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  • juan13372k
  • juan13372k
12 Apr 2026 19:05
Replied by juan13372k on topic SIEG SX3.5Z Drivers EtherCAT A6 Steppers

SIEG SX3.5Z Drivers EtherCAT A6 Steppers

Category: Driver Boards

nobody :(
  • tommylight
  • tommylight's Avatar
12 Apr 2026 18:46
Replied by tommylight on topic HAL component for tangential knife

HAL component for tangential knife

Category: HAL

What should the tittle of this topic be?
As is seems left in half.
  • Pudding1960
  • Pudding1960
12 Apr 2026 18:28
Probleme mit G Code... was created by Pudding1960

Probleme mit G Code...

Category: General LinuxCNC Questions

Hallo Zusammen ! Da bin ich mal wieder mit einem oder besser mehreren Problemen... Mittlerweile weiß ich nicht mehr weiter. Meine Fräse spinnt ja des öfteren,da habe ich mich schon daran gewöhnt,einfach am nächsten Tag wieder Versuchen ,dann ging es meistens wieder. Fehlermeldungen wie" Radius to end of arc differs from Radius to start und ähnliches bin ich ja schon gewöhnt. Da half oft einfach einen anderen G Code zu Laden,Starten und gleich wieder Stoppen,dann den Ursprünglichen Code wieder Laden und dann ging es . Jetzt Kommt aber die Fehlermeldung,dass die Fehlermeldung" Bewegung Linear in Zeile 19 würde Anschlag der Achse 1 Überschreiten! Das Dumme ist nur,dass das Werkstück 40mm Durchmesser hat und ich nach jeder Seite 250mm Weg über habe. Jeden Start quittiert die Maschine mit einem sofortigen Stopp. Ich habe für das Werkstück 2 G Codes,einmal für eine 3,17mm Fräser und einmal für einen 2mm Fräser zum Schlichten. Der G Code für den 3,17mm Fräser läuft ohne Probleme,der für den 2mm Fräser nicht. Ich habe schon ein neues Setup Probiert,für jeden Arbeitsschritt einen eigen G-Code erstellt,alles ohne Erfolg. Meine Steuerung ist eine Mesa 7i76e ,an allen Achsen Closed Loop.  Das Nonplusultra wäre jemand im Raum Laa an der Thaya in Niederösterreich,der sich das mal in Natura gegen Bezahlung natürlich anschauen könnte. Ich bin mit meinem Latein Mittlerweile am Ende. Ein neues Bedienpult neuem Steuerrechner(I 5) steht auch schon in den Startlöchern,da bin ich auch noch am Tüfteln wegen Werkzeuglängen vermessung und Antastfunktion ect. G-Code häng ich mal an,vielleicht findet wer den Fehler,ich werde nicht daraus Schlau. Mit Dank im Voraus !
  • Hakan
  • Hakan
12 Apr 2026 18:22 - 12 Apr 2026 18:23
Replied by Hakan on topic Ethercat random jitter fix

Ethercat random jitter fix

Category: EtherCAT

Scott thought so too forum.linuxcnc.org/ethercat/52200-defaul...a-402-devices#297315

One should really have a look in the servo's ESI file and see what it says.
  • endian
  • endian's Avatar
12 Apr 2026 18:12
Replied by endian on topic Ethercat random jitter fix

Ethercat random jitter fix

Category: EtherCAT

xml on debian trixie
i have test refClockSyncCycles = -1 , but problem is the same
Warning: Spoiler!

 

what help me during the grinding noise was reinstall driver to chip native or dcConf assignActivate = "300" edit to something as dcConf assignActivate = "730" ... then generic driver works well ...

I have hardware which runs at 250us and generic driver was not capable therefore I searched for other way of grinding avoiding with higher value of assign ... else with native chip driver is 0x0300 good enough 

 
  • lkt
  • lkt
12 Apr 2026 17:37
Replied by lkt on topic Post installation / problème pour ouvrir des images / Paramétrage de Python ?

