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hitchhiker
hitchhiker

11 Sep 2025 11:48

Replied by hitchhiker on topic Proximity sensor hardware debounce?

Proximity sensor hardware debounce?

Category: Basic Configuration

It works.
I use a second channel to re invert the signal.
Now no noise on the signal.

Aciera

11 Sep 2025 11:23

Replied by Aciera on topic Recompiling the motmod modules to expose pos-cmd pins

Recompiling the motmod modules to expose pos-cmd pins

Category: Advanced Configuration

Start here:
linuxcnc.org/docs/html/code/building-linuxcnc.html

hellvetica
hellvetica

11 Sep 2025 11:16

Recompiling the motmod modules to expose pos-cmd pins was created by hellvetica

Recompiling the motmod modules to expose pos-cmd pins

Category: Advanced Configuration

Hi, I'd like to control my robot arm directly using linuxcnc.
So far I've been using MDI and external offset pins to move the robot but I've had some issues with latency (mdi) and absolute positioning (external offsets). (When the robot starts, the motor's target position is not set to 0 but some other value close to 0 like 18 or -23 for some reason)

I'd like to pretty much hack the motion module so I can expose the pos-cmd pins that the trajectory planner sets so i can just connect to hal and set my cartesian position as I wish and not go in all these roundabout ways to get the robot to move.
The mini PC running the robot has a debian image with linuxcnc preinstalled.

1. What would be the easiest way to modify the source to achieve this?
2. How would I build the module and use it in my existing linuxcnc installation?

I'm not at all wary of digging into the C code, but I've never build linuxcnc myself.
Thanks for any tips

rhscdn
rhscdn

11 Sep 2025 10:04

Replied by rhscdn on topic The forum is really laggy recently.

The forum is really laggy recently.

Category: Forum Questions

Definitely noticing a lag. Also some issues with the editor messing up formatting tags.

Hakan
Hakan

11 Sep 2025 09:32

Replied by Hakan on topic The forum is really laggy recently.

The forum is really laggy recently.

Category: Forum Questions

Actually the delay happens a bit earlier. It takes a long time to come back from writing the request to the web server.

hakan@server:~$ LC_ALL=C wget  https://forum.linuxcnc.org/forum/recent
--2025-09-11 11:29:46--  https://forum.linuxcnc.org/forum/recent
Resolving forum.linuxcnc.org (forum.linuxcnc.org)... 162.243.45.186, 2604:a880:0:1010::d:b001
Connecting to forum.linuxcnc.org (forum.linuxcnc.org)|162.243.45.186|:443... connected.
    <======   Here is half a minute delay
HTTP request sent, awaiting response... 200 OK
and so on

As you can see, the IP address is resolved, a connection is established. So the network side works ok.
It takes a looooong time for the web server to acknowledge it got a request.
It all points to an issue with the server. Some overloading maybe.

amanker
amanker

11 Sep 2025 07:18

Replied by amanker on topic Remora - Rpi Software Stepping Using External Microcontroller via SPI

Remora - Rpi Software Stepping Using External Microcontroller via SPI

Category: Computers and Hardware

I am extreamly sorry for confusion. I wrongly uploaded files.

config.txt

{
    "Board": "BIGTREETECH SKR v3",
    "Modules":[
    {
    "Thread": "Servo",
    "Type": "Reset Pin",
        "Comment":            "Reset pin",
        "Pin":                "PC_4"
    },
    {
        "Thread": "Servo",
        "Type": "Blink",
            "Pin":                      "PA_13",
            "Frequency":                2
        },
    {
    "Thread": "Base",
    "Type": "Stepgen",
        "Comment":            "X - Joint 0 step generator",
        "Joint Number":        0,
        "Step Pin":         "PD_4",
        "Direction Pin":     "PD_3",
        "Enable Pin":         "PD_6"
    },
    {
    "Thread": "Base",
    "Type": "Stepgen",
        "Comment":            "Y - Joint 1 step generator",
        "Joint Number":        1,
        "Step Pin":         "PA_15",
        "Direction Pin":     "PA_8",
        "Enable Pin":         "PD_1"
    },
    {
    "Thread": "Base",
    "Type": "Stepgen",
        "Comment":            "Z - Joint 2 step generator",
        "Joint Number":        2,
        "Step Pin":         "PE_2",
        "Direction Pin":     "PE_3",
        "Enable Pin":         "PE_0"
    },

