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  • NWE
  • NWE's Avatar
21 Feb 2026 19:15 - 21 Feb 2026 19:17
Replied by NWE on topic How good is Ethercat motion control?

How good is Ethercat motion control?

Category: EtherCAT

I have multiple threads on these things, with files posted
 

Thanks, I will search...
  • NWE
  • NWE's Avatar
21 Feb 2026 19:12
Replied by NWE on topic How good is Ethercat motion control?

How good is Ethercat motion control?

Category: EtherCAT

@Marcos DC
I assume my best chance of diagnosing the behavior is to start with identical hardware and configuration.

I do not know enough details about ihavenofish's issues to point at any specific bit at the moment. I suspect some unexpected interaction between the Omron drives and the LinuxCNC CIA402 component but that is just conjecture at this point. I would like to take a closer look at CIA402 component behavior while running real hardware on my workbench.
  • ihavenofish
  • ihavenofish
21 Feb 2026 19:07 - 21 Feb 2026 19:11
Replied by ihavenofish on topic How good is Ethercat motion control?

How good is Ethercat motion control?

Category: EtherCAT

@NWE


I know this thread is about EtherCAT motion control in general, so to avoid derailing it, maybe it makes sense to open a separate thread focused on this specific Omron / CiA402 / startup behavior case, where we can look at the actual component, configuration and state machine logic in detail

 

I have multiple threads on these things, with files posted :)
The point of commenting here was to say that ethercat in linuxcnc can be a little flakey here and there, but still the way forward.
  • ihavenofish
  • ihavenofish
21 Feb 2026 19:06
Replied by ihavenofish on topic How good is Ethercat motion control?

How good is Ethercat motion control?

Category: EtherCAT

--snip--
I don't know if that's a linuxcnc thing, and ethercat thing, or just a stupid omron thing.

Other than these quirks though, its great and I would not switch back for anything haha.
What model number Omron drive is this? Also, are you using some form of CIA402 component with it? Which one?

I have had a keen interest in Omron servos for a while, but never actually worked with one of those. One of my upcoming projects could use one, now knowing there is "some mysterious bug" of sorts really catches my interest. If I manage to carve out some time for this, I would like to acquire the hardware and investigate the problem.
 


I don't think any of my issues are anything to do with the omron drives. I know 100% the first one is explicitly a conflict between ethercat and modbus naming and start up synchronisation. it is basically reinitialising the drive over and over and over The question is.. WHY?

The new one about joint errors/limits just showed up at random and went away. I think it was related to some stored values that got cleared on reboot, but not simply on linuxcnc restart. Like is was storing the wrong home or last encoder position etc. (i had shut down linuxcnc and rebooted the drives, then restarted linuxcnc). Probably an edge case that likely will never show up again.

The ffirst one is more important, cause every 10 times or so it starts it wigs out.
 
  • bmoo
  • bmoo
21 Feb 2026 18:28
Replied by bmoo on topic Help wiring G0704 Spindle to Mesa 7i96s

Help wiring G0704 Spindle to Mesa 7i96s

Category: Milling Machines

 
  • bmoo
  • bmoo
21 Feb 2026 18:06
Replied by bmoo on topic Help wiring G0704 Spindle to Mesa 7i96s

Help wiring G0704 Spindle to Mesa 7i96s

Category: Milling Machines

Whoops, got the wrong image. It's a 7i96s
  • PCW
  • PCW's Avatar
21 Feb 2026 17:44
Replied by PCW on topic Considering a Full Rewire on a Working Schaublin 125 CNC

Considering a Full Rewire on a Working Schaublin 125 CNC

Category: Turning

You can figure it out via the 7I85 manual but more easily with:

mesaflash --device 7i92t --addr [card_ip_address] --dbname1 7i85 --readhmid
  • tommylight
  • tommylight's Avatar
21 Feb 2026 17:44
Replied by tommylight on topic Help wiring G0704 Spindle to Mesa 7i96s

Help wiring G0704 Spindle to Mesa 7i96s

Category: Milling Machines

Do you have a Mesa 7i96 or 7i96S?
Your tittle says 7i96S but the attached picture is for 7i96, so what gives?
  • Dudelbert
  • Dudelbert
21 Feb 2026 17:04
Replied by Dudelbert on topic Considering a Full Rewire on a Working Schaublin 125 CNC

Considering a Full Rewire on a Working Schaublin 125 CNC

Category: Turning

Thanks for the answer.

One question: Smart Serial 0 is on DB25 pins 1 and 14, can you tell me which location on the 7i85 that corresponds to? I would assume it is the same as Serial 0 with the “normal” firmware (TB2 in the middle). Is that correct?
  • freemoore
  • freemoore
21 Feb 2026 16:22
AT903 VFD modbus register map was created by freemoore

AT903 VFD modbus register map

Category: Advanced Configuration

Hi all, 

After some success with modbus comms using pkuart and hm2_modbus (thanks to PCW for all the support) I'm minded to try talking to the VFD with modbus as well.  However the vfd is (cheap, amazon-sourced) model AT903 of the AT900 series, maker unknown, and although the manuals I've found show how to set it up for modbus comms they do not include any kind of register map. There's a parameter for '0=standard modbus 1=nonstandard modbus' and a number of other params related to serial comms, but that's it. 

