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  • hellvetica
  • hellvetica
06 Mar 2026 11:32
tpmod not loading on boot up with linux service was created by hellvetica

tpmod not loading on boot up with linux service

Category: Advanced Configuration

Hi, I'm currently running linuxcnc through a systemd service with linuxcncrsh as the fronted.
Usually it starts up fine and all the functionality is working as expected, but when the system first boots up and the service gets executed i get this from linuxcnc:
Mar 04 13:53:28 linuxcnc linuxcnc-delta[509]: LINUXCNC - 2.9.4
Mar 04 13:53:28 linuxcnc linuxcnc-delta[509]: Machine configuration directory is '/home/linuxcnc/LinuxCNC/DELTAEtherCAT'
Mar 04 13:53:28 linuxcnc linuxcnc-delta[509]: Machine configuration file is 'DELTA_A.ini'
Mar 04 13:53:28 linuxcnc linuxcnc-delta[509]: check_config: Unchecked: [KINS]KINEMATICS=rotarydeltakins
Mar 04 13:53:28 linuxcnc linuxcnc-delta[509]: Starting LinuxCNC...
Mar 04 13:53:28 linuxcnc linuxcnc-delta[509]: emc/iotask/ioControl.cc 786: can't load tool table.
Mar 04 13:53:28 linuxcnc linuxcnc-delta[509]: linuxcnc TPMOD=tpmod HOMEMOD=homemod EMCMOT=motmod
Mar 04 13:53:31 linuxcnc linuxcnc-delta[509]: Waiting for component 'tpmod' to become ready..Waited 3 seconds for master. giving up.
Mar 04 13:53:31 linuxcnc linuxcnc-delta[509]: Note: Using POSIX realtime
Mar 04 13:53:31 linuxcnc linuxcnc-delta[509]: Found file(REL): ./delta_ethercat_A.hal
Mar 04 13:53:33 linuxcnc linuxcnc-delta[509]: Waiting for component 'lcec' to become ready.....

As I understand it the trajectory planner tpmod doesn't get loaded properly. What is unusual is that linuxcnc keeps running and seems functional but the robot exhibits very strange motion behavior. When i then check hal for loaded components tpmod is loaded and ready?
When i restart the service after this first boot it runs perfectly fine, it's only when i power cycle the machine that this error pops up.
Any ideas about what the cause might be?
Thank you!
  • GDTH
  • GDTH's Avatar
06 Mar 2026 11:11
Rover 336 retrofit – horizontal drills and tool offsets in LinuxCNC was created by GDTH

Rover 336 retrofit – horizontal drills and tool offsets in LinuxCNC

Category: Advanced Configuration

Hello,I am currently retrofitting a Biesse Rover 336 with LinuxCNC.The machine is controlled with a Mesa 7i77, and I am using EtherCAT modules distributed throughout the machine for the I/O.Originally the machine had a Control Techniques Unidrive VFD, but I was unable to change the required parameters, so I replaced it with a Danfoss VFD, which is now working well.At this point the machine is mostly operational:
  • Homing works
  • XYZ motion works
  • Spindle runs correctly
  • The toolchanger sequence is mostly prepared
So I am approaching the final stages of the retrofit.I am using Probe Basic as the interface.Machine configuration
  • Toolchanger: 7 tools
  • Vertical drills: ~25
  • Horizontal drill (X axis): 1
  • Horizontal drills (Y axis): 3
My current plan is:
  • Tools 1–7 → spindle toolchanger
  • Tools 101–130 → drill bank (fixed tools)
Questions about tool offsetsFor the drill bank I need to determine the XYZ offsets relative to the main spindle.I am unsure what the best way to handle this is.Options I am considering:
  1. Store the offsets in the tool table (like normal tools)
  2. Apply the offsets inside the M6 tool change routine, since these drills are fixed and it may reduce the chance of mistakes.
Do tool table offsets work correctly for horizontal drills, or is there a better recommended approach?Fusion 360 questionI also created a test piece in Fusion 360 to test the horizontal drills.However I get the following error:
 Error: Function 'positionABC' can only be used with multi-axis machine configurations.
Error at line: 2040
Error in operation: 'Drill2'I suspect this may be related to how I defined the horizontal drilling operation.Is there a recommended way to program horizontal drilling for drill banks in Fusion when targeting LinuxCNC?Any advice from people who have implemented drill banks or horizontal drills on router-style machines would be very helpful.Thanks!
  • epineh
  • epineh
06 Mar 2026 10:59
Replied by epineh on topic LinuxCNC-RIO - RealtimeIO for LinuxCNC based on FPGA (ICE40 / ECP5)