    {
    "Thread": "Servo",
    "Type": "Digital Pin",
        "Comment":            "X min",
        "Pin":                "PC_1",
        "Mode":                "Input",
        "Data Bit":            0
    },
    {
    "Thread": "Servo",
    "Type": "Digital Pin",
        "Comment":            "X max",
        "Pin":                "PC_2",
        "Mode":                "Input",
        "Data Bit":            1
    },
    {
    "Thread": "Servo",
    "Type": "Digital Pin",
        "Comment":            "Y min",
        "Pin":                "PC_3",
        "Mode":                "Input",
        "Data Bit":            2
    },
    {
    "Thread": "Servo",
    "Type": "Digital Pin",
        "Comment":            "Y max",
        "Pin":                "PA_0",
        "Mode":                "Input",
        "Data Bit":            3
    },
    {
    "Thread": "Servo",
    "Type": "Digital Pin",
        "Comment":            "Z min",
        "Pin":                "PC_0",
        "Mode":                "Input",
        "Data Bit":            4
    },
    {
    "Thread": "Servo",
    "Type": "Digital Pin",
        "Comment":            "Z max",
        "Pin":                "PC_15",
        "Mode":                "Input",
        "Data Bit":            5

    }
    ]
}

hal file.

# load the realtime components

loadrt [KINS]KINEMATICS
loadrt [EMCMOT]EMCMOT base_period_nsec=[EMCMOT]BASE_PERIOD servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS

loadrt remora-spi SPI_num=0 CS_num=0 SPI_freq=2000000
#loadrt remora_lpc chip_type=LPC SPI_clk_div=64


# estop loopback, SPI comms enable and feedback
net user-enable-out <= iocontrol.0.user-enable-out => remora.SPI-enable
net user-request-enable <= iocontrol.0.user-request-enable => remora.SPI-reset
net remora-status <= remora.SPI-status => iocontrol.0.emc-enable-in

# add the remora and motion functions to threads

addf remora.read servo-thread
addf motion-command-handler servo-thread
addf motion-controller servo-thread
addf remora.update-freq servo-thread
addf remora.write servo-thread


# Joint 0 setup

setp remora.joint.0.scale [JOINT_0]SCALE
setp remora.joint.0.maxaccel [JOINT_0]STEPGEN_MAXACCEL
setp remora.joint.0.pgain [JOINT_0]P_GAIN
setp remora.joint.0.ff1gain [JOINT_0]FF1_GAIN
setp remora.joint.0.deadband [JOINT_0]DEADBAND

net xpos-cmd <= joint.0.motor-pos-cmd => remora.joint.0.pos-cmd  
net j0pos-fb <= remora.joint.0.pos-fb => joint.0.motor-pos-fb
net j0enable <= joint.0.amp-enable-out => remora.joint.0.enable


# Joint 1 setup

setp remora.joint.1.scale [JOINT_1]SCALE
setp remora.joint.1.maxaccel [JOINT_1]STEPGEN_MAXACCEL
setp remora.joint.1.pgain [JOINT_1]P_GAIN
setp remora.joint.1.ff1gain [JOINT_1]FF1_GAIN
setp remora.joint.1.deadband [JOINT_1]DEADBAND

net j1pos-cmd <= joint.1.motor-pos-cmd => remora.joint.1.pos-cmd
net j1pos-fb <= remora.joint.1.pos-fb => joint.1.motor-pos-fb 
net j1enable <= joint.1.amp-enable-out => remora.joint.1.enable

# Joint 2 setup

setp remora.joint.2.scale [JOINT_2]SCALE
setp remora.joint.2.maxaccel [JOINT_2]STEPGEN_MAXACCEL
setp remora.joint.2.pgain [JOINT_2]P_GAIN
setp remora.joint.2.ff1gain [JOINT_2]FF1_GAIN
setp remora.joint.2.deadband [JOINT_2]DEADBAND

net j2pos-cmd <= joint.2.motor-pos-cmd => remora.joint.2.pos-cmd
net j2pos-fb <= remora.joint.2.pos-fb => joint.2.motor-pos-fb
net j2enable <= joint.2.amp-enable-out => remora.joint.2.enable