Post installation / problème pour ouvrir des images / Paramétrage de Python ?

Category: Français

Hi,
funny thing, I had same problem, that's why I'm here.
See the output, especially last line:
AttributeError: Module 'numpy._core' has no attribute 'Inf'. Did you mean: 'inf'?

So, I edited line 34 in /usr/bin/image-to-gcode - changed .Inf --> .inf

It seems to be working :)
  • Hakan
  • Hakan
12 Apr 2026 17:17 - 12 Apr 2026 17:24
Replied by Hakan on topic Ethercat random jitter fix

Ethercat random jitter fix

Category: EtherCAT

You have actually switched off the pll, the synchronization code.
You can double-check that with the lcec.pll-err value.
If that one counts up/down it is on. If lcec.pll-err isn't moving it's off.

There is no difference in the code with "-" and syncToRefClock.
It is just two different ways to switch on the option. The actual code is the same.
The bug happens to to be when both options are used, it will be left off in that case
if I understand what I wrote by mistake once.
  • bedouno
  • bedouno
12 Apr 2026 16:21
Replied by bedouno on topic HAL component for tangential knife

HAL component for tangential knife

Category: HAL

thanks for your great contribut and i will study it, i have searched for a while and i got this :' the trajectory planner process the G-code and pass the move sequence to a queue to be managed by the motion planner , so what if we can modify the sequence process the queue by our component our module to calculate the angle and specify the cretical angle points then inject this to the motion planner , we can use the lookahead trajectory planner strategy ' .
how you see that
  • papagno-source
  • papagno-source
12 Apr 2026 16:14
Replied by papagno-source on topic Ethercat random jitter fix

Ethercat random jitter fix

Category: EtherCAT

I've already run tests with:
refClockSyncCycles="1" and syncToRefClock= "true"
refClockSyncCycles="5" and syncToRefClock= "true"
refClockSyncCycles="1000" and syncToRefClock= "true"
refClockSyncCycles="-1" and syncToRefClock= "true"

With these settings, the machine makes noise when moving.
Now I've set refClockSyncCycles="-1" and syncToRefClock= "false"
and the machine is working without problems so far.
  • endian
  • endian's Avatar
12 Apr 2026 15:55
Replied by endian on topic Ethercat random jitter fix

Ethercat random jitter fix

Category: EtherCAT

There is actually a bug in the code when you use both the "-" sign and the syncToRefClock option.
Both will switch on the pll code.
The bug is corrected, so depending on if you have that version or not.
Fix: don't use the "-" sign to switch on/off the pll code. Use only the syncToRefClock option.

 

last time when I was using the syncToRefClock instead of negative cycles there was an error of synchronization ... 
[ 2129.412707] EtherCAT 0: Master thread exited.
[ 2129.412708] EtherCAT 0: Starting EtherCAT-OP thread.
[ 2129.412731] EtherCAT WARNING 0: 1 datagram UNMATCHED!
[ 2129.576578] EtherCAT 0: Slave states on main device: OP.
[ 2296.800969] EtherCAT ERROR 0-0: AL status message 0x001A: "Synchronization error".
[ 2296.801476] EtherCAT 0-0: Acknowledged state SAFEOP.
[ 2297.416576] EtherCAT WARNING 0: 6 datagrams UNMATCHED!
[ 2350.481058] EtherCAT ERROR 0-0: AL status message 0x001A: "Synchronization error".
[ 2350.481557] EtherCAT 0-0: Acknowledged state SAFEOP.
[ 2434.605096] EtherCAT 0: Slave states on main device: SAFEOP + ERROR.
[ 2434.613479] EtherCAT ERROR 0-0: AL status message 0x001A: "Synchronization error".
[ 2434.614728] EtherCAT 0-0: Acknowledged state SAFEOP.
[ 2434.832592] EtherCAT 0: Slave states on main device: OP.
[ 2574.400506] EtherCAT 0: Master thread exited.
[ 2574.400515] EtherCAT 0: Starting EtherCAT-IDLE thread.
[ 2574.400543] EtherCAT ERROR 0-0: Failed to receive AL state datagram: 
[ 2574.400544] EtherCAT 0: Releasing master...
[ 2574.400545] Datagram initialized.
[ 2574.400549] EtherCAT 0: Released.
[ 2574.405124] EtherCAT 0: Slave states on main device: SAFEOP + ERROR.
[ 2574.412778] EtherCAT ERROR 0-0: AL status message 0x001A: "Synchronization error".
[ 2574.413072] EtherCAT 0-0: Acknowledged state SAFEOP.
[ 2574.421158] EtherCAT 0: Slave states on main device: PREOP.
[ 2574.724604] EtherCAT WARNING: Datagram 000000005d8b16eb (master-fsm) was SKIPPED 1 time.

