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Thanks for the suggestion, but I have already installed a pressure monitor with an e-stop, which is set at 4.5 bar.
Unfortunately, this did not prevent the support from breaking off, for whatever reason, I don't know.
Therefore, I would like to install an additional safety device.

I ordered the first parts for the atc! The main pivoting hub, and some grippers. Basically the simplest and most complicated parts. I am using JLC to make the prototype so these will be my tests of the service to see what we get. Should be here end of next week. Exciting!

As I've refined this down it has basically become identical to the brother TC225 changer. It uses an identical BCD encoding system and 2 servos, one to pivot the magazine, and one to spin the platter geneva mechanism. I will have a custom pcb that has optical sensors and RC servo controller mcu that converts it all into 8x 24v IO (5 x bcd, and one fwd and reverse platter and one for the pivot). The linuxcnc side of things will reuse my brother tc225 osubs, with the addition of the pivot command. The pivoting will take 200ms, and the platter will take 400-500ms per station. So with clamping and z motion it should be about 1.5 seconds for the next tool, and 3.5 seconds for the farthest tool for a tool change. Plus 12 seconds on my spindle to start and stop form 40000rpm. I need to see if I can adjust that and use modbus to "know" when the spindle is stopped or at speed to adapt the dwell. Cause at lower speeds like 18k or 24k it should only take 2-3 seconds to start or stop.

I would think a faster update rate will decrease the steps.
You will get more steps but less in magnitude.
I guess you have some gain parameter between force and position.
Maybe try higher gain at low speeds? Since it seems to be a bit off, I mean.

Finally figured it out
I had to make true "is_opendrain" and "invert_output".

Alltogether:
setp [HMOT](CARD0).gpio.050.is_output true
setp [HMOT](CARD0).gpio.050.is_opendrain true
setp [HMOT](CARD0).gpio.050.invert_output true
 

It's the admittance module update rate that will update new position cmd
I'm wrong, admittance update rate is 10ms not 100ms.

Found a mistake.
Now connected correctly 19 21 23 25 pin (47 48 49 50).
When the LCNC not running, all LEDs are OFF on the relay module.
When the LCNC is running, all LEDs are ON on the relay module. (relays turns on)
Changing bit not turns off the relay and LEDs.
Can it be solved somehow?

Hello.
I bought a 5v relay module.
The current draw on it's input is ~5mA. (negative HIGH - turns on the relay)
I 'd like to operate them with the P1 port.
How can I do it correctly?
Because now i have no positive result.
The firmware with axes indexes on P1 (1-5 pin) LCNC 2.9.4. The wires has 47 Om resistors in series.

But if I am going to measure it, I'd set the step scale to something like 1,000 then command a move that is some fairly large even number that still fits in your machine's range of movement.  So if your machine is capable of moving from 0 to 500 with the scale set to 1000, then you'd know that the machine took 500,000 steps to make that move.  Then simply measure the length of that 500k step move.  If that move length were say 20" then divide 500,000/20 to get a scale of 25000 steps/inch.  Generally the longer the move you can make and measure, the more accurate your calculation will be.

I often prefer to calculate what the step ratios "should" be from screw leads, pinion ratios, encoder counts, and steps/revolution. Rather than relying on how well I can read a tape measure to get the distance moved per step. Do you know the mechanical measurements of the components of your drive system and your motor's step count/rev? .

Thanks for the tips! 

I applied it to my setup and realized that the net pdnt.spindle.is-on whb.halui.spindle.is-on spindle.0.on"
"net pdnt.spindle.is-on => hm2_7i76e.0.7i76.0.0.output-11" 

In my Hal file. Everything is working now. Thanks!

Ended up using the EV1616DN for 'slow' signals such as limits and lights. Used a PCIe parallel port card and Mach3 breakout board for the steppers. Stepconfig used for the mach3 card config (with modifications for homing) and hand coded the hal file. Works pretty well and now I have plenty of I/O for further development. 
ethercat-config.xml 

ev1616.hal
 
Ha
 

And even if it doesn't go anywhere this time governments will continue to try again. It's how the American
Government has gotten away with mandating kill switches into all new road vehicle
(2026 forward if I remember correctly). There is another bill that is suppose to repeal it (H.R. 1137) but 
I don't know if it passed or not. Given all the other crap that has gone on I wouldn't be surprised if it
got lost in the noise. 
 

Something that happens every 100 ms it seems like.
You can see a small change or step in joint_vel and the servos are responding to that. At least where the main spikes are.
So what are you doing every 100 ms?

Thank you guys!

I don't know why but now it's working. I have not made any changes in the configuration, just re-starting the wizzard and toggeling the modes several times. Strange. 

Really nice GUI!

i'm using servos, i don't think it comes from the motor side because jogging from LinuxCNC is still smooth. Just look at the figures i attached, the input velocity before the simple_tp module is still smooth but the output velocity from this module is not.