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  • juergen-home
  • juergen-home
12 Sep 2025 11:25 - 12 Sep 2025 11:28
A basic .hal file for a simple gamepad was created by juergen-home

A basic .hal file for a simple gamepad

Category: HAL Examples

This is a basic .hal file for a simple gamepad.
I use this for manual milling on the diy cnc.
For my safety I removed the joysticks and only use the buttons pressed by a 3d printed plug.

#
# jog with 1,2,3,4,11,12
# select jog speed with 9,10
# select increment with 5,6,7,8
# start program with 16
# pause program with 14
# mist-coolant  with 15
# e-stop with 13
#
 
 


 
  • hellvetica
  • hellvetica
12 Sep 2025 10:52
Replied by hellvetica on topic Recompiling the motmod modules to expose pos-cmd pins

Recompiling the motmod modules to expose pos-cmd pins

Category: Advanced Configuration

I figured it out.
I created 2 pins:
pos_cmd_override and pos_cmd_override_enable
to emc/motion/axis.c as well as add the variables in the emcmot_axis_t and axis_hal_t structs.
Created getter functions like in the axis.c and the corresponding declaration in axis.h

Then in axis_calc_motion in axis.c i added
```
if (axis_get_pos_cmd_override_enable(axis_num)) {
axis->teleop_tp.pos_cmd = axis_get_pos_cmd_override(axis_num);
axis->teleop_tp.enable = 1;
axis->teleop_tp.max_vel = axis->vel_limit;
axis->teleop_tp.max_acc = axis->acc_limit;
}

```
Now I can set the pins to the desired robot position and the trajectory planner will do the rest. I can also use useful feedback pins like in-position which i couldn't do when using external offsets.
  • scsmith1451
  • scsmith1451's Avatar
12 Sep 2025 10:50
Replied by scsmith1451 on topic Having issues calling ACTION.CALL_MDI() from python handler

Having issues calling ACTION.CALL_MDI() from python handler

Category: O Codes (subroutines) and NGCGUI

Ahh, no linuxcnc was not running. I was testing the handler via halcmd. Let me put it into the machine and see if it works correctly there.

Regards,
  • jrc
  • jrc
12 Sep 2025 09:59
Replied by jrc on topic CiA 402 progress (RTelligent and Leadshine working!)

CiA 402 progress (RTelligent and Leadshine working!)

Category: EtherCAT

Many thanks for this! I am using (or rather trying to use!) 2 units of 2CS3E-D507 dual-stepper drives for the arm and carousel platters in a dual-carousel machine, and need a little help with working out how to define the joints and address each stepper motor in the drive separately.

Looking at just one stepper drive, say for the right-hand carousel, if its index is 9, I assume I need to put in my ethercat.xml something like:
<slave idx="9" type="2CS3E-D507" name="ATC-Right" />

possibly with some modParam entries as needed.
The question is what do I need to do after than in machine.ini, machine.hal, and cia402.comp so that I can address each of the two motors (two in each drive) separately and associate each of them with its own individual joint. And once I have done than, what is the name of each of them?
Normally they end up producing a lot of pins with a "base name" which looks like "lcec.0.x.", thus lcec.0.4.cia_statusword for example.

My naive idea is to put something like this in machine.ini, assuming this carousel uses joints 6 and 7 :
#*** RIGHT CAROUSEL *******************************
#** arm **
[JOINT_6]
TYPE = LINEAR
HOME = 0.0
MIN_LIMIT = -10.0
MAX_LIMIT = 200.0
MAX_VELOCITY = 25.0
MAX_ACCELERATION = 750.0
FERROR = 1000
MIN_FERROR = 1000
HOME_ABSOLUTE_ENCODER = 2
#** platter **
[JOINT_7]
TYPE = LINEAR (maybe "ANGULAR"?)
HOME = 0.0
MAX_VELOCITY = 25.0
MAX_ACCELERATION = 750.0
FERROR = 1000
MIN_FERROR = 1000
HOME_ABSOLUTE_ENCODER = 2
#******************************************

cia402.comp presumably needs something like:
 
