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  • bszoke
  • bszoke
13 Nov 2025 06:15
Replied by bszoke on topic help with ethercat and omron drives

help with ethercat and omron drives

Category: EtherCAT

Maybe this is documented already somewhere and I just missed it. The key to all of this is this magical argument in the slave tag
configPdos="true"
This actually does alot of what I described above, however, it works in the XML for "other" reasons. If you look at the dmesg log with "ethercat debug 1" you can see exactly what its doing. The XML is still incorrect. To truly use the configPdos="true" properly you have to use the variable mapped PDO's. The reason the XML "works" is because it sets the PDO assignment register to the address listed in the <PDO idx>, however you will get a bunch of errors because it will try to map the PDO's to read only registers. And you don't truly get a variable assigned PDO, you only get what is in the fixed PDO in the registers selected. So it could be intentional, but if you are going to use it, might as well use the variable mapped PDO so you can pick and choose exactly what PDO's you want. However, I think there is a caveat to this, variable PDO mapping is only available in Firmware version > 2.1. So this could be the "lazy mans" way of setting the Fixed PDO's for SM 2&3.
  • miro199315
  • miro199315
13 Nov 2025 05:56 - 13 Nov 2025 05:58
Replied by miro199315 on topic Configuration Schnider electric ILA2 Servo

Configuration Schnider electric ILA2 Servo

Category: EtherCAT

Thanks a lot for looking into this and taking the time to check my issue. I really appreciate the help and suggestions.
Below I’m attaching the XML configuration and system logs for reference.

[35409.201585] EtherCAT: Requesting master 0...
[35409.201588] EtherCAT: Successfully requested master 0.
[35409.201704] EtherCAT 0: Domain0: Logical address 0x00000000, 46 byte, expected working counter 3.
[35409.201706] EtherCAT 0:   Datagram domain0-0-main: Logical offset 0x00000000, 46 byte, type LRW.
[35409.201717] EtherCAT 0: Master thread exited.
[35409.201718] EtherCAT 0: Stopping EoE thread.
[35409.201726] EtherCAT 0: EoE thread exited.
[35409.201726] EtherCAT 0: Starting EoE thread.
[35409.201750] EtherCAT 0: Starting EtherCAT-OP thread.
[35409.201765] EtherCAT WARNING 0: 12 datagrams TIMED OUT!
[35409.331702] EtherCAT WARNING 0-1: Other mailbox protocol response for eoe0s1.
[35409.331956] EtherCAT ERROR 0-1: Reception of CoE download response failed: No response.
[35409.331959] EtherCAT WARNING 0-1: Failed to map PDO entry 0x0000:00 (8 bit) to position 6.
[35409.331961] EtherCAT WARNING 0-1: Currently mapped PDO entries: (none). Entries to map: 0x6040:00/16 0x6060:00/8 0x607A:00/32 0x60FF:00/32 0x0000:00/8 0x0000:00/8 0x0000:00/8 0x0000:00/8 0x0000:00/8 0x0000:00/8 0x0000:00/8 0x0000:00/8 0x0000:00/8 0x0000:00/8 0x0000:00/8
[35409.331973] EtherCAT WARNING 0-1: Failed to configure mapping of PDO 0x1600.
[35409.355684] EtherCAT ERROR 0-1: Mailbox error response received - Unknown error reply code 0x0000.
[35409.355688] EtherCAT WARNING 0-1: Invalid mailbox response for eoe0s1.
[35409.375692] EtherCAT WARNING 0-1: Other mailbox protocol response for eoe0s1.
[35409.375948] EtherCAT ERROR 0-1: Reception of CoE download response failed: No response.
[35409.375951] EtherCAT WARNING 0-1: Failed to map PDO entry 0x0000:00 (8 bit) to position 11.
[35409.375953] EtherCAT WARNING 0-1: Currently mapped PDO entries: (none). Entries to map: 0x6041:00/16 0x6061:00/8 0x6064:00/32 0x606C:00/32 0x6077:00/16 0x0000:00/8 0x0000:00/8 0x0000:00/8 0x0000:00/8 0x0000:00/8 0x0000:00/8 0x0000:00/8 0x0000:00/8 0x0000:00/8 0x0000:00/8 0x0000:00/8
[35409.375965] EtherCAT WARNING 0-1: Failed to configure mapping of PDO 0x1A00.
[35409.389044] EtherCAT ERROR 0-1: Failed to set SAFEOP state, slave refused state change (PREOP + ERROR).
[35409.390043] EtherCAT ERROR 0-1: AL status message 0x001E: "Invalid input configuration".
[35409.392045] EtherCAT 0-1: Acknowledged state PREOP.
[35409.403540] EtherCAT 0: Slave states on main device: PREOP, OP.
linuxcnc@linuxcnc:~$ 
 

