmode-display
net y2-drv-act-pos     lcec.0.3.actual-position => cia402.2.drv-actual-position

net y2-controlword         cia402.2.controlword         => lcec.0.3.cia-controlword
net y2-modes-of-operation  cia402.2.opmode              => lcec.0.3.opmode
net y2-drv-target-pos      cia402.2.drv-target-position => lcec.0.3.target-position


# =========================
# JOINT 3  (Z1) -> cia402.3 -> lcec.0.0
# =========================
setp cia402.3.csp-mode 1
setp cia402.3.pos-scale 2000
#setp cia402.3.abs-encoder 1

net z1-pos-cmd   joint.3.motor-pos-cmd => cia402.3.pos-cmd
net z1-pos-fb    joint.3.motor-pos-fb <= cia402.3.pos-fb
net z1-enable    joint.3.amp-enable-out => cia402.3.enable
net z1-amp-fault joint.3.amp-fault-in   <= cia402.3.drv-fault

net z1-statusword      lcec.0.0.cia-statusword  => cia402.3.statusword
net z1-opmode-display  lcec.0.0.opmode-display  => cia402.3.opmode-display
net z1-drv-act-pos     lcec.0.0.actual-position => cia402.3.drv-actual-position

net z1-controlword         cia402.3.controlword         => lcec.0.0.cia-controlword
net z1-modes-of-operation  cia402.3.opmode              => lcec.0.0.opmode
net z1-drv-target-pos      cia402.3.drv-target-position => lcec.0.0.target-position


# =========================
# JOINT 4  (Z2) -> cia402.4 -> lcec.0.1
# =========================
setp cia402.4.csp-mode 1
setp cia402.4.pos-scale 2000
#setp cia402.4.abs-encoder 1

net z2-pos-cmd   joint.4.motor-pos-cmd => cia402.4.pos-cmd
net z2-pos-fb    joint.4.motor-pos-fb <= cia402.4.pos-fb
net z2-enable    joint.4.amp-enable-out => cia402.4.enable
net z2-amp-fault joint.4.amp-fault-in   <= cia402.4.drv-fault

net z2-statusword      lcec.0.1.cia-statusword  => cia402.4.statusword
net z2-opmode-display  lcec.0.1.opmode-display  => cia402.4.opmode-display
net z2-drv-act-pos     lcec.0.1.actual-position => cia402.4.drv-actual-position

net z2-controlword         cia402.4.controlword         => lcec.0.1.cia-controlword
net z2-modes-of-operation  cia402.4.opmode              => lcec.0.1.opmode
net z2-drv-target-pos      cia402.4.drv-target-position => lcec.0.1.target-position


# End of HAL

ethercat-conf.xml
<masters>
  <master idx="0" appTimePeriod="1000000" refClockSyncCycles="1">
    <!-- Joint Z1 -->
    <slave idx="0" type="generic" vid="0000001D" pid="007b5a25" configPdos="true">
      <dcConf assignActivate="300" sync0Cycle="*1" sync0Shift="0"/>
      <syncManager idx="2" dir="out">
        <pdo idx="1600">
          <pdoEntry idx="6040" subIdx="00" bitLen="16" halPin="cia-controlword" halType="u32"/>
          <pdoEntry idx="6060" subIdx="00" bitLen="8" halPin="opmode" halType="s32"/>
          <pdoEntry idx="607A" subIdx="00" bitLen="32" halPin="target-position" halType="s32"/>
        </pdo>
      </syncManager>
      <syncManager idx="3" dir="in">
        <pdo idx="1a00">
          <pdoEntry idx="6041" subIdx="00" bitLen="16" halPin="cia-statusword" halType="u32"/>
          <pdoEntry idx="6061" subIdx="00" bitLen="8" halPin="opmode-display" halType="s32"/>
          <pdoEntry idx="6064" subIdx="00" bitLen="32" halPin="actual-position" halType="s32"/>
          <pdoEntry idx="606C" subIdx="00" bitLen="32" halPin="actual-velocity" halType="s32"/>
          <pdoEntry idx="6077" subIdx="00" bitLen="32" halPin="actual-torque" halType="s32"/>
        </pdo>
      </syncManager>
    </slave>

    <!-- Joint Z2 -->
    <slave idx="1" type="generic" vid="0000001D" pid="007b5a25" configPdos="true">
      <dcConf assignActivate="300" sync0Cycle="*1" sync0Shift="0"/>
      <syncManager idx="2" dir="out">
        <pdo idx="1600">
          <pdoEntry idx="6040" subIdx="00" bitLen="16" halPin="cia-controlword" halType="u32"/>
          <pdoEntry idx="6060" subIdx="00" bitLen="8" halPin="opmode" halType="s32"/>
          <pdoEntry idx="607A" subIdx="00" bitLen="32" halPin="target-position" halType="s32"/>
        </pdo>
      </syncManager>
      <syncManager idx="3" dir="in">
        <pdo idx="1a00">
          <pdoEntry idx="6041" subIdx="00" bitLen="16" halPin="cia-statusword" halType="u32"/>
          <pdoEntry idx="6061" subIdx="00" bitLen="8" halPin="opmode-display" halType="s32"/>
          <pdoEntry idx="6064" subIdx="00" bitLen="32" halPin="actual-position" halType="s32"/>
          <pdoEntry idx="606C" subIdx="00" bitLen="32" halPin="actual-velocity" halType="s32"/>
          <pdoEntry idx="6077" subIdx="00" bitLen="32" halPin="actual-torque" halType="s32"/>
        </pdo>
      </syncManager>
    </slave>