# end-stops

net X-home remora.input.00 => joint.0.home-sw-in 

net Y-home remora.input.01 => joint.1.home-sw-in

ini file

# Basic LinuxCNC config for testing of Remora firmware

[EMC]
MACHINE = Remora-XY
DEBUG = 5
VERSION = 1.1

[DISPLAY]
DISPLAY = axis

USER_COMMAND_FILE = usercommand_regularmac_800.py


EDITOR = gedit
POSITION_OFFSET = RELATIVE
POSITION_FEEDBACK = ACTUAL
ARCDIVISION = 64
GRIDS = 10mm 20mm 50mm 100mm
MAX_FEED_OVERRIDE = 1.2
#MIN_SPINDLE_OVERRIDE = 0.5
#MAX_SPINDLE_OVERRIDE = 1.2
DEFAULT_LINEAR_VELOCITY = 5.00
MIN_LINEAR_VELOCITY = 0
MAX_LINEAR_VELOCITY = 10.00
DEFAULT_ANGULAR_VELOCITY = 36.00
MIN_ANGULAR_VELOCITY = 0
MAX_ANGULAR_VELOCITY = 45.00
INTRO_GRAPHIC = linuxcnc.gif
INTRO_TIME = 5
PROGRAM_PREFIX = ~/linuxcnc/nc_files
INCREMENTS = 50mm 10mm 5mm 1mm .5mm .1mm .05mm .01mm

[KINS]
JOINTS = 3
#KINEMATICS =trivkins coordinates=XYZ kinstype=BOTH
KINEMATICS =trivkins coordinates=XYZ

[FILTER]
PROGRAM_EXTENSION = .py Python Script
py = python

[TASK]
TASK = milltask
CYCLE_TIME = 0.010

[RS274NGC]
PARAMETER_FILE = linuxcnc.var

[EMCMOT]
EMCMOT = motmod
COMM_TIMEOUT = 1.0
COMM_WAIT = 0.010
BASE_PERIOD = 1000000
SERVO_PERIOD = 5000000

[HAL]
HALFILE = remora-xyz.hal
POSTGUI_HALFILE = postgui_call_list.hal

[TRAJ]
COORDINATES =  X Y Z
LINEAR_UNITS = mm
ANGULAR_UNITS = degree
CYCLE_TIME = 0.010
DEFAULT_LINEAR_VELOCITY = 50.00
MAX_LINEAR_VELOCITY = 200.00
NO_FORCE_HOMING = 1 

[EMCIO]
EMCIO = io
CYCLE_TIME = 0.100
TOOL_TABLE = tool.tbl

[AXIS_X]
MAX_VELOCITY = 150
MAX_ACCELERATION = 750
MIN_LIMIT = 0.0
MAX_LIMIT = 25.0

[JOINT_0]
TYPE = LINEAR
HOME = 27.5
MIN_LIMIT = 0.0
MAX_LIMIT = 28.0
MAX_VELOCITY = 250.0
MAX_ACCELERATION = 20.0
STEPGEN_MAXACCEL = 2000.0
SCALE = 800
FERROR = 2
MIN_FERROR = 2.0
HOME_OFFSET = 27.5
HOME_SEARCH_VEL = 2.0
HOME_LATCH_VEL = 2.0
HOME_SEQUENCE = 0
P_GAIN= 300
FF1_GAIN= 0.1
DEADBAND= 0.001

[AXIS_Y]
MAX_VELOCITY = 150
MAX_ACCELERATION = 750
MIN_LIMIT = 0.0
MAX_LIMIT = 26.0

[JOINT_1]
TYPE = LINEAR
HOME = 25.5
MIN_LIMIT = 0.0
MAX_LIMIT = 26.0
MAX_VELOCITY = 250.0
MAX_ACCELERATION = 20.0
STEPGEN_MAXACCEL = 2000.0
SCALE = 800.0
FERROR = 9.0
MIN_FERROR = 5.0
HOME_OFFSET = 25.5
HOME_SEARCH_VEL = 2.0
HOME_LATCH_VEL = 2.0
HOME_SEQUENCE = 1
P_GAIN= 300
FF1_GAIN= 0.1
DEADBAND= 0.001

