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  • tommylight
  • tommylight's Avatar
29 Oct 2026 19:50
Replied by tommylight on topic Ethercat drive configuration woes

Ethercat drive configuration woes

Category: EtherCAT 

lcec: rtapi_app_main: Invalid argument (-22)
Is there a
loadrt lcec
line in the hal file?
If yes, there is something not right in that line.
-
This is just an educated guess from the error as i have no experience with EtherCat.
  • mwc
  • mwc
29 Oct 2026 19:21
Replied by mwc on topic Ethercat drive configuration woes

Ethercat drive configuration woes

Category: EtherCAT

To follow up with the lcec_configgen output, this is what it generated -

<slave idx="2" type="generic" vid="0x00000a79" pid="0x00001000" name="D3">
      <!--CL3-E57H-->
      <syncManager idx="0" dir="out">
        <pdo idx="1a01">
          <!--TxPDO 2-->
          <pdoEntry idx="603f" subIdx="00" bitLen="16" halPin="errorcode" halType="u32"/>
          <pdoEntry idx="6041" subIdx="00" bitLen="16" halPin="2-statusword" halType="u32"/>
          <pdoEntry idx="6064" subIdx="00" bitLen="32" halPin="position-actual-value" halType="s32"/>
          <pdoEntry idx="60fd" subIdx="00" bitLen="32" halPin="digital-inputs" halType="u32"/>
          <pdoEntry idx="6061" subIdx="00" bitLen="8" halPin="modes-of-operation-display" halType="s32"/>
        </pdo>
        <pdo idx="1601">
          <!--RxPDO 2-->
          <pdoEntry idx="6040" subIdx="00" bitLen="16" halPin="2-controlword" halType="u32"/>
          <pdoEntry idx="6060" subIdx="00" bitLen="8" halPin="modes-of-operation" halType="s32"/>
          <pdoEntry idx="607a" subIdx="00" bitLen="32" halPin="2-target-position" halType="s32"/>
          <pdoEntry idx="6081" subIdx="00" bitLen="32" halPin="profile-velocity" halType="u32"/>
          <pdoEntry idx="6099" subIdx="01" bitLen="32" halPin="search-switch" halType="u32"/>
          <pdoEntry idx="6099" subIdx="02" bitLen="32" halPin="search-zero" halType="u32"/>
        </pdo>
      </syncManager>
      <syncManager idx="1" dir="out"/>
      <syncManager idx="2" dir="out">
        <pdo idx="1600">
          <pdoEntry idx="6040" subIdx="00" bitLen="16" halPin="out-controlword" halType="u32"/>
          <pdoEntry idx="6060" subIdx="00" bitLen="8" halPin="mode-of-operation" halType="s32"/>
          <pdoEntry idx="607a" subIdx="00" bitLen="32" halPin="out-target-position" halType="s32"/>
          <pdoEntry idx="60ff" subIdx="00" bitLen="32" halPin="target-velocity" halType="s32"/>
        </pdo>
      </syncManager>
      <syncManager idx="3" dir="in">
        <pdo idx="1a00">
          <pdoEntry idx="6041" subIdx="00" bitLen="16" halPin="in-statusword" halType="u32"/>
          <pdoEntry idx="6061" subIdx="00" bitLen="8" halPin="mode-of-operation-display" halType="s32"/>
          <pdoEntry idx="6064" subIdx="00" bitLen="32" halPin="position-actual" halType="s32"/>
          <pdoEntry idx="606c" subIdx="00" bitLen="32" halPin="velocity-actual" halType="s32"/>
          <pdoEntry idx="6077" subIdx="00" bitLen="16" halPin="torque-actual" halType="s32"/>
        </pdo>
      </syncManager>
    </slave>


Which without editting results in this error -

Debug file information:
Note: Using POSIX realtime
Failed to register PDO entry: No such file or directory
LCEC: master 0 syncUnit default PDO entry registration failed
LCEC: failure, clearing config
LCEC: exiting
LCEC: returning -EINVAL
lcec: rtapi_app_main: Invalid argument (-22)
./my_EtherCAT.hal:10: waitpid failed /usr/bin/rtapi_app lcec
./my_EtherCAT.hal:10: /usr/bin/rtapi_app exited without becoming ready
./my_EtherCAT.hal:10: insmod for lcec failed, returned -1
1740
Stopping realtime threads
Unloading hal components
Note: Using POSIX realtime