it is just foe experimenting purposes but durin negative syncs are everything rock solid ...
<masters>
    <master idx="0" appTimePeriod="250000" refClockSyncCycles="-100">    
        <slave idx="0" type="generic" vid="0x0000006a" pid="0x03000700" name="x-s343" configPdos="true">

            <!-- driver outputs setup -->
            <!-- reset number of mapped PDOs -->
            <sdoConfig idx="1A00" subIdx="00">
            <sdoDataRaw data="00 3F 6C 65"/>
            </sdoConfig>
            <!-- status word UINT16 -->
            <sdoConfig idx="1A00" subIdx="01">
            <sdoDataRaw data="10 00 41 60"/>
            </sdoConfig>
            <!-- incremental position from motor feedback INT32 -->
            <sdoConfig idx="1A00" subIdx="02">
            <sdoDataRaw data="20 00 63 60"/>
            </sdoConfig>
            <!--
             incremental position from motor extrenal feedback INT32 
            -->
            <sdoConfig idx="1A00" subIdx="03">
            <sdoDataRaw data="20 00 50 20"/>
            </sdoConfig>
            <!-- actual velocity in incremental status INT32 -->
            <sdoConfig idx="1A00" subIdx="04">
            <sdoDataRaw data="20 00 6C 60"/>
            </sdoConfig>
            <!-- internal operation mode INT16 -->
            <sdoConfig idx="1A00" subIdx="05">
            <sdoDataRaw data="10 00 53 23"/>
            </sdoConfig>
            <!-- driver warning code INT32 -->
            <sdoConfig idx="1A00" subIdx="06">
            <sdoDataRaw data="20 00 00 20"/>
            </sdoConfig>
            <!-- actual AI status INT16 -->
            <sdoConfig idx="1A00" subIdx="07">
            <sdoDataRaw data="10 01 B2 20"/>
            </sdoConfig>
            <!-- actual AI status INT16 -->
            <sdoConfig idx="1A00" subIdx="08">
            <sdoDataRaw data="10 02 B2 20"/>
            </sdoConfig>
            <!-- driver warning code INT32 -->
            <sdoConfig idx="1A00" subIdx="09">
            <sdoDataRaw data="20 00 02 10"/>
            </sdoConfig>
            <!-- define number of mapped PDOs -->
            <sdoConfig idx="1A00" subIdx="00">
            <sdoDataRaw data="09 40 6F 77"/>
            </sdoConfig>
            <!-- driver outputs end setup -->
            <!-- driver inputs setup -->
            <!-- reset number of mapped PDOs -->
            <sdoConfig idx="1600" subIdx="00">
            <sdoDataRaw data="00 3F 6C 65"/>
            </sdoConfig>
            <!--
             0x6041 0010 == register 0x6041 + value 0x10(16bit decimal) 
            -->
            <sdoConfig idx="1600" subIdx="01">
            <sdoDataRaw data="10 00 40 60"/>
            </sdoConfig>
            <!-- 0x60C1 0020 == 0x20 == 0d32 bit INT32-->
            <sdoConfig idx="1600" subIdx="02">
            <sdoDataRaw data="20 00 C1 60"/>
            </sdoConfig>
            <!-- actual velocity in incremental status INT32 -->
            <sdoConfig idx="1600" subIdx="03">
            <sdoDataRaw data="20 00 FF 60"/>
            </sdoConfig>
            <!-- opmode request UINT16 -->
            <sdoConfig idx="1600" subIdx="04">
            <sdoDataRaw data="10 00 52 23"/>
            </sdoConfig>
            <!-- digital outputs write INT16 -->
            <sdoConfig idx="1600" subIdx="05">
            <sdoDataRaw data="10 00 02 23"/>
            </sdoConfig>
            <!-- define number of mapped PDOs -->
            <sdoConfig idx="1600" subIdx="00">
            <sdoDataRaw data="05 40 6F 77"/>
            </sdoConfig>
            <!-- driver inputs end setup -->
            <sdoConfig idx="1C12" subIdx="01">
            <sdoDataRaw data="00 16"/>
            </sdoConfig>
            <sdoConfig idx="1C12" subIdx="00">
            <sdoDataRaw data="01"/>
            </sdoConfig>
            <sdoConfig idx="1C13" subIdx="01">
            <sdoDataRaw data="00 1A"/>
            </sdoConfig>
            <sdoConfig idx="1C13" subIdx="00">
            <sdoDataRaw data="01"/>
            </sdoConfig>
            
