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  • ShemJ
  • ShemJ's Avatar
03 Oct 2025 16:06 - 03 Oct 2025 16:15
EL8 - Rehoming axis goes max speed ignores machine and driver limits was created by ShemJ

EL8 - Rehoming axis goes max speed ignores machine and driver limits

Category: EtherCAT

I have EL8 drivers and I have an issue that gave me a serious startle.

I am using internal homing (-4) which is working exactly as expected. However, if I rehome all (axis) or Ref any axis or rehome (Probe basic), the drive shoots back to the homing position at what I believe is top speed for the servo. This ignores both the machine limits and the limits I have set in the parameters (POE.31-36).

I have set homing limits on the driver, but also control them via HAL. As a stopgap, I also tried adding a max velocity parameter (bold), but it errors out. I tried adding a max velocity pin. I am not sure how to limit the speed of the drive using motion control yet.  Any takers?

          <pdoEntry idx="6098" subIdx="00" bitLen="8"  halPin="home-mode" halType="s32"/>
          <pdoEntry idx="6099" subIdx="01" bitLen="32" halPin="home-hi-speed" halType="u32"/>
          <pdoEntry idx="6099" subIdx="02" bitLen="32" halPin="home-lo-speed" halType="u32"/>
          <pdoEntry idx="609A" subIdx="00" bitLen="32" halPin="home-acc" halType="u32"/>
          <pdoEntry idx="6080" subIdx="00" bitLen="32" halPin="max-velocity" halType="u32"/>

and in HAL
#limit max velocity in rev/min
setp lcec.0.0.max-velocity 1000

This is a safety risk for now.  I'd like to get around this issue if possible. 

Good god, this HTML editor is horrific.
  • Hakan
  • Hakan
03 Oct 2025 15:43 - 03 Oct 2025 15:52
Replied by Hakan on topic Trouble with Cia402 drive configuration

Trouble with Cia402 drive configuration

Category: EtherCAT

I think you are close so keep removing PDOs to come at 8 or below.
It's okay to remove too many. Once it runs you can always come back and adjust.
These are candidates for removal
<modParam name="enableActualTorque" value="true"/>
<modParam name="enableActualVoltage" value="true"/>
<modParam name="enableDigitalInput" value="true"/>
<modParam name="digitalInChannels" value="16"/>
<modParam name="enableDigitalOutput" value="true"/>
<modParam name="digitalOutChannels" value="16"/>
<modParam name="enableFollowingErrorTimeout" value="true"/>
<modParam name="enableFollowingErrorWindow" value="true"/>
<modParam name="enablePolarity" value="true"/>
<modParam name="enablePositionDemand" value="true"/>
<modParam name="enableProbeStatus" value="true"/>
<modParam name="enableProfileVelocity" value="true"/>
<modParam name="enableTargetTorque" value="true"/>
<modParam name="enableTorqueDemand" value="true"/>
<modParam name="enableVelocityDemand" value="true"/>
 
Disable them all.
  • peterpan
  • peterpan
03 Oct 2025 14:53 - 03 Oct 2025 15:10
Replied by peterpan on topic Trouble with Cia402 drive configuration

Trouble with Cia402 drive configuration

Category: EtherCAT

So now this is what my .xml looks like:
<masters>
<master idx="0">
<slave idx="0" type="EK1100"/>
<slave idx="1" type="EL1008"/>
<slave idx="2" type="EL2008"/>
<slave idx="3" type="basic_cia402" vid="0x00000c96" pid="0x00000001" name="D4">
<!--ClearPath EC (CoE Rev 2)-->
<modParam name="ciaRxPDOEntryLimit" value="8"/>
<modParam name="ciaTxPDOEntryLimit" value="8"/>
<modParam name="enablePP" value="false"/>
<modParam name="enablePV" value="false"/>
<modParam name="enableTQ" value="false"/>
<modParam name="enableHM" value="false"/>
<modParam name="enableCSP" value="true"/>
<modParam name="enableCSV" value="false"/>
<modParam name="enableCST" value="false"/>
<modParam name="enableActualFollowingError" value="false"/>
<modParam name="enableActualTorque" value="true"/>
<modParam name="enableActualVoltage" value="true"/>
<modParam name="enableDigitalInput" value="true"/>
<modParam name="digitalInChannels" value="16"/>
<modParam name="enableDigitalOutput" value="true"/>
<modParam name="digitalOutChannels" value="16"/>
<modParam name="enableErrorCode" value="true"/>
<modParam name="enableFollowingErrorTimeout" value="true"/>
<modParam name="enableFollowingErrorWindow" value="true"/>
<modParam name="enableHomeAccel" value="false"/>
<modParam name="enableInterpolationTimePeriod" value="false"/>
<modParam name="enableMaximumMotorRPM" value="false"/>
<modParam name="enableMaximumTorque" value="false"/>
<modParam name="enablePolarity" value="true"/>
<modParam name="enablePositionDemand" value="true"/>
<modParam name="enablePositioningTime" value="false"/>
<modParam name="enablePositioningWindow" value="false"/>
<modParam name="enableProbeStatus" value="true"/>
<modParam name="enableProfileAccel" value="false"/>
<modParam name="enableProfileDecel" value="false"/>
<modParam name="enableProfileVelocity" value="true"/>
<modParam name="enableTargetTorque" value="true"/>
<modParam name="enableTorqueDemand" value="true"/>
<modParam name="enableTorqueSlope" value="false"/>
<modParam name="enableVelocityDemand" value="true"/>
<modParam name="enableVelocityErrorTime" value="false"/>
<modParam name="enableVelocityErrorWindow" value="false"/>
</slave>
</master>
</masters>