Is there any kind of documentation about syncmanagers anywhere that explains what is required/how they work?
  • tuxcnc
  • tuxcnc
29 Oct 2026 18:30
Replied by tuxcnc on topic Feedrate changes not affecting Z plunge rate

Feedrate changes not affecting Z plunge rate

Category: G&M Codes

G0 is rapid, and not uses F value.
Use G1 F3.
  • scsmith1451
  • scsmith1451's Avatar
29 Oct 2026 18:25
Feedrate changes not affecting Z plunge rate was created by scsmith1451

Feedrate changes not affecting Z plunge rate

Category: G&M Codes

Hi All;

I'm trying to write a surfacing program that slows the plunge rate of the spindle. I've tried:

G0 Z-0.005 F3

and 
F3
G0 Z-0.005

Neither change the feed rate of the plunge. However, when using G38.2 combined with an F3 in a probing routine, the spindle slows as expected.

Does spindle plunge rate not respond to the Fn modal command or is there something that I'm missing?
  • tuxcnc
  • tuxcnc
29 Oct 2026 17:35
Replied by tuxcnc on topic Ethercat drive configuration woes

Ethercat drive configuration woes

Category: EtherCAT

So tried lcec.activate, but that results in an error that activate isn't a valid command.
 

Should be:
initf lcec.activate servo-thread
  • meister
  • meister
29 Oct 2026 09:27
Replied by meister 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

Hi Mirko,

The external step generators are controlled by velocity commands, so they require a PID controller to convert the position into velocity commands.

To start with, set the error parameter for the rotary axis to 20 and the min-error to 2:

Flow -> StepDir plugin -> Joint -> General -> *error

I hope that sorts out the follow error for now.

You can also lower the acceleration parameter.
Most default settings are for linear axes and will not work well with rotary axes.
  • my1987toyota
  • my1987toyota's Avatar
29 Oct 2026 09:22 - 29 Oct 2026 10:05
Replied by my1987toyota on topic Usefull Open Source software, vibe coded in Rust

Usefull Open Source software, vibe coded in Rust

Category: Off Topic and Test Posts

Thanks for the info tommylight. The use of the raspberry pi zero 2W wasn't my first choice, it became a requirement 
for a work related project I am working on (physical size constraints). As far as me using AI lets just say I have been
very reluctant to use it partially because of the incessant push to install data centers everywhere the tech bros can
put one (consequences be damned), the price of parts (that's a big one), and me not knowing how to efficiently use it. LOL.
  I will give your recommendations a try.  
  • MirkoCNC
  • MirkoCNC
29 Oct 2026 09:13
Replied by MirkoCNC 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

Hello Meister

Since a week, I have been trying to set up a rotary axis A with a TangBob. It works at snail speed, but not at higher speed. I am always confronted with joint follow error of the axis.
I need the axis in a winder setup to wind bobbins. Hence A must rotate "endless" depending on the windings I want to achieve. I need to achieve at least 1000 rpm. There is no problem with a linear axis.
I have used rio-flow-gui to set up an open loop stepper type angular, 1600 micro steps. Scale in and scale out are set to 1600. Whatever I do with the ini parameters to achieve higher speeds it fails on the joint follow error.
As I do not understand the internal mechanics of the actual feedback that should confirm the requested speed, I am lost. Furthermore, I do not understand the fole of the PID, which should have no meaning for an open loop set up.
I also cannot find any example of my application to help me out.
Hence, I hope you can help me out to set up a rotary axis at 1000 rpm to overcome that joint follower error (in simulation mode and with the hardware (currently only with the Tangboard only - no ChinaBob attached).
Thanks a lot in advance.
  • mwc
  • mwc
29 Oct 2026 07:56
Replied by mwc on topic Ethercat drive configuration woes

Ethercat drive configuration woes

Category: EtherCAT

Unless it's changed in the past few weeks, the existing Lichuan driver doesnt work with the single axis driver.