[AXIS_Z]
OFFSET_AV_RATIO = 0.2
MAX_VELOCITY = 5.0
MAX_ACCELERATION = 20.0
MIN_LIMIT = 0
MAX_LIMIT = 28

[JOINT_2]
TYPE = LINEAR
HOME = 0.0
MIN_LIMIT = 0
MAX_LIMIT = 28
MAX_VELOCITY = 5.0
MAX_ACCELERATION = 20.0
STEPGEN_MAXACCEL = 300.0
SCALE = 400.0
FERROR = 5
MIN_FERROR = 1.0
HOME_OFFSET = 0.0
HOME_SEARCH_VEL = 0
HOME_LATCH_VEL = 0
HOME_SEQUENCE = 0
P_GAIN= 300
FF1_GAIN= 0.1
DEADBAND= 0.001

unknown
unknown

11 Sep 2025 07:11

Replied by unknown on topic The forum is really laggy recently.

The forum is really laggy recently.

Category: Forum Questions

Langdons hans't responded to any questions regarding the role the machine at his IP plays or any security queries.

It it was a DNS issue I would think it would be an issue to some localities and not others. At no stage have I received a message that the DNS lookup failed. The failure appears to be a server time out issue. As as per Hakan's response.

Unless the OPs machine, whether hosted on site or off site, has a synced mirror of the machine hosting the forum I don't know how it helps. I don't know everything and it would be nice to find out.

Hakan
Hakan

11 Sep 2025 06:51

Replied by Hakan on topic The forum is really laggy recently.

The forum is really laggy recently.

Category: Forum Questions

Why do you think it is a DNS issue from those figures?
You can easily switch DNS server to 8.8.8.8 and test if that gives a better response.
Some 200 ms ping time is fine in this context. I mean we are looking for minutes.
And right now the access to the forum is blazing fast.
And there may be more than one reason.
Here is a test you can do. Download the "recent" page.

root@server:/home/hakan# LC_ALL=C wget https://forum.linuxcnc.org/forum/recent
--2025-09-11 08:43:45--  https://forum.linuxcnc.org/forum/recent
Resolving forum.linuxcnc.org (forum.linuxcnc.org)... 162.243.45.186, 2604:a880:0:1010::d:b001
Connecting to forum.linuxcnc.org (forum.linuxcnc.org)|162.243.45.186|:443... connected.
HTTP request sent, awaiting response... 200 OK     <=== Got stuck here before the 200 OK response
Length: unspecified [text/html]
Saving to: 'recent'

recent                                                  [  <=>                                                                                                              ]  71.85K   343KB/s    in 0.2s

2025-09-11 08:43:46 (343 KB/s) - 'recent' saved [73575]

LC_ALL=C is there just to switch to english from some local, obscure dialect.
This time it was just fine, but yesterday it got stuck right before the "200 OK" reponse. Which indicates that
a request was sent but we are waiting a very long time for the response from the web server.

Retrofit
Retrofit

11 Sep 2025 06:36

Replied by Retrofit on topic Carousel don t stop when estop is pushed

Carousel don t stop when estop is pushed

Category: QtPyVCP

Hello langdons
What means 'does linuxcnc display ESTOP?"
I refear to the Estop button from display (Probe basic UI) , when I say even from desktop estop button , or power buton.

cmorley
cmorley

11 Sep 2025 04:33

Replied by cmorley on topic gladeVCP not calling python handlers

gladeVCP not calling python handlers

Category: GladeVCP

This seemed to work. run from a terminal to see the print statements.

rhscdn
rhscdn

11 Sep 2025 02:58

Replied by rhscdn on topic CNC router x axis homing issue

CNC router x axis homing issue

Category: General LinuxCNC Questions

I should also say that I'm using a 7i96s and originally used pncconf to generate these, In the wizzard, I specified my inputs 0,1,2 as X,Y,Z Limit Switches. Would it be better to specify these as Home Switches?

tommylight

11 Sep 2025 02:44

Replied by tommylight on topic The forum is really laggy recently.

