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I followed your suggestions and am running into the following errors:

Machine configuration directory is '/home/kurt/linuxcnc/configs/BaxEDM-2axis-WireEDM'
Machine configuration file is '2axis-WireEDM.ini'
INIFILE=/home/kurt/linuxcnc/configs/BaxEDM-2axis-WireEDM/2axis-WireEDM.ini
VERSION=1.1
check_config: Unchecked: [KINS]KINEMATICS=baxkins
PARAMETER_FILE=baxedm_mm.var
TPMOD=
HOMEMOD=
TASK=milltask
HALUI=halui
DISPLAY=axis
COORDINATES=XYZ
KINEMATICS=baxkins
Starting LinuxCNC...
Starting LinuxCNC server program: linuxcncsvr
Loading Real Time OS, RTAPI, and HAL_LIB modules
Starting LinuxCNC IO program: io
libnml/buffer/shmem.cc 320: Shared memory buffers toolCmd and toolCmd may conflict. (key=1004(0x3EC))
libnml/buffer/shmem.cc 320: Shared memory buffers toolSts and toolSts may conflict. (key=1005(0x3ED))
libnml/buffer/shmem.cc 320: Shared memory buffers emcError and emcError may conflict. (key=1003(0x3EB))
emc/iotask/ioControl.cc 786: can't load tool table.
Starting HAL User Interface program: halui
linuxcnc TPMOD=tpmod HOMEMOD=homemod EMCMOT=motmod
Found file(REL): ./2axis-WireEDM.hal
Shutting down and cleaning up LinuxCNC...
*** baxkins.comp setup ok
Removing HAL_LIB, RTAPI, and Real Time OS modules
Removing NML shared memory segments

Debug file information:
Note: Using POSIX realtime
./2axis-WireEDM.hal:51: Pin 'lcec.0.0.actual-velocity' does not exist
5318
Stopping realtime threads
Unloading hal components
Traceback (most recent call last):
  File "/home/kurt/linuxcnc/configs/BaxEDM-2axis-WireEDM/baxuipushbuttons.py", line 168, in <module>
Traceback (most recent call last):
  File "/home/kurt/linuxcnc/configs/BaxEDM-2axis-WireEDM/baxmisc.py", line 462, in <module>
    while True:
KeyboardInterrupt
    time.sleep(0.01)
KeyboardInterrupt
baxkinsdata: not loaded
<commandline>:0: exit value: 255
<commandline>:0: rmmod failed, returned -1
<commandline>:0: unloadrt failed
Note: Using POSIX realtime

This is the entirety of the linuxcnc command info
When I type "lcec_config" into the command line I get command not found.

Changing dcConf didn't seem to change anything...

Is there a guide on the linuxcnc forums to setting up Twincat with LinuxCNC? I can't find out, but I could try to figure it out without one.

how is your project coming along?

were you able to get this resolved?

happy to help and glad you got it sorted out!

Hi there, So i have done the same conversion on my 700c, I replaced all the scales except the B axis seeing that it's a Heidenheime scale. Any change you perhaps still have the HAL file. the Software side has stumped me and I am not sure how to start or setup the scales etc.
Delos W series scales used
5i25T
7i77 for the scale inputs and the 3trm2 and B axis
7i84 for the 24V relays and inputs

This isn't an answer to your question, but have you tried hal_gpio on the Odroid?

I was actually wondering the same thing about the serial port las month:

sourceforge.net/p/emc/mailman/emc-develo...arg.org/#msg59226340

Maybe a realtime modbus driver through the onboard serial port could work, for example.

If you can drive the serial port by sending bytes with outb() / inb() it might work, though you would end up having to re-invent the drivers as non-blocking code.

Thank you very much! Though I don't know Linux or XML, I'm familiar with other languages so feel assured that I can get myself in way over my head! First thing I'll do is save off a backup, then give your suggestion a go.
Thanks again.

The issue with sudo and the command line is that the redirect (>) is done by the shell
and the shell is just running with your normal user permissions.

sudo -c bash 'echo 2 > /proc/irq/29/smp-affinity'

should work (as will a simplified 1 line script)

PCW - you were right.  Your script does in fact work nicely:

john@Taig:~/temp$ sudo ./pinirq_2025-09-25-2.txt enp1s0
Cores: 2
Old CPU Mask: 3
Set device enp1s0 IRQ 29 CPU mask to 2

I'm staggered and confused.  As I see it, the script simply does a bit of work to find the irq number for the specified device and then executes (in this case) "echo 2 > /proc/irq/29/smp_affinity".  How can this possibly work from a script when exactly the same command is rejected when entered directly?  Sudo must indeed be strange.  When I get a moment I'll try a one line script containing just the one command.  Presumably it will work.????  At least I now understand the irq folder.  I had failed to consider the possibility that it was present but hidden.

Pinning the interrupt dramatically changes the ping test results for the better:

--- 10.10.10.10 ping statistics ---
60000 packets transmitted, 60000 received, 0% packet loss, time 60084ms
rtt min/avg/max/mdev = 0.074/0.080/0.212/0.007 ms
john@Taig:~/temp$ sudo chrt 99 ping -i.001 -q -c 60000 10.10.10.10
PING 10.10.10.10 (10.10.10.10) 56(84) bytes of data.

--- 10.10.10.10 ping statistics ---
60000 packets transmitted, 60000 received, 0% packet loss, time 60101ms
rtt min/avg/max/mdev = 0.073/0.081/0.212/0.007 ms
john@Taig:~/temp$ sudo chrt 99 ping -i.001 -q -c 60000 10.10.10.10
PING 10.10.10.10 (10.10.10.10) 56(84) bytes of data.