[code]<?xml version="1.0" ?>
<masters>
  <master idx="0" appTimePeriod="1000000" refClockSyncCycles="1">
    <slave idx="1" type="generic" vid="0800005a" pid="000022db" configPdos="true">
      
      <!-- Distributed Clocks -->
      <dcConf assignActivate="300" sync0Cycle="1000000" sync0Shift="0" />
      
      <!-- SyncManagers -->
      <syncManager idx="2" dir="out">
        <pdo idx="1600">
          <pdoEntry idx="6040" subIdx="0" bitLen="16" halPin="cia-controlword" halType="u32" />
          <pdoEntry idx="6060" subIdx="0" bitLen="8"  halPin="opmode" halType="s32" />
          <pdoEntry idx="607A" subIdx="0" bitLen="32" halPin="target-position" halType="s32" />
          <pdoEntry idx="60FF" subIdx="0" bitLen="32" halPin="target-velocity" halType="s32" />
        </pdo>
      </syncManager>

      <syncManager idx="3" dir="in">
        <pdo idx="1A00">
          <pdoEntry idx="6041" subIdx="0" bitLen="16" halPin="cia-statusword" halType="u32" />
          <pdoEntry idx="6061" subIdx="0" bitLen="8"  halPin="opmode-display" halType="s32" />
          <pdoEntry idx="6064" subIdx="0" bitLen="32" halPin="actual-position" halType="s32" />
          <pdoEntry idx="606C" subIdx="0" bitLen="32" halPin="actual-velocity" halType="s32" />
          <pdoEntry idx="6077" subIdx="0" bitLen="16" halPin="actual-torque" halType="s32" />
        </pdo>
      </syncManager>

    </slave>
  </master>
</masters>

[/code]


[code] 
[/code]
  • skyguybrad
  • skyguybrad
13 Nov 2025 04:39
Replied by skyguybrad on topic pulling my hair out please help

pulling my hair out please help

Category: Basic Configuration

ive added the following to my my main.hal and it launches now. I could cry right now....

# threads
addf hm2_7i96s.0.read servo-thread
addf motion-command-handler servo-thread
addf motion-controller servo-thread
addf hm2_7i96s.0.write servo-thread
  • skyguybrad
  • skyguybrad
13 Nov 2025 04:28
pulling my hair out please help was created by skyguybrad

pulling my hair out please help

Category: Basic Configuration

New to linux. have a very basic 3 axis vert mill, open loop with only a 7i96s and can either not get any motion or at this point even a configuration I believe mostly ready to get started. Im shammed to state how many days ive been trying to figure this out.can anyone please help me or point me to competent persons who may be able to do so. Id be willing to pay if need be for direct help. Ive bit off way more than I can chew having chosen linux for my project. "A configure error is preventing linuxcnc from running". I have other configurations with PID loops I could not disable that do launch just fine only obviously I dont have any motion. My eyes are full of blood from bashing my head on the wall. any and all help would be GREATLY appreciated more than you know. Ive never posted in a forum of any kind in my life so if ive posted in the wrong place please educate me and Ill move but here made the most sense after careful evaluation. Thank you guys
7i96s_d.bin
linux 2.9.7
joint 0,1,2 = XYZ
spindle driver is on step/dir4
IN 00 x driver fault. low=fault
in01 Y driver fault low=fault
ino2 Z driver fault low=fault
ino3 spindle fault low=normal open/high=fault
out00 spindle low to enable
XYZ home not yet assigned NC low 
 