The forum is really laggy recently.

Category: Forum Questions

unknown wrote:
Anyone any thoughts on the 2 separate servers ?

Yeah, apparently i forgot this:

Till pretty late, LinuxCNC was hosted on a PC in a private home, can not recall who was the owner.
So yes, we are on two servers, call it redundancy!

rhscdn
rhscdn

11 Sep 2025 02:12

CNC router x axis homing issue was created by rhscdn

CNC router x axis homing issue

Category: General LinuxCNC Questions

I am having a little trouble trying to understand axis homing that I am hoping someone can explain. I am trying to use my minimum x-axis limit switch for homing. It is currently working ok as a limit switch.

From the documentation , I have SEARCH_VEL negative and LATCH_VEL negative so I expected the homing sequence to follow the 2nd diagram, i.e.

move in the negative x direction at SEARCH_VEL speed until the home/limit switch is activated,
back off the home/limit switch at SEARCH_VEL speed in the positive x direction,
move in the negative x direction at LATCH_VEL speed until the home/limit switch is activated,
move in the positive direction at HOME_FINAL_VEL to the home position.

However, in the last step (4), the tool moves opposite to what I expect (the negative x direction) and crashes into the endstop.

Relevant settings are:

machine.hal

...
# --- MIN-X ---
net min-x <= hm2_7i96s.0.inm.00.input-00
...
# https://www.linuxcnc.org/docs/html/config/ini-homing.html#_home_ignore_limits
# If you do not have a separate home switch set HOME_IGNORE_LIMITS to YES
# and connect the limit switch signal to the joint home switch input in HAL
# Original
#net x-home-sw => joint.0.neg-lim-sw-in
net min-x => joint.0.neg-lim-sw-in joint.0.home-sw-in
net x-pos-limit => joint.0.pos-lim-sw-in

machine.ini

[AXIS_X]
MAX_VELOCITY = 5.483333333333333
MAX_ACCELERATION = 4.0
MIN_LIMIT = -0.001
MAX_LIMIT = 39.0

[JOINT_0]
TYPE = LINEAR
FERROR = 0.5
MIN_FERROR = 0.05
MAX_VELOCITY = 5.483333333333333
MAX_ACCELERATION = 4.0
STEPGEN_MAXVEL = 6.85
STEPGEN_MAXACCEL = 5.00
P = 1000.0
I = 0.0
D = 0.0
FF0 = 0.0
FF1 = 1.0
FF2 = 0.0
BIAS = 0.0
DEADBAND = 0.0
MAX_OUTPUT = 0.0
# these are in nanoseconds
DIRSETUP = 6000
DIRHOLD = 6000
STEPLEN = 3000
STEPSPACE = 3000
STEP_SCALE = 2037.25
MIN_LIMIT = -0.001
MAX_LIMIT = 39.0
HOME_SEARCH_VEL = -0.2
HOME_LATCH_VEL = -0.05
HOME_FINAL_VEL = 0.1
HOME = 1.0
HOME_OFFSET = 5.0
HOME_IGNORE_LIMITS = YES
HOME_IS_SHARED = 1
HOME_SEQUENCE = 2

unknown
unknown

11 Sep 2025 01:46

Replied by unknown on topic The forum is really laggy recently.

The forum is really laggy recently.

Category: Forum Questions

Anyone any thoughts on the 2 separate servers ?

And langdons, I answered your question regarding the hosts file, now could you point out the comments I have made as per your description ? I would like to put them up for reconsideration.

langdons

11 Sep 2025 00:55 - 11 Sep 2025 01:02

Replied by langdons on topic The forum is really laggy recently.

The forum is really laggy recently.

Category: Forum Questions

"LangdonS DNS" rymes!

Also, why is the site on dreamhost?

A really laggy dream for sure...

Static assets should probably be served from a different server (preferably one that is free, like Cloudflare Pages or something).

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