Has anyone successfully talked to one of these over serial, or knows who make them, or has the register map? 


Andy
  • bmoo
  • bmoo
21 Feb 2026 16:21
Help wiring G0704 Spindle to Mesa 7i96s was created by bmoo

Help wiring G0704 Spindle to Mesa 7i96s

Category: Milling Machines

Hello there. I'm at a loss for how to wire my spindle to my mesa card to control on/off, direction, and RPM. Could anyone give me some advice please? Attached are the mill wiring diagram and mesa pinout. TIA 
  • PCW
  • PCW's Avatar
21 Feb 2026 16:21
Replied by PCW on topic Considering a Full Rewire on a Working Schaublin 125 CNC

Considering a Full Rewire on a Working Schaublin 125 CNC

Category: Turning

There are no PWMgens at the hal level with a 7I77/7I83, the analog outputs are all 7i77 or 7i83 pins

The likely reason you don't see the 7I83 is that it's disabled in the hal file

No sure which channel its on but consider changing "sserial_port_0=2xxxxxxx" to "sserial_port_0=00000xxx"
because the original statement only enables one sserial channel (0) and sets it to mode 2, and it looks like you
have 2 sserial channels connected. In addition the 7I83 only supports mode 0.
  • Marcos DC
  • Marcos DC's Avatar
21 Feb 2026 16:20
Replied by Marcos DC on topic How good is Ethercat motion control?

How good is Ethercat motion control?

Category: EtherCAT

@NWE

Industrial drives like Omron should not show behavior that depends on history or on how many times you repeat a homing cycle. They don’t “degrade” or become inconsistent just because you run the same sequence again and again. If behavior changes depending on history or number of cycles, that’s almost always a bug in the integration logic (state not reset, counters not reinitialized, missing edge detection, incomplete state machine), not in the drive or in EtherCAT(fieldbus) itself

how many CiA402 implementations are we talking about?
which one are you actually using in your setups? For example, are you using the stock cia402.comp, a modified version, or something else on top of LCEC? And with which drives / modes?

I know this thread is about EtherCAT motion control in general, so to avoid derailing it, maybe it makes sense to open a separate thread focused on this specific Omron / CiA402 / startup behavior case, where we can look at the actual component, configuration and state machine logic in detail
  • Konstantin
  • Konstantin
21 Feb 2026 15:38 - 21 Feb 2026 15:41
Replied by Konstantin on topic CiA 402 Folder Missing

CiA 402 Folder Missing

Category: EtherCAT

Thank you for your help. Actually @3404gerber was right, I had the EtherCAT master working but did not have any configuration created. I managed to move the drives, by the way there are 4 drives, and basic move in joint mode is working fine.

For the past few days I was trying to get the homing to work but no success so far. My servos are with absolute encoders and first of all I tried homing on the current position - it works. Now I would like to home the motors on index pulse but I cannot get it working. I installed and compiled cia402_homecomp and added the HOMEMOD line in the .ini file of the machine.

The problem is when I click home joint button, the motors starts moving at the predefined velocity and keeps moving untill "joint 0 following error" occurs and the drive has fault that says "Homing sequence timeout".

Would you provide any hints on how to approach this problem?

My settings are the same for all 4 axis and you can check them below:

.hal file:
#########################################
#nets
#########################################
net emc-enable => iocontrol.0.emc-enable-in
sets emc-enable 1

#config
setp cia402.0.csp-mode 1
setp cia402.0.pos-scale 8388608

#from servo(ethercat) to cia402
net x-statusword      lcec.0.0.cia-statusword => cia402.0.statusword
net x-opmode-display  lcec.0.0.opmode-display => cia402.0.opmode-display
net x-drv-act-pos     lcec.0.0.actual-position => cia402.0.drv-actual-position
net x-drv-act-velo    lcec.0.0.actual-velocity => cia402.0.drv-actual-velocity

#from cia402 to servo(ethercat) 
net x-controlword         cia402.0.controlword => lcec.0.0.cia-controlword
net x-modes-of-operation  cia402.0.opmode => lcec.0.0.opmode
net x-drv-target-pos      cia402.0.drv-target-position => lcec.0.0.target-position
net x-drv-target-velo     cia402.0.drv-target-velocity => lcec.0.0.target-velocity

#from motion to cia
net x-enable    <= joint.0.amp-enable-out => cia402.0.enable
net x-amp-fault => joint.0.amp-fault-in   <= cia402.0.drv-fault
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

#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

.ini file
HOME                    = 0
HOME_OFFSET                = 0
#HOME_SEQUENCE            = 0
HOME_SEARCH_VEL            = 0
HOME_LATCH_VEL            = 1.0
#HOME_IGNORE_LIMITS        = YES
HOME_USE_INDEX          = YES
  • NWE
  • NWE's Avatar
21 Feb 2026 15:25
Replied by NWE on topic How good is Ethercat motion control?

How good is Ethercat motion control?

Category: EtherCAT

--snip--
I don't know if that's a linuxcnc thing, and ethercat thing, or just a stupