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  • grandixximo
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18 Apr 2026 05:00 - 18 Apr 2026 06:02
Replied by grandixximo on topic Ethercat random jitter fix

Ethercat random jitter fix

Category: EtherCAT 

uname -r 6.12.74+deb13+1-rt-amd64
dpkg -l | grep linuxcnc-uspace
ii linuxcnc-uspace 1:2.9.4-2 amd64 motion controller for CNC machines and robots
dpkg -l | grep ethercat
ii ethercat-dkms 1.6.9.gb709e58-1+28.1 all IgH EtherCAT Master
ii ethercat-master 1.6.9.gb709e58-1+28.1 amd64 IgH EtherCAT Master
ii libethercat 1.6.9.gb709e58-1+28.1 amd64 IgH EtherCAT Master
ii linuxcnc-ethercat 1.40.0.g8a607c0-0 amd64 LinuxCNC EtherCAT HAL driver

I have done testing with the above, this is Debian 13 everything installed from repos.
Generic drive no ec_igc
20 devices
9 servos DC
1 VFD DC
10 I/O not DC
the 10 I/O always OP instantly
I've tried to keep an eye on
watch -n0 "ethercat reg read -p2 -tsm32 0x92c"
My start up quite randomly, within a range of + or - 3 million, and does not always perfectly correlate with how quickly the servos OP, but they seem more often than not to OP quickly when this start as a small value, but it does not correlate perfectly.

with refClockSyncCycles="1" from now on this I will call R2M
I get 40s to all OP, so about 4s per device, but some take 2s some 6s, not a constant each one 4s.
with refClockSyncCycles="-1" from now on this I will call [/code][/code]M2R
[code][code]I get 12s to all OP, so about 1.2s per device, again not constant, some quick some slow, but overall much faster.

I have a 1khz servo loop 1000000ns
@Hakan when you say 2khz you mean 500000ns correct?

anyway that is with Scott's code, nothing of mine, I will do further testing with your referenced commit, and then test with my changes, and different kernels see if linuxcnc-ethercat -1 and +1 are the bigger factors here or not.

edit:
tested with new kernel
uname -r
6.3.0-rt11-linuxcnc
same results, almost no effect
44sec for R2M
12sec for M2R
rule out kernel?
  • Todd Zuercher
  • Todd Zuercher's Avatar
18 Apr 2026 04:32
Replied by Todd Zuercher on topic Using Offsetpage Widget?

Using Offsetpage Widget?

Category: GladeVCP

I booted the current live image and created a new one like I had at work.

 

File Attachment:

File Name: offsets.ui
File Size:1 KB
  • Todd Zuercher
  • Todd Zuercher's Avatar
18 Apr 2026 03:18
Replied by Todd Zuercher on topic Using Offsetpage Widget?

Using Offsetpage Widget?

Category: GladeVCP

It's just a window with the Offsetpage widget. I don't have a copy here at home but (it's at work.)
  • rodw
  • rodw's Avatar
18 Apr 2026 03:10
Replied by rodw on topic Ethercat random jitter fix

Ethercat random jitter fix

Category: EtherCAT

Thanks for clarifying. I guess if 1.5.2 does not solve the issue, the next question is has linuxcnc-ethercat changed since Debian 10? I suspect not but can you review and confirm? If nothing has changed, its a Debian kernel issue

People forget that modern kernels post 5.9 and up  (which is well after Debian 10) are enormously complex and the hardware developers have been adding  features for years (mostly power saving) that the linux kernel unfortunately now supports. So there are a lot of tuning steps now. Perhaps there are some issues we have not covered in our known NIC tunings.

I've shared a 6.3 kernel I built in the past on Discord which many people had good results with. Perhaps it will help. It will be a few days before I can build a later kernel for Trixie.


 
  • grandixximo
  • grandixximo's Avatar
18 Apr 2026 02:03 - 18 Apr 2026 02:06
Replied by grandixximo on topic Ethercat random jitter fix

Ethercat random jitter fix

Category: EtherCAT

For somebody trying hard to follow along from the sidelines, can you guys outline the objective for rolling back to 1.52 here?
Has anybody looked at the Igh Ethercat master 1.6 or even 1.7 which was released on gitlab 3 weeks ago (but not in their repositories) to see if it has these delays outside of linuxcnc.

It seems to me it would be unlikely that iGh master 1.6 or 1.7 are problematic as people would be complaining at iGh so to me,  the effort should be in understanding what has changed that linuxcnc-ethercat is not liking. Rolling back to a very old version does not seem a progressive step following the synchronisation enhancement.


Did it on pagagno-source request

Why don't we try installing Ethercat 1.5.2 on Trixie, so as to understand if the problem is on the kernel or Ethercat side.