##########################\n
# Functions servo-thread\n
##########################\n
addf lcec.read-all servo-thread\n

addf cia402.6.read-all servo-thread\n
addf cia402.7.read-all servo-thread\n

addf motion/ PIDs / PCL / etc .\n

addf cia402.6.write-all servo-thread\n
addf cia402.7.write-all servo-thread\n

addf lcec.write-all servo-thread\n
#########################################\n
#nets .....\n

What about machine.hal? Presumably the top part needs something like :
addf cia402.6.read-all        servo-thread
addf cia402.7.read-all        servo-thread
addf cia402.6.write-all       servo-thread
addf cia402.7.write-all       servo-thread

However, what do I need to put lower down to link the joints 6 and 7, cia402's and lcec's?
My current bit for the X-axis using EL8 servo drives looks like the code below. What is the rough equivalent for a dual-stepper drive that needs to associate each of the two steppers controlled by the drive to joints 6 and 7 respectively?
#*******************
#  AXIS X  lcec.0.5 cia402.0 joint.0
#*******************

setp cia402.0.csp-mode 1
setp cia402.0.pos-scale -2000

# joint signals for motion
net x-pos-cmd     joint.0.motor-pos-cmd => cia402.0.pos-cmd
net x-pos-fb      joint.0.motor-pos-fb <= cia402.0.pos-fb
net x-enable      joint.0.amp-enable-out => cia402.0.enable
net x-amp-fault   joint.0.amp-fault-in   <= cia402.0.drv-fault

# ethercat to cia402 driver
net x-statusword      lcec.0.5.cia-statusword  => cia402.0.statusword
net x-opmode-display  lcec.0.5.opmode-display  => cia402.0.opmode-display
net x-drv-act-pos     lcec.0.5.actual-position => cia402.0.drv-actual-position

# cia402 driver to ethercat
net x-controlword         cia402.0.controlword         => lcec.0.5.cia-controlword
net x-modes-of-operation  cia402.0.opmode              => lcec.0.5.opmode
net x-drv-target-pos      cia402.0.drv-target-position => lcec.0.5.target-position

# homing
#net x-home-request joint.0.request-custom-homing => cia402.0.home
#net x-homing joint.0.is-custom-homing <= cia402.0.stat-homing
#net x-homed joint.0.custom-homing-finished <= cia402.0.stat-homed

Many thanks!
  • Hakan
  • Hakan
12 Sep 2025 08:34
Replied by Hakan on topic Step By Step Help Needed . EL8 Leadshine to PI 5

Step By Step Help Needed . EL8 Leadshine to PI 5

Category: EtherCAT

I used a servo motor and that type of servo drive for the spindle motor of my lathe.
It is not ideal. The thing is that linuxcnc just sets a spindle speed and the servo motor
does a really quick acceleration to get to that speed. There is no ramping up/ramping down
like an axis motion.  Someone of course solved that, just didn't know about it forum.linuxcnc.org/10-advanced-configura...op-on-m-stop-command

Controlled by analog +- 10V, Beckhoff has many EtherCAT modules for that, EL4xxx series.
Mesa and EtherCAT works well together on different network adapters. Not USB network adapter, USB isn't real-time.
There are many N150 with multiple adapters, and the Odroid H4 plus isn't a bad choice either. If you can choose, choose an Intel network adapter.

EL4xx or Mesa + other computer or EtherCAT servo drive.

Your motor is a very common motor so any EtherCAT servo drive of the right size should in principle work. Ask seller though.
You do want a drive with the PV mode (Profile Velocity). That way the drive will be able to ramp up and down
the rotational speed in a controlled way.
 
  • unknown
  • unknown
12 Sep 2025 08:33
Replied by unknown on topic Installing 2.9.5 on Raspberry Pi 5

Installing 2.9.5 on Raspberry Pi 5

Category: Installing LinuxCNC

I've emailed those that have access, one gentleman is away and can not check, the other gent is on the other side of world, I'm In Australia he is US based, so we will just need to wait for answers.
  • Surmetall
  • Surmetall's Avatar
12 Sep 2025 08:16
Replied by Surmetall on topic TURRET TOE100

TURRET TOE100

Category: Turning

How cool is that! I love the coolored section view. Thank you very much for sharing.