  • tommylight
  • tommylight's Avatar
13 Nov 2025 02:14
Replied by tommylight on topic qtdragon crash during 3d viewer translation (QTvcp ERROR! Message # 1)

qtdragon crash during 3d viewer translation (QTvcp ERROR! Message # 1)

Category: Qtvcp

If software mode is working for you, keep using it.
-
Additional info:
NVIDIA does have issues with new RT kernels for some reason, but on some PC's, so not always:
-two of new PC's and a HP Z420 will work happily with NVIDIA 1060/6GB and 1070 and 1660 super
-none of 5 HP Z600 will work with any NVIDIA card above and many Quadro variants
That is all with 6.10 and 6.13 RT kernels, and the strange thing is after installing the RT kernel, all HP Z600 will boot and run LinuxCNC happily, until you reboot, from then on just a blank screen (no, nomodeset will not work, Linux will boot but screen will be off), hence so many installs till i figured out what was going on.
All work with older 4.19 (i think, not sure) RT kernel.
Also, all those kernels work with AMD RX480/8GB, RX580/8GB and RX6800/16GB
  • EDesro
  • EDesro
13 Nov 2025 01:37
Replied by EDesro on topic qtdragon crash during 3d viewer translation (QTvcp ERROR! Message # 1)

qtdragon crash during 3d viewer translation (QTvcp ERROR! Message # 1)

Category: Qtvcp

I effectively use an NVIDIA 1070 GPU (overkill, but that's what I have and there is no onboard GPU).

GL_RENDERER = NV134
GL_VERSION = 4.3 (Compatibility Profile) Mesa 22.3.6
GL_VENDOR = nouveau
GL_EXTENSIONS = (There is a huge quantity of things, do you really want to see them? :)
  • tommylight
  • tommylight's Avatar
13 Nov 2025 01:14
Replied by tommylight on topic Avon 3000 Mill retrofit

Avon 3000 Mill retrofit

Category: Milling Machines

Yes, that is it, but there are many issues with those files, like why is it asking for a parallel port when using Mesa 5i25 and 7i77?
Make a new config, do NOT choose stuff at random, set up only axis/joints you need and estop/enable pins and home/limits. You can edit configs at any time later, you can have as much configs as you like/need for the same machine on the same PC.
And i am pretty sure you will need this:
forum.linuxcnc.org/10-advanced-configura...ning-detailed-how-to
Do not skip steps, do not wire everything and power on <- this usually ends up in tears and smoke.
  • CaliusOptimus
  • CaliusOptimus
12 Nov 2025 22:49
Replied by CaliusOptimus on topic Lathe project needs a turret

Lathe project needs a turret

Category: Turning

First real job for this lathe-
Parting off from a 4" 304 bar, then facing back side of the part.

Had some extreme and abnormal chatter at first so I looked around for loose components. Tightened up the X gibs, tried again, nope. Put a bar in the chuck and an indiciator on the spindle, gave it a push and a shove and saw .004" TIR. Ended up having to tighten the spindle preload and good to go.

 
  • Hakan
  • Hakan
12 Nov 2025 22:41 - 12 Nov 2025 23:00
Replied by Hakan on topic Configuration Schnider electric ILA2 Servo

Configuration Schnider electric ILA2 Servo

Category: EtherCAT

Check syslog with "sudo dmesg | tail -20", the master usually tells you in its own cryptic way what's wrong.

Edit, sorry I see you have already done that. Nevertheless, show us messages in the syslog.
And the ethercat-conf.xml file.
  • zoeper
  • zoeper
12 Nov 2025 22:17
Replied by zoeper on topic Avon 3000 Mill retrofit

Avon 3000 Mill retrofit

Category: Milling Machines

 

Assuming this is what you mean?
  • unknown
  • unknown
12 Nov 2025 22:13
Replied by unknown on topic 7i92 cnc motion controller from aliexpress?