The lcec_configgen output didn't work due to a few reasons. The auto generated parameter names varied, and there seemed to be something weird going on with sync manager directions causing errors to be generated during initialising 
  • tommylight
  • tommylight's Avatar
29 Oct 2026 07:32
Replied by tommylight on topic Usefull Open Source software, vibe coded in Rust

Usefull Open Source software, vibe coded in Rust

Category: Off Topic and Test Posts

Python is included in all major Linux distros, just open a terminal and type "python3 --version", so no need for RPI, especially not the zero as it is way to slow.
For non essential stuff, vibe coding is fine and will save a lot of time, but being able to actually audit the code is a very nice bonus.
Claude has become pretty damn good at it, and so are some smaller models you can run locally on your PC, and Gemini is also very good at Python, it is free, so give it a try.
Despite what the internet would have you believe, you can run local models even on some low spec PC's and laptops, quite comfortably, and having a GPU with 8GB or more makes it way faster than you can read (that is my personal benchmark), and AMD APU's (GPU+CPU) are very good st it, i have Ryzen 7 laptops (3 of them) and they can run 4B parameter models exceptionally good, 7B and 8B with a bit of tweaking, all on 16GB of total memory.
Download LM Studio, download some 3-6GB models, play with them, you might be pleasantly surprised.
  • tommylight
  • tommylight's Avatar
29 Oct 2026 06:51
Replied by tommylight on topic Lenovo T490 Laptop Tuning issues

Lenovo T490 Laptop Tuning issues

Category: General LinuxCNC Questions

1. you do not need a base period/thread on a laptop
2. disable hyperthreading, TPM, secure boot
3. download the 2.9.9 and 2.8.4 ISO from the downloads page
4. boot from them, without installing, create a config for Mesa 7i96S
5. power on the Mesa 7i96S and wire it to laptop
6. run the config, run some gcode included and see if the connection drops
2.8.4 should be better on that CPU, but either way you look at it, gen 8 Intel are not good, they had to much power saving stuff included that causes huge delays.
I have a ThinkPad E580 with 4 core 8250 intel, it can be used with Mesa for testing, but not on a production machine.
6th gen CPU's were better for this, like 6300, but dual cores are getting to slow for new operating systems.
Here are some tested laptops:
forum.linuxcnc.org/18-computer/54369-use...mesa-ethernet-boards
  • rodw
  • rodw's Avatar
29 Oct 2026 05:21
Replied by rodw on topic Ethercat drive configuration woes

Ethercat drive configuration woes

Category: EtherCAT

Can you try a lcec_configgen generated XML file. Your drive should have a native driver now. I did some testing with grandixximo with a Lischuan 4 drive driver....
  • rodw
  • rodw's Avatar
29 Oct 2026 05:18
Replied by rodw on topic Lenovo T490 Laptop Tuning issues

Lenovo T490 Laptop Tuning issues

Category: General LinuxCNC Questions

I think you mean usec not ms. Can you share a screen dump of
latency-histogram --nobase --sbins 1000 --show

Also we need to know the NIC you are using
realtek needs the dkms driver, Intel needs coalescing disabling per man hm2_eth

I suspect its probably OK. IRQ affinity probably needs to be set on startup as it does not persist.

 
  • rodw
  • rodw's Avatar
29 Oct 2026 05:08
Replied by rodw on topic cia402.comp - can't compile in 2.10-pre2

cia402.comp - can't compile in 2.10-pre2

Category: EtherCAT

So long since I've looked at this but from memory, Dominic's original component was built were he had a drive that homed to index. When I first tried to use it, before the homecomp was devised by Dewey Garrett, we found it needed to set pos_fb = pos_cmd while internal homing  to prevent following errors if using home switches attached to the drive. This was seperate to the homecomp but its still necessary. 
In my homecomp, I have this comment
// RODW - the cia402 comp sets pos_fb = pos_cmd while internal homing to prevent following errors. This could be done here.
github.com/rodw-au/cia402_homecomp/blob/...2_homecomp.comp#L229

So not sure if its covered in Dominic's cia402.comp that you used as a base but I think it should be covered if this becomes an official comp in your ethercat repo.


 
  • grandixximo
  • grandixximo's Avatar
29 Oct 2026 03:15 - 29 Oct 2026 04:16
Replied by grandixximo on topic cia402.comp - can't compile in 2.10-pre2

cia402.comp - can't compile in 2.10-pre2

Category: EtherCAT

I will make a new release where I have a runtime check for the new symbols I added in ethercat, it's because I have been working on a seperate ethercat branch, with improvements on connectivity time, if you are interested is here

github.com/linuxcnc-ethercat/ethercat

you can also get updates if you install the repo here

github.com/linuxcnc-ethercat/apt

I will work on maintaining compatibility with vanilla ethercat, won't force users to use my ethercat, although IMO it is better :-)

Edit:
Uploaded here, this should work with your ethercat as well
github.com/linuxcnc-ethercat/linuxcnc-et...ases#release-v1.48.0
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