--- 10.10.10.10 ping statistics ---
60000 packets transmitted, 60000 received, 0% packet loss, time 60084ms
rtt min/avg/max/mdev = 0.074/0.080/0.211/0.007 ms

With all round trips taking well under a millisecond, the fact that the total times for the tests are all > 60000ms is presumably due to delays in scheduling each ping.  In any case I now feel a LOT more confident that the erhernet communications are adequate for Linux CNC.

rodw:

I've looked into EEE, but unfortunately my ethtool appears to be an empty shell that doesn't actually support  any operations of interest:

john@Taig:~$ sudo ethtool --show-eee enp1s0
netlink error: Operation not supported
john@Taig:~$ sudo ethtool --set-eee enp1s0 eee off
netlink error: Operation not supported
john@Taig:~$ sudo ethtool --show-coalesce enp1s0 
netlink error: Operation not supported

Any ideas?  is there an alternate tool?  Can I somehow get a better version of ethtool?  Is it possible that my hardware is so ancient that the chips don't support EEE in any case?

Re compiling my own version of the kernel, both of you greatly overestimate my ability to handle such a task.  Basically I'm a newcomer to Linux and am still groping my way around.  Just getting from Buster to Bookworm was a monumental effort for me.  Given my limited abilities, I think that a better approach would be to simply install the Linux CNC 2.9.4 Bookworm ISO.  I presume that those maintaining Linux CNC know what they're doing, and that the kernel included in this release has been appropriately optimized.

 

1. yes
2. yes

# Создание thread с уникальным именем
loadrt threads name1=servo-thread period1=1000000 fp1=0

Seems like trying to load servo period twice, so try omitting the above line.

LinuxCNC 2.9.6 has been released.

This is a bug-fix release. Shortly after the release of 2.9.5 it was
noticed that a fix for a graphics bug in Gmoccapy had resulted in the
Axis touch-off dialog box no-longer working for non-zero entries.

This update is for all users, but especially users of the Axis GUI.

Packages for 2.9-uspace for amd64 (PC) for Debian Buster, Bullseye,
Bookworm and Trixie and for arm64 (Raspberry Pi 4/5) for Buster and
Bookworm have been added to the linuxcnc repository. If you installed
from one of our live images or Pi SD-card images then the update
should be available immediately.

If you installed into a normally-installed Debian from the Debian
repositories then hopefully the new version can be queued up for the
next point release. If you can’t wait then it is possible to add the
LinuxCNC repositories to the apt sources. One way to do this and
install the security keys is via the shell script here:
linuxcnc.org/docs/stable/html/getting-st...th_preempt_rt_kernel

At the moment the live-image installer and SD card images will install
2.9.4 but update should be trivial (and possibly automatic)

RTAI is still supported, but in the short term building from source is
likely to be the most expedient way to get 2.9.6 on that platform.

Changelog

qtvcp -Qt5_graphics: issue 2753; preview wrongly uses INI startup code
Merge pull request #3567 from Sigma1912/2_9-Correct_bad_fix_for_2753
Gremlin: Don’t use RS274NGC_STARTUP_CODE when updating the preview
Docs: Address G52 Circular Link #3565

Acknowledgements

As always, we couldn’t do this without the contributions from the
community, so many thanks to:

CMorley
Sigma1912

 

Hello Spumco, no worries, I just wanted to know where you were with the C axis.

I launched linuxcnc, "ethercat slaves" are in OP state, everything seems correct in the XML configuration, what could be the problem?

0  0:0  OP  +  2DM880-EC
1  0:1  OP  +  2DM880-EC
2  0:2  OP  +  2DM880-EC
3  0:3  OP  +  2DM556-EC
4  0:4  OP  +  2DM556-EC
5  0:5  OP  +  DIEWU EtherCAT-IO (Digital 16-Input/16-Output)

When running the configuration, such errors occur:

Debug file information:
Note: Using POSIX realtime

HAL: ERROR: duplicate thread name servo-thread
THREADS: ERROR: could not create thread 'servo-thread'
threads: rtapi_app_main: Operation not permitted (-1)
./Sodick.hal:20: waitpid failed /usr/bin/rtapi_app threads
./Sodick.hal:20: /usr/bin/rtapi_app exited without becoming ready
./Sodick.hal:20: insmod for threads failed, returned -1
shutdown.hal:4: parameter or pin 'lcec.0.0.enable' not found
3184
Stopping realtime threads
Unloading hal componentsNote: Using POSIX realtime

I tried to fix the access error:

groups
sodick lp dialout cdrom sudo audio video plugdev users ethercat linuxcnc ecusers realtime

And all lcec files installed from linuxcnc:

/usr/bin/lcec_configgen
/usr/bin/lcec_conf
/usr/lib/linuxcnc/modules/lcec.so
/etc/linuxcnc/lcec.conf
/usr/lib/linuxcnc/modules/lcec.so

Hal file:

# Загрузка EtherCAT компонента
loadusr -W lcec_conf /home/sodick/linuxcnc/configs/Sodick/ethercat-conf.xml
loadrt lcec

# Загрузка дополнительных HAL компонентов
loadrt siggen
loadrt or2
loadrt and2
loadrt not

# Создание thread с уникальным именем
loadrt threads name1=servo-thread period1=1000000 fp1=0

# Добавление функций в поток (правильный порядок)
addf motion-command-handler servo-thread  
addf motion-controller servo-thread
addf lcec.0.read servo-thread
addf lcec.read-all servo-thread
addf lcec.write-all servo-thread
addf lcec.0.write servo-thread