Should I add back in the dcConf and pdo assignments?
When starting LinuxCNC I get:
LCEC: Invalid appTimePeriod of 0 for master 0 (should be 1000000).
LCEC: slave 0.D4: FAILURE: FAILURE: more input PDO entries configured than your hardware supports.

Axis 1 has 12 PDO entries, vs a configured limit of 8. You will need to edit your XML


It's still throwing the 1A00 and SDO Download errors.
[780038.782364] EtherCAT: Requesting master 0...
[780038.782370] EtherCAT: Successfully requested master 0.
[780039.033544] EtherCAT 0: Domain0: Logical address 0x00000000, 56 byte, expected working counter 6.
[780039.033549] EtherCAT 0:   Datagram domain0-0-main: Logical offset 0x00000000, 56 byte, type LRW.
[780039.033593] EtherCAT 0: Master thread exited.
[780039.033595] EtherCAT 0: Starting EtherCAT-OP thread.
[780039.033636] EtherCAT WARNING 0: 1 datagram UNMATCHED!
[780039.308450] EtherCAT ERROR 0-3: SDO download 0x1A00:09 (4 bytes) aborted.
[780039.308457] EtherCAT ERROR 0-3: SDO abort message 0x06090011: "Subindex does not exist".
[780039.308459] EtherCAT WARNING 0-3: Failed to map PDO entry 0x60B9:00 (16 bit) to position 9.
[780039.308461] EtherCAT WARNING 0-3: Currently mapped PDO entries: 0x6041:00/16 0x6064:00/32 0x6077:00/32 0x606C:00/32 0x6079:00/32 0x603F:00/16 0x6061:00/8 0x6062:00/32 0x60B9:00/16 0x6074:00/16 0x606B:00/32 0x60FD:00/32. Entries to map: 0x6041:00/16 0x6064:00/32 0x6077:00/32 0x606C:00/32 0x6079:00/32 0x603F:00/16 0x6061:00/8 0x6062:00/32 0x60B9:00/16 0x6074:00/16 0x606B:00/32 0x60FD:00/32
[780039.308489] EtherCAT WARNING 0-3: Failed to configure mapping of PDO 0x1A00.
[780039.333385] EtherCAT 0: Slave states on main device: OP.
[780040.080448] EtherCAT ERROR 0-3: SDO download 0x6065:00 (32 bytes) aborted.
[780040.080454] EtherCAT ERROR 0-3: SDO abort message 0x06070010: "Data type does not match, length of service parameter does not match".
  • MarkoPolo
  • MarkoPolo
03 Oct 2025 14:39
Replied by MarkoPolo on topic Error in tool_offsetview.py

Error in tool_offsetview.py

Category: Qtvcp

Great, that's exactly what I was looking for.

It works well, but two things could be improved:

1. If I press a macro button a second time that doesn't do anything because it's already executed, e.g., "Goto Machin Zero," the LED doesn't go out; it keeps blinking. It blinks until another macro does something.

2. Button 10 has a hardcoded name of "MORE MACROS." It would be nice if it also took its name from the ini file like the other buttons.
  • BipinBabu
  • BipinBabu
03 Oct 2025 14:36
Ethercat Motion asics was created by BipinBabu

Ethercat Motion asics

Category: EtherCAT

Hello Experts,

Is there any readymade package with LinuxOS+RTKernel+Ethercat Master prebuilt.?