    <!-- Joint Y1 -->
    <slave idx="2" type="generic" vid="0000001D" pid="007b5a25" configPdos="true">
      <dcConf assignActivate="300" sync0Cycle="*1" sync0Shift="0"/>
      <syncManager idx="2" dir="out">
        <pdo idx="1600">
          <pdoEntry idx="6040" subIdx="00" bitLen="16" halPin="cia-controlword" halType="u32"/>
          <pdoEntry idx="6060" subIdx="00" bitLen="8" halPin="opmode" halType="s32"/>
          <pdoEntry idx="607A" subIdx="00" bitLen="32" halPin="target-position" halType="s32"/>
        </pdo>
      </syncManager>
      <syncManager idx="3" dir="in">
        <pdo idx="1a00">
          <pdoEntry idx="6041" subIdx="00" bitLen="16" halPin="cia-statusword" halType="u32"/>
          <pdoEntry idx="6061" subIdx="00" bitLen="8" halPin="opmode-display" halType="s32"/>
          <pdoEntry idx="6064" subIdx="00" bitLen="32" halPin="actual-position" halType="s32"/>
          <pdoEntry idx="606C" subIdx="00" bitLen="32" halPin="actual-velocity" halType="s32"/>
          <pdoEntry idx="6077" subIdx="00" bitLen="32" halPin="actual-torque" halType="s32"/>
        </pdo>
      </syncManager>
    </slave>

    <!-- Joint Y2 -->
    <slave idx="3" type="generic" vid="0000001D" pid="007b5a25" configPdos="true">
      <dcConf assignActivate="300" sync0Cycle="*1" sync0Shift="0"/>
      <syncManager idx="2" dir="out">
        <pdo idx="1600">
          <pdoEntry idx="6040" subIdx="00" bitLen="16" halPin="cia-controlword" halType="u32"/>
          <pdoEntry idx="6060" subIdx="00" bitLen="8" halPin="opmode" halType="s32"/>
          <pdoEntry idx="607A" subIdx="00" bitLen="32" halPin="target-position" halType="s32"/>
        </pdo>
      </syncManager>
      <syncManager idx="3" dir="in">
        <pdo idx="1a00">
          <pdoEntry idx="6041" subIdx="00" bitLen="16" halPin="cia-statusword" halType="u32"/>
          <pdoEntry idx="6061" subIdx="00" bitLen="8" halPin="opmode-display" halType="s32"/>
          <pdoEntry idx="6064" subIdx="00" bitLen="32" halPin="actual-position" halType="s32"/>
          <pdoEntry idx="606C" subIdx="00" bitLen="32" halPin="actual-velocity" halType="s32"/>
          <pdoEntry idx="6077" subIdx="00" bitLen="32" halPin="actual-torque" halType="s32"/>
        </pdo>
      </syncManager>
    </slave>

    <!-- Joint X -->
    <slave idx="4" type="generic" vid="0000001D" pid="007b5a25" configPdos="true">
      <dcConf assignActivate="300" sync0Cycle="*1" sync0Shift="0"/>
      <syncManager idx="2" dir="out">
        <pdo idx="1600">
          <pdoEntry idx="6040" subIdx="00" bitLen="16" halPin="cia-controlword" halType="u32"/>
          <pdoEntry idx="6060" subIdx="00" bitLen="8" halPin="opmode" halType="s32"/>
          <pdoEntry idx="607A" subIdx="00" bitLen="32" halPin="target-position" halType="s32"/>
        </pdo>
      </syncManager>
      <syncManager idx="3" dir="in">
        <pdo idx="1a00">
          <pdoEntry idx="6041" subIdx="00" bitLen="16" halPin="cia-statusword" halType="u32"/>
          <pdoEntry idx="6061" subIdx="00" bitLen="8" halPin="opmode-display" halType="s32"/>
          <pdoEntry idx="6064" subIdx="00" bitLen="32" halPin="actual-position" halType="s32"/>
          <pdoEntry idx="606C" subIdx="00" bitLen="32" halPin="actual-velocity" halType="s32"/>
          <pdoEntry idx="6077" subIdx="00" bitLen="32" halPin="actual-torque" halType="s32"/>
        </pdo>
      </syncManager>
    </slave>
  </master>
</masters>

I hope this can eventually help other people who want to use these drives.
Many thanks to all for your help.
  • Bram kersten
  • Bram kersten
17 Oct 2025 12:41
Replied by Bram kersten on topic WCS Problem with Linuxcnc/qtdragon

WCS Problem with Linuxcnc/qtdragon

Category: General LinuxCNC Questions

it also moves down before the spindle even powers up. my g54 wcs is activated and i removed tool offsets. i also removed all probing actions. i'm so lost
  • Bram kersten
  • Bram kersten
17 Oct 2025 12:40
Replied by Bram kersten on topic WCS Problem with Linuxcnc/qtdragon

WCS Problem with Linuxcnc/qtdragon

Category: General LinuxCNC Questions

no it does not have any offsets
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