LinuxCNC-RIO - RealtimeIO for LinuxCNC based on FPGA (ICE40 / ECP5)

Category: Computers and Hardware

What comms layer are you thinking for data between the FPGA and MCU? You mention rs422, so I assume high bandwith serial over differential driver? I was going to use SPI with included SYNC signal for timing integrity but serial will use two FPGA pins and a differential driver instead of my scheme that will use 5 pins. I love the Tang Nano, cheap, and great toolchain. If I could keep using it then life would be good, pin count is it's worst enemy!
Cheers.
Russell.
  • epineh
  • epineh
06 Mar 2026 10:45
Replied by epineh on topic LinuxCNC-RIO - RealtimeIO for LinuxCNC based on FPGA (ICE40 / ECP5)

LinuxCNC-RIO - RealtimeIO for LinuxCNC based on FPGA (ICE40 / ECP5)

Category: Computers and Hardware

Oh very nice, one of those micro's look like the waveshare 2040zero and the other a pi pico? I have been playing around with using the pico, probably a 2350b with 48GPIO as an expansion port via SPI and using a SYNC pin from the nano to take snapshots at 1KHz intervals to keep readings accurate for encoder positions. The Pico's are awesome for this kind of work, serious cheap hardware. I also plan to use Tang to SPI to pico bus topology for expansion boards, mainly IO, if I want step/direction I will try RioSub, most of my machines are closed loop to the controller so only pwm/dir to Hbridges, but I have friends that want to use step/dir with commercial drives. I will test this on my own machines, let me know if you want anything specific for me to test.
Cheers.
Russell.
  • DerKlotz
  • DerKlotz
06 Mar 2026 08:35 - 06 Mar 2026 08:36
Wiring Leadshine DM856 Ena+ and ENA- -> Mesa 7i76e was created by DerKlotz

Wiring Leadshine DM856 Ena+ and ENA- -> Mesa 7i76e

Category: Milling Machines

Hi,
I would like to connect the ena+ and ena- inputs of my Leadshine DM856 to a Mesa 7i76e. If you look at the attachments... which circuit should I use? I would say PNP... but is that correct?
  • andrax
  • andrax's Avatar
06 Mar 2026 08:26
Replied by andrax on topic CiA 402 Folder Missing

CiA 402 Folder Missing

Category: EtherCAT

You wrote:
“It can be seen that 1C12h should be set to 1600h and 1C13h should be set to 1A00h to activate the variable PDO mapping.”
Set this if possible. Lcec will take care of the rest when linuxcnc starts up and set the correct addresses on the servo. This is the same for Stepperonline servos. 
You will then see the correct assignment when linuxcnc is running. If not,  you may have to set the assignment in the servos manually.

 
  • Hakan
  • Hakan
06 Mar 2026 07:57 - 06 Mar 2026 08:53
Replied by Hakan on topic XHC WHB04B development?

XHC WHB04B development?

Category: General LinuxCNC Questions

I tried that already, there is no access to log_handler.
struct libusb_context is not defined, only the pointer to it.
I tried with 
            *mInitCout << "init  enabling reception ...";
            libusb_set_log_cb(getUsbContext(), nullptr, LIBUSB_LOG_CB_GLOBAL);
            libusb_set_log_cb(getUsbContext(), nullptr, LIBUSB_LOG_CB_CONTEXT);
            if (!enableReceiveAsyncTransfer())
in process(), but no change.
There was a new message when restarting the connection from 
core.c:         usbi_warn(_ctx, "device %d.%d still referenced",
and that didn't crash even if it uses the same underlying log_v function.
I leave it like that.

The problem has been the assert statement. But I tested to remove that some two years ago
(the github issue) and failed in the same way it does now. But in general the assert is what
people experience, I understood.

I'll test Hannes' version next.