This is just for testing, I pretty much knew it was a dead end when I started on this path, but it is just so we are all on the same page, I need to bring receipts, I won't simply hand wave his concerns, he wanted 1.5.2 on Trixie so that he will be convinced that is not the issue, and I gave him that. I don't want to come back to this point over and over again as we proceed with more testing, once it is proven that 1.5.2 does not solve the issue, we can move on to the next thing. Just trying to respect other people's perspective, call it an unnecessary waste of time if you want, I can see where you are coming from, but I feel the best approach is moving systematically one step at the time, clearing up all concerns, testing thoroughly, find agreement, move to the next thing.

1.6 and 1.7 present the same OP time delays in my testing.
  • cmorley
  • cmorley
18 Apr 2026 01:28
Replied by cmorley on topic Using Offsetpage Widget?

Using Offsetpage Widget?

Category: GladeVCP

Can you post your glade file?
  • grandixximo
  • grandixximo's Avatar
18 Apr 2026 01:17 - 18 Apr 2026 01:20
Replied by grandixximo on topic Ethercat random jitter fix

Ethercat random jitter fix

Category: EtherCAT

Tested a bit.
I get fairly consistent loading times of lcec's rt_app_main() function of 1.85-1.90 seconds.
But but. In syslog I can see that the initial sync of slaves takes anywhere between zero and
say 3,4,5 seconds. 
To check
ethercat debug 1
start linuxcnc
exit or leave running, doesn't matter.
sudo journalctl --since "2 minutes ago" | grep "Sync after"
and see where it stops for every slave.
I reckon this is the problematic delay time.
Seldom, but it happens, I get "Checking for synchrony" and then it is satisfied directly and moves on.

It seems measuring the time of lcec's rt_app_main is not a good indicator.
Is there a good way of measuring time to OP?

trixie, 
Linux plasma 6.12.69+deb13-rt-amd64 #1 SMP PREEMPT_RT Debian 6.12.69-1 (2026-02-08) x86_64 GNU/Linux
IgH EtherCAT master 1.6.8 1.6.8.g2543cc5-1+27.3  (via apt)
linuxcnc-ethercat, a slightly modified version of commit bf13577ec7b1b54844e07a80d949232e71776b32
linuxcnc 2.9.4 (via apt)


At the end of my hal file I
loadusr halshow
and I save the default watch to display the OP pins, you can have master all-op, and each slave individual OP pin, I count Mississippies or use stopwatch...
Another alternative is
watch -n 0.2 ethercat sl
But this might "dirty" the bus, may effect OP time, maybe...
To get more accurate times might have to build a script, or use dmesg with some debug from ethercat.
But I think the difference papagno-source is talking about can be perceived with less precise tooling, in one case everything OP even before the UI opens, and in the other he has to wait some amount of time, so it is a difference in the seconds range.
I will try to setup similar setup to yours, and check the OP times.
  • rodw
  • rodw's Avatar
18 Apr 2026 00:49
Replied by rodw on topic Ethercat random jitter fix

Ethercat random jitter fix

Category: EtherCAT

For somebody trying hard to follow along from the sidelines, can you guys outline the objective for rolling back to 1.52 here?
Has anybody looked at the Igh Ethercat master 1.6 or even 1.7 which was released on gitlab 3 weeks ago (but not in their repositories) to see if it has these delays outside of linuxcnc.

It seems to me it would be unlikely that iGh master 1.6 or 1.7 are problematic as people would be complaining at iGh so to me,  the effort should be in understanding what has changed that linuxcnc-ethercat is not liking. Rolling back to a very old version does not seem a progressive step following the synchronisation enhancement.
  • rodw
  • rodw's Avatar
18 Apr 2026 00:37
Replied by rodw on topic HAL component for tangential knife

HAL component for tangential knife

Category: HAL

Looks pretty good. I'll have to check it so I don't miss anything. :)
Sorry, I've had to focus on other projects these last few days which I have almost completed, then record an overdue video for my Youtube channel, then I will get back to this.
  • grandixximo
  • grandixximo's Avatar
18 Apr 2026 00:37
Replied by grandixximo on topic Ethercat random jitter fix

Ethercat random jitter fix

Category: EtherCAT

I have installed linuxcnc-ethercat...0.9.5-retro1.5.2-rc1, without error, but if coomand ethercat version have reult 1.6.9
But I think, this is not the Igh part, but the lcec driver, right?
I have a version running in place in another directory, do I need to copy or link something to test?
On Debian 10 , in direcory bin the linuxcnc , i have only lcec_conf and not have lcec_coffingen
 

gitlab.com/grandixximo/ethercat/-/jobs/1...ad?file_type=archive
This is the igh ethercat, you need to uninstall your current ethercat master to get this to work, also ethercat-dkms and libethercat.
You might have to run or restart the ethercat service after installing the deb packages in the artifact.zip
 
sudo systemctl restart ethercat.service

for the linuxcnc-ehercat remove your current version
and install this
github.com/grandixximo/linuxcnc-ethercat...0.9.5-retro1.5.2-rc1
this is the lcec part, and it has both lcec_conf and lcec_coffingen
I cannot fathom why you would have one and not the other if you installed my packages.

