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There is also an index to this thread located here.
forum.linuxcnc.org/38-general-linuxcnc-q...official-images-only

I've calmed down now and want to try the ecad.so module.
I searched around a bit after your code, but don't know how to pull code for ecad, or how to build it.
Can you provide some instruction?
Also, do I need your version of lcec and lcec_conf? Seems old, it didn't recognize float-ieee haltype.
And you have Ethercat master code, do I need that or can I use the distributed apt packaged one?

I wonder did you fully reverse engineer the commands for velocity mode?
Are you sending exactly the same values as the original controllers do for the selected RPM?
When I had a look at it last time I found out that the values don't directly translate to the requested RPM value, at least there's no linear mapping, it is a little bit off from time to time.

Read through this thread, there is an example in this very thread.

you should have homing to index enabled and working, then you have to align gantry to be perfect square, when homed. And if you use velocity mode with PID, then the linuxcnc uses real feedback from motor encoders. So if you disable servos, and move axis by hand, the position is reflected in linuxcnc and you dont have to re-home. Same with gantry. it will square back.

The best option would be to add 'XYZBC' mode to 'probe_basic.ui'. If that is not something you can do then you'll have to convert to 'XYZAC' as you mentioned or hope that @Lcvette has a look at this issue.

I have installed the PI5 image (25-01-27) and have gotten everything working EXCEPT the hal_gpio input pins. Outputs...done, inputs... no luck. I can read the input pins with GPIO from python... but not within linuxcnc.

Any ideas?

The OHMIC TEST button does not move the Z axis.  The intent is to see if there is a short between the torch tip and the ohmic lead (a ball of oxide can do this, or water from a water table).

User Manual Explanation of OHMIC TEST

If you do have a short, or you create a short to test it, you also need to hold the button to get the OHMIC light to light up in the GUI as there is sometimes a delay.  The click you are doing is far too fast.