Greetings
Tom
  • dskinne6
  • dskinne6
12 Sep 2025 07:17
Replied by dskinne6 on topic Installing 2.9.5 on Raspberry Pi 5

Installing 2.9.5 on Raspberry Pi 5

Category: Installing LinuxCNC

I have the same issue with RPI5
  • NT4Boy
  • NT4Boy
12 Sep 2025 07:07 - 12 Sep 2025 07:10
EdgeCam Post was created by NT4Boy

EdgeCam Post

Category: Post Processors

LinuxCNC Documentation Wiki: Cam Post

In this document
 

Is a reference to a download link for a file emc2_mill_v2_5.cgd  Edgecam 11.5 
The link to the file is broken. Can anyone supply the file please?
Thanks
  • ziggi
  • ziggi's Avatar
12 Sep 2025 06:28 - 12 Sep 2025 06:29
Replied by ziggi on topic TURRET TOE100

TURRET TOE100

Category: Turning

And the rest
  • ziggi
  • ziggi's Avatar
12 Sep 2025 06:26 - 12 Sep 2025 06:31
Replied by ziggi on topic TURRET TOE100

TURRET TOE100

Category: Turning

Sorry I can not really help, but searching for infos on my Baruffaldi RH80 I found some infos in the internet that can at least help to identify Baruffaldi toolchangers and show some of the interior, nothing to technical- just pictures of a brochure. But might be potentially helpful for anyone searching for infos on his Baruffaldi TC:
  • amanker
  • amanker
12 Sep 2025 04:24
Replied by amanker on topic Remora - Rpi Software Stepping Using External Microcontroller via SPI

Remora - Rpi Software Stepping Using External Microcontroller via SPI

Category: Computers and Hardware

As I mentioned. First I am trying to test it with a4988/drv8825 drivers. That's why I didn't loaded tmc5160 modules. Testing it in step/dir mode only
  • scotta
  • scotta's Avatar
12 Sep 2025 02:17
Replied by scotta on topic Remora - Rpi Software Stepping Using External Microcontroller via SPI

Remora - Rpi Software Stepping Using External Microcontroller via SPI

Category: Computers and Hardware

Hi, LinuxCNC is very capable of handling this configuration with 4 joints and a X Y Y Z configuration. Check out the config below for my 3D printer that has dual Z axes.

github.com/scottalford75/Remora/tree/mai...figSamples/hypercube

The two joints won't jog together until they have been homed. I've found that out the hard way...
  • PCW
  • PCW's Avatar
12 Sep 2025 01:03
Replied by PCW on topic PnCconf Mesa 7i96s PWM speed control OUTPUT_SCALE

PnCconf Mesa 7i96s PWM speed control OUTPUT_SCALE

Category: Driver Boards

Yes, but the pncconf spindle setup also works with other devices with fixed 10V or +-10V  full scale
(7I77,7I76,7I83 etc)

It really should have an additional field for potentiometer type outputs based on the card type
Maybe "Full Scale Analog Output" and "Voltage For Maximum RPM" or some such
  • rhscdn
  • rhscdn
12 Sep 2025 00:54 - 12 Sep 2025 00:55
Replied by rhscdn on topic PnCconf Mesa 7i96s PWM speed control OUTPUT_SCALE

PnCconf Mesa 7i96s PWM speed control OUTPUT_SCALE

Category: Driver Boards

Thanks PCW! The quick reply saved me much head scratching. I will admit that I find this area of the setup a little confusing. Isn't the Mesa 'Spindle Out' voltage fully defined by the input Spindle+ and Spindle- values? Given a potentiometer wiper can never have a voltage higher than its input, what is the need for specifying the 'analog Max Voltage' at all?
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