            <!-- Set OpMode to Cyclic Synchronous Position -->
            <sdoConfig idx="6060" subIdx="00">
            <sdoDataRaw data="FA"/>
            </sdoConfig>
            <!-- Set Cycle Time -->
            <sdoConfig idx="60C2" subIdx="01">
            <sdoDataRaw data="19"/>
            </sdoConfig>
            <!-- Set Cycle exp = (-3) == 10^(-3) -->
            <sdoConfig idx="60C2" subIdx="02">
            <sdoDataRaw data="FB"/>
            </sdoConfig>
        
        <syncManager idx="0" dir="out"> </syncManager>
        <syncManager idx="1" dir="in"> </syncManager>
        <syncManager idx="2" dir="out">
            <pdo idx="1600">
                <pdoEntry idx="6040" subIdx="00" bitLen="16" halPin="target-controlword" halType="u32"/>
                <pdoEntry idx="60C1" subIdx="00" bitLen="32" halPin="target-position-inc" halType="s32"/>
                <pdoEntry idx="60FF" subIdx="00" bitLen="32" halPin="target-velocity-inc" halType="s32"/>
                <pdoEntry idx="2352" subIdx="00" bitLen="16" halPin="target-internal-opmode" halType="s32"/>
                <pdoEntry idx="2302" subIdx="00" bitLen="16" halPin="target-digital-output" halType="s32"/>
            </pdo>
        </syncManager>
        <syncManager idx="3" dir="in">
            <pdo idx="1A00">
                <pdoEntry idx="6041" subIdx="00" bitLen="16" halPin="actual-statusword" halType="u32"/>
                <pdoEntry idx="6063" subIdx="00" bitLen="32" halPin="actaul-position-inc" halType="s32"/>
                <pdoEntry idx="2050" subIdx="00" bitLen="32" halPin="actaul-position-inc-dro" halType="s32"/>
                <pdoEntry idx="606C" subIdx="00" bitLen="32" halPin="actual-velocity-inc" halType="s32"/>
                <pdoEntry idx="2353" subIdx="00" bitLen="16" halPin="actual-internal-opmode" halType="s32"/>
                <pdoEntry idx="2000" subIdx="00" bitLen="32" halPin="actual-warning-code" halType="s32"/>
                <pdoEntry idx="20B2" subIdx="01" bitLen="16" halPin="actual-analog-input-1-mV" halType="s32"/>
                <pdoEntry idx="20B2" subIdx="02" bitLen="16" halPin="actual-analog-input-2-mV" halType="s32"/>
                <pdoEntry idx="1002" subIdx="00" bitLen="32" halPin="status-register" halType="u32"/>
            </pdo>
        </syncManager>
            <dcConf assignActivate="730" sync0Cycle="*1" sync0Shift="0"/>
        </slave>
</master>
</masters>
 