Edit: Tested, it avoids the mode switching altogether. I think that is perfectly fine.
I don't expect to switch to Man mode and jog when I'm running a program. Could happen
by mistake even. If I feel a need to switch to Man I'll designate a button for that.
I have a vague memory I did that on the previous generation xhc.

Is it in a shape to go into linuxcnc repo? I think it should end up there.
  • Tony123
  • Tony123
06 Mar 2026 07:57
Replied by Tony123 on topic Request: Custom 7C80 bitfile - Replace StepGens 0, 1, 2 with PWMGens (TB7, TB8,

Request: Custom 7C80 bitfile - Replace StepGens 0, 1, 2 with PWMGens (TB7, TB8,

Category: Driver Boards

Hi,

You are completely right. I took a step back and realized it makes much more sense to update my GUI to use a -100 to +100 slider so I can take advantage of the hardware direction.

So YES, please link the DIR pin to the PWM direction (your standard way).

Thank you for catching that and pointing me in the right direction!
  • suraj9735
  • suraj9735's Avatar
06 Mar 2026 07:17
Replied by suraj9735 on topic How to do wiring to generate quadrature encoder signal in Mesa 7i95 board

How to do wiring to generate quadrature encoder signal in Mesa 7i95 board

Category: Driver Boards

I need to control the feed override of the linear stage. Range is -10 volt to +10 volt. I want to keep 0 volt for 100 % feed override while -10 for 0 % override and +10 for 200 feed override. Resolution can be as good as possible, for now I can go with 0.001 Volt. This can be achieved if there is analog voltage input pin available in Mesa board. In my case I don't have analog pin in mesa 7i95 board. So, I planned to use 1 free encoder pin out of 6 in board. I also need to program in my Arduino or LabVIEW such that I can send fix number of pwm pulse to get the correct encoder count and map it successfully to +/- 10 Volt. Once it mapped correctly i want to bind the pulse count pin with feed override pin.

Please suggest how to do it the,  I'm looking for more than one approach to do the same and implement the simplest one. Because Mesa 7i87  board is not available in stock, so I'm looking for any similar board that can do my job.

Thanks.
  • AGUILE454
  • AGUILE454
06 Mar 2026 06:17
Replied by AGUILE454 on topic Two Mesa 5I20

Two Mesa 5I20

Category: Driver Boards

Good morning,
thank you very much for your response. It's a good option, I'll keep it in mind.

Thank you very much.
  • Konstantin
  • Konstantin
06 Mar 2026 05:25
Replied by Konstantin on topic CiA 402 Folder Missing

CiA 402 Folder Missing

Category: EtherCAT

But I cannot define PDO mapping in the drive itself. The control device i.e. the EtherCAT master should write the PDO mapping on startup.

I found a few ways of defining the SDO in drive from LinuxCNC - sdoconfig and initcmds.

What do you mean by adjusting the servo?
  • PCW
  • PCW's Avatar
05 Mar 2026 22:24
Replied by PCW on topic Request: Custom 7C80 bitfile - Replace StepGens 0, 1, 2 with PWMGens (TB7, TB8,

Request: Custom 7C80 bitfile - Replace StepGens 0, 1, 2 with PWMGens (TB7, TB8,

Category: Driver Boards

So you want the DIR pin to be GPIO rather than PWM direction?

( The PWM direction pin is controlled by the sign of the PWM value )
  • ihavenofish
  • ihavenofish
05 Mar 2026 21:45
Replied by ihavenofish on topic motion channels for robotic atc library

motion channels for robotic atc library

Category: General LinuxCNC Questions

thanks for the thoughts. ill be hopefully getting this ordered up in a few weeks. should be fun :)
  • jtrantow
  • jtrantow
05 Mar 2026 21:30
Replied by jtrantow on topic hm2_modbus pktuart, probably a firmware request?

hm2_modbus pktuart, probably a firmware request?

Category: Driver Boards

Complete success with the lathe modbus communications. Much faster and works fantastic with the automatic gear detection. 

forum.linuxcnc.org/10-advanced-configura...tion-updated-for-vfd
  • tommylight
  • tommylight's Avatar
05 Mar 2026 21:29
Replied by tommylight on topic 7i92T and mx3660 request for help

7i92T and mx3660 request for help

Category: PnCConf Wizard

There is no "E-stop in" in your hal file, so LinuxCNC has no way of knowing if the button is pressed or not.
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