7i92 cnc motion controller from aliexpress?

Category: Driver Boards

Can you not message the vendor for any documents ?
Unless someone else has one and is willing to share their experiences, you're venturing into unknown territory.

If it does run 7i92 firmware any threads relating to 7i92 setup should suffice.
  • Reyes
  • Reyes
12 Nov 2025 22:05
Replied by Reyes on topic 7i92 cnc motion controller from aliexpress?

7i92 cnc motion controller from aliexpress?

Category: Driver Boards

Yes that one sir
  • Reyes
  • Reyes
12 Nov 2025 22:03
Replied by Reyes on topic 7i92 cnc motion controller from aliexpress?

7i92 cnc motion controller from aliexpress?

Category: Driver Boards

Yes sir this one from aliexpress
www.aliexpress.com/item/1005010164851154.html
  • miro199315
  • miro199315
12 Nov 2025 22:01
Configuration Schnider electric ILA2 Servo was created by miro199315

Configuration Schnider electric ILA2 Servo

Category: EtherCAT

I’m trying to connect an ICLA ILA2E servo drive over EtherCAT using LinuxCNC 2.9.7 with the lcec driver and the IgH EtherCAT master 1.6.8 (on Debian 12 RT). The EtherCAT bus is: PC → Beckhoff EK1100 → ICLA ILA PLCOpen (the ILA2E servo). The EK1100 coupler always reaches OP state without problems, but the servo stays stuck in PREOP + ERROR when controlled through lcec.When I control the servo manually with the
ethercat
command-line tools, it behaves correctly. If I send controlwords 0x0006, 0x0007, and then 0x000F to object 0x6040, the drive enables, holds torque, and moves as expected. The feedback position from 0x6064 changes correctly, and the motor clearly enters operational state internally, even though
ethercat slaves
still lists it as PREOP + ERROR. So communication works and the drive can be controlled directly, but it never transitions to OP when LinuxCNC and lcec are running.The PDO mapping was taken directly from the drive:RxPDO 0x1600 contains 6040 (controlword, 16 bits), 6060 (opmode, 8 bits), 607A (target position, 32 bits), and 60FF (target velocity, 32 bits).
TxPDO 0x1A00 contains 6041 (statusword, 16 bits), 6061 (opmode display, 8 bits), 6064 (actual position, 32 bits), 606C (actual velocity, 32 bits), and 6077 (actual torque, 16 bits).The XML configuration for the slave defines these PDOs and basic HAL pins for cia-controlword, opmode, target-position, actual-position, and so on. I have not included any DC configuration yet because the drive does not reach OP even in basic mode.When I start LinuxCNC, lcec loads normally, but the servo never leaves PREOP. The HAL pins show that the slave is online but not operational. The logs show mailbox or CoE errors such as “Invalid input configuration (0x001E)” or timeouts while reading SDOs like 0x1C33:3. Despite that, if I exit LinuxCNC and use
ethercat download
commands directly, the servo behaves correctly every time.So the problem is that the drive can reach operational state when commanded manually through
ethercat
, but it stays in PREOP when controlled via lcec. I suspect the issue might be in the XML configuration or a missing initialization SDO sequence.Has anyone successfully used an ICLA ILA PLCOpen (Vendor ID 0x0800005A, Product ID 0x000022DB, model ILA2E) servo with LinuxCNC and lcec? Any hints about what might be missing in the configuration would be greatly appreciated.
  • tommylight
  • tommylight's Avatar
12 Nov 2025 21:56
Replied by tommylight on topic Avon 3000 Mill retrofit

Avon 3000 Mill retrofit

Category: Milling Machines

Hmmm ... why are you running a hal file with halrun?
You need to run an ini file with LinuxCNC, so right click on the ini file, open with, use custom command and type linuxcnc, enter.
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