  • Hakan
  • Hakan
12 Apr 2026 15:40 - 12 Apr 2026 15:41
Replied by Hakan on topic Ethercat random jitter fix

Ethercat random jitter fix

Category: EtherCAT

There is actually a bug in the code when you use both the "-" sign and the syncToRefClock option.
Both will switch on the pll code.
The bug is corrected, so depending on if you have that version or not.
Fix: don't use the "-" sign to switch on/off the pll code. Use only the syncToRefClock option.
  • Konstantin
  • Konstantin
12 Apr 2026 15:29 - 12 Apr 2026 15:39
Replied by Konstantin on topic CiA 402 Folder Missing

CiA 402 Folder Missing

Category: EtherCAT

@andrax
I figured it out, my mistake, I wrote the SDO object wrong and after trying many different ways to get it working. Now I just want to verify that my "sudo dmesg" is ok. What I did is I rebooted the computer and the drive. Attached is the last output and the lines after 64.544984 were shown after LinuxCNC was started.
I observe two error but do not know if they affect LinuxCNC and EtherCAT:
[ 10.914651] hp_bioscfg: Unable to set BIOS settings on HP systems
[ 20.801703] ec_generic: Binding socket to interface 2 (eno1).
The problem is that I do not know how the "sudo dmesg" output is supposed to look when no errors.
The .xml file is fixed and I decided to use the variable PDO mapping object - 0x1600 and 0x1A00. I check with "ethercat upload" and it seems that the SDOs are set as intended. Attached are the .xml and .hal files. 

EDIT: I want to add that when I close the LinuxCNC and open it again there is a different output after "sudo dmesg". Attached is a file. An error appears:
[ 1191.146371] EtherCAT ERROR 0-0: AL status message 0x001A: "Synchronization error".
  • papagno-source
  • papagno-source
12 Apr 2026 15:13
Replied by papagno-source on topic Ethercat random jitter fix

Ethercat random jitter fix

Category: EtherCAT

The problem only occurs during movement and is a noise transmitted to the mechanics, the kind you usually hear about on the LinuxCNC forum.
It seems to have solved the problem. First, I restored the original lcec_conf, Lcec_coffigen, and Lcec.so files. I changed the parameters refClockSyncCycles="-1" and syncToRefClock="false" in the XML file.
For now, I've left the sync0Shift = "0" parameter.
I'll test the machine and update you on how it works.
  • andrax
  • andrax's Avatar
12 Apr 2026 14:52
Replied by andrax on topic Ethercat random jitter fix

Ethercat random jitter fix

Category: EtherCAT

I would suggest taking an analytical approach to this.
As I understand it, 4 registers are important:
607A target-position
60FF target-velocity
and
6064 actual-position
606C actual-velocity
I simply enter a value in 607A and 60FF, and the axis moves to that position. LinuxCNC evaluates 6064 and 606C. If the target and actual values match, LinuxCNC is satisfied.
That’s my understanding.
Now the question arises: Does the axis vibrate when stationary or while moving?
If it vibrates when stationary, which shouldn’t happen, it’s constantly receiving new positions and oscillating.
Control loop?
Do the axes oscillate while moving?
Unstable, fluctuating setpoints?

At this point, I would use Wireshark to compare the traffic between the two systems.
I think the findings will be very revealing.
 
  • PCW
  • PCW's Avatar
12 Apr 2026 14:46
Replied by PCW on topic Error unable to launch after pncconf.

Error unable to launch after pncconf.

Category: PnCConf Wizard

Its possible to build one but most 5I25 configurations lack the DPLL because
the jitter is so much lower on PCI/PCIE cards that there is little benefit from
adding the DPLL.
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