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Not sure if this helps but 'hal_manualtoolchange.py' is a userspace hal component that needs its pins connected to iocontrol in hal so it can create the popups when a change is requested and pass the information on to iocontrol when the change is completed:

I did read about the incremental moves for X and Y, but seems like that doesn't work for the lathe I am using.

Interesting idea about the Fanuc.

Yes this has fixed it! Thanks again.

I configured the spindle orientation with m19, it worked well, but I have a problem that even though I set the same degree every time, it finds different positions of the spindle, for example I give m19r0 it finds a point and stops, but I do the same command again and it doesn't find the same point it goes to another point and stops, in other words it keeps changing the degree 0 of place, sometimes it does this several times in the same place, out of nowhere it goes to another point and if I do it a few more times it stays there. At this point, out of nowhere he changes the point again, can you help?

How low did you adjust P?
 What is the oscillation frequency?

Could you share with me your configuration to use the servo that controls the spindle and also to use it with the C axis?

Lowering P does nothing further, at this point oscillation occurs and F error is displayed. Pastes my configuration files for reference. I tried to power the 7i77 from a separate power supply, it didn't change anything.

 
 

Right. Is there RB Pi oriented ISO image for Linuxcnc? I'm thinking about RB Pi5 + Mesa combo and QtPlasmaC. I can see RB Pi5 8GB RAM version is now USD 100.

I deleted xhc-whb04b-6.hal still an error
I no longer have the problem of " MOTION: num_joints is 33, must be between 1 and 16" 
I post you the .ini and .hal files in 

   

LINUXCNC_EMCSH=/usr/bin/wish8.6
LINUXCNC - 2.9.0~pre1+git20230208.f1270d6ed7
Machine configuration directory is '/home/manu/linuxcnc/configs/NVEM'
Machine configuration file is 'NVEM.ini'
INIFILE=/home/manu/linuxcnc/configs/NVEM/NVEM.ini
VERSION=1.1
PARAMETER_FILE=linuxcnc.var
TPMOD=
HOMEMOD=
TASK=milltask
HALUI=halui
DISPLAY=qtvcp qtplasmac
COORDINATES=X Y Z
KINEMATICS=trivkins coordinates=XYZ
Starting LinuxCNC...
Starting LinuxCNC server program: linuxcncsvr
Loading Real Time OS, RTAPI, and HAL_LIB modules
Starting LinuxCNC IO program: io
Starting HAL User Interface program: halui
linuxcnc TPMOD=tpmod HOMEMOD=homemod EMCMOT=motmod
Found file(REL): ./NVEM.hal
Shutting down and cleaning up LinuxCNC...
Removing HAL_LIB, RTAPI, and Real Time OS modules
Removing NML shared memory segments

Debug file information:
Note: Using POSIX realtime
motmod: already exists
./NVEM.hal:6: waitpid failed /usr/bin/rtapi_app motmod
./NVEM.hal:6: /usr/bin/rtapi_app exited without becoming ready
./NVEM.hal:6: insmod for motmod failed, returned -1
8403
Stopping realtime threads
Unloading hal components
Note: Using POSIX realtime
 

A RPI5 would be a better choice, the RPI4 is a bit marginal speed wise.

Im confused --
RPI5 - linuxcnc 2.9.2 (from iso on linuxcnc download page)  I get same results on linux on a x86 system
I have a Novusun V5 that I loaded with ....Remora-RT1052-cpp/blob/main/Firmware/remora-rt1052-3.1.3.bin
I've run halcompile on remora-nv in Remora-NVEM-main/LinuxCNC/Components/Remora-nv

i can ping 10.10.10.10
I can tfpt put the python processed config.txt ...  I cant load tftpy for some reason so save & use the file created in /tmp

using the remora-nvem-basic when I take it out of E-Stop I get 
Bad payload = 0

any suggestions 

thanks 
Les

I'm trying to figure out when iocontrol.0.tool-change is on so I can pop up a window similar to the Axis pop up for tool change.

I'm looking at hal_manualtoolchange.py but not understanding it fully so I'm a bit stumped... any clues?

JT

Could you share with us your complete configuration?