I saw you tried to come to the discord, but you did not give a thumbs up to the rules message, so you were not allowed in.

I'm on +08:00 time. not in Italy. So mind the time difference. I'll only probably be available in the morning Italy time.
  • grandixximo
  • grandixximo's Avatar
18 Apr 2026 00:21
Replied by grandixximo on topic Ethercat random jitter fix

Ethercat random jitter fix

Category: EtherCAT

Syste is debian 10 buster x86_64
Kernel: 4.19.0-27-rt-amd64 #1 SMP PREEEMPT RT Debian 4.19.316-1 (2024-06-25) x86_64 GNU/Linux
Ethercat : IgH ETHERCAT master 1.5.2 unknow
Etherlabmaster-1.5.2+20190904hg33b922p8ea394
LINUXCNC 2.9.0-pre0


When axis opens the gui, the axis dimensions are already present. From tests done, when I had the same problem with debian 12, as soon as it reads the loadrt lcec command, the dimensions appear on the pins in hal, relating to the individual axes.

 
linuxcnc-ethercat version?
dpkg -l | grep linuxcnc-ethercat
 
  • bedouno
  • bedouno
18 Apr 2026 00:06
Replied by bedouno on topic HAL component for tangential knife

HAL component for tangential knife

Category: HAL

i hope to help with this analysis , it is made by AI, and this try to understand ,  

This browser does not support PDFs. Please download the PDF to view it: Download PDF

 
  • spumco
  • spumco
17 Apr 2026 23:23
Replied by spumco on topic MotionMaster Upgrade

MotionMaster Upgrade

Category: General LinuxCNC Questions 

I also don't understand from first principles what a reactor does. I think they are inductors to smooth out ripples in the outgoing current from VFD to spindle

If they're upstream of the VFD they're called 'line reactors' and smooth out incoming power ripples.

If they're downstream they're called 'load reactors' and smooth out the power to the motor.  Reduces heating in the motor, especially useful for older motors which aren't rated for VFD use and which are going to be run at speeds lower than nameplate rating.

Grease - you can flush out all the greased components with kerosene, then blow out excess with air, then regrease with whatever flavor you want.  Disconnect each grease circuit and flush each component separately - this will help identify any clogged or broken lines.  When you've cleared all the individual circuits out, flush any manifolds and header lines.
the X-axis is "grinding"

Could be from a number of sources.  Suggest disconnecting the ballscrew nut (or nut mount) from the X-carriage.  This will allow you to move the carriage by hand, as well as rotate the ballscrew in it's bearings, and also the nut on the ballscrew.  Should help you identify the source of crunchiness.
Ball bearings. Should I just put new ones in while I'm at it, or, do they last a lifetime?

Which bearings?  Your machine has quite a few.  Some are cheap, some are not.  Your wallet will determine what you can replace... but if the bearing is easily replaceable and remotely suspect, I'd replace it.  You can usually find NOS name-brand bearings on ebay for decent prices.
  • spumco
  • spumco
17 Apr 2026 23:01
Replied by spumco on topic FlexGUI - Multiple spindles?

FlexGUI - Multiple spindles?

Category: Flex GUI

Spindles are typically controlled through the NML interface by the GUIs, so if the GUI doesn't support multiple spindles you might have to use MDI to turn on and off the auxilliary spindles.

THat said, flexgui is mane to be flexible, so maybe there is suopport?
I haven't used it yet.
 

Thanks Andy.  I'm trying it out for the first time now.

All machine functions are already handled with hardware controls; I just want displays for all three spindles.  The only on-screen control which could cause machine movement of any type will be an MDI 'run' button.

I'm guessing FlexGUI is new enough that @JT hasn't had anyone bugging him about outlier configurations much.
  • rodw
  • rodw's Avatar
17 Apr 2026 21:32
Replied by rodw on topic retrofitting a Proxon for coin die milling

retrofitting a Proxon for coin die milling

Category: Milling Machines

See if you can add isolcpus=3 to your kernel boot file. I have done it on a pi but can't remember how
It should improve latency.
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