Can someone please explain the core concept of Ethercat communication compared to traditional step and dir method?

I was wondering what parameters vary from machine to machine in terms of Ethercat configuration?

For example, I have seen that the Ethercat module needs the network card ID when installing/configuring Ethercat Master.
 
  • Hakan
  • Hakan
03 Oct 2025 14:30 - 03 Oct 2025 14:33
Replied by Hakan on topic Leadshine 2CS3E-D507 / Cia402 almost working - help please!

Leadshine 2CS3E-D507 / Cia402 almost working - help please!

Category: EtherCAT

You have something called extrajoints, maybe that is what you are looking for?
linuxcnc.org/docs/html/man/man9/motion.9.html

Hopefully someone that knows how to work with carousels can jump in.
  • phino
  • phino
03 Oct 2025 13:55
Replied by phino on topic Laser Head Height Sensor – Looking for a Beta Tester

Laser Head Height Sensor – Looking for a Beta Tester

Category: Plasma & Laser

How is this sensor project going? I notice the product page still mentions out of stock. proma-elektronika.com/product/c2v-capitance-to-0-10v-converter/
  • PCW
  • PCW's Avatar
03 Oct 2025 13:42
Replied by PCW on topic Mesa 8i20 EEPROM settings

Mesa 8i20 EEPROM settings

Category: Driver Boards

man setsserial
  • tommylight
  • tommylight's Avatar
03 Oct 2025 12:18
Replied by tommylight on topic Mesa 8i20 EEPROM settings

Mesa 8i20 EEPROM settings

Category: Driver Boards

Moved to "driver boards"
  • rodw
  • rodw's Avatar
03 Oct 2025 11:48
Replied by rodw on topic How to disable following error while homing ?

How to disable following error while homing ?

Category: EtherCAT

I guess one way would be to loop back the commanded position to the feedback position
when homing, by using the mux2 component.

Normally you would do this in code  in your custom homing component (homecomp) or modify the cia402.comp
  • rodw
  • rodw's Avatar
03 Oct 2025 11:40
Replied by rodw on topic After homing the spindle position is not understood by the GUI

After homing the spindle position is not understood by the GUI

Category: General LinuxCNC Questions

the HOME ini setting may help. linuxcnc.org/docs/stable/html/config/ini-homing.html#_home
It took me a long time for me to understand to use G54 Offsets to touch off at the origin to use for the gcode program.


 
  • djones@burketruck.com
  • djones@burketruck.com
03 Oct 2025 11:27
Replied by djones@burketruck.com on topic Any Fiber Laser Successes?

Any Fiber Laser Successes?

Category: Plasma & Laser

Got it. Is there a main repo that is being worked on currently? I see there are a couple of repos out there.
  • stegrg
  • stegrg
03 Oct 2025 11:18
Mesa 8i20 EEPROM settings was created by stegrg

Mesa 8i20 EEPROM settings

Category: Driver Boards

Hello,

I changed the NVBRAKEONV and NVBRAKEOFFV settings a while ago on my 8i20 driver.  I would like to increase the voltage settings but I can't remember how to do it.  Also, searches in the Linuxcnc forum are giving me "401 Unauthorized" faults on a number of links where I would normally find the relevant information.  Any help would be greatly appreciated.

Regards,
  • rodw
  • rodw's Avatar
03 Oct 2025 11:18
Replied by rodw on topic Update LinuxCNC 2.9.5 on debian 13

Update LinuxCNC 2.9.5 on debian 13

Category: Installing LinuxCNC

It looks like we are using a 1024 bit long key (DSA1024) which is considered insecure by Trixie.
Ref: Google AI
Debian prefers a key length of 4096 bits for RSA OpenPGP keys used for signing, although Ed25519 is now the default for new keys generated with current tools, offering even stronger security.
While 2048-bit RSA keys are still considered secure for some applications, Debian's preference for 4096-bit keys is influenced by both security considerations and the desire to reduce future migration efforts for volunteers maintaining keyrings. This aims to combine potential future migrations from 2048 to 4096 bits into a single, proactive move.
When creating a new GPG key pair for signing Debian packages, you can specify the key type and length, with 4096-bit RSA or Ed25519 being the recommended choices.

and:
A dsa1024 key refers to a Digital Signature Algorithm (DSA) key with a length of 1024 bits, 
 
  • Aciera
  • Aciera's Avatar
03 Oct 2025 10:56
Replied by Aciera on topic External E-Stop

External E-Stop

Category: HAL Examples

Have you checked that 'iocontrol.0.emc-enable-in' goes TRUE when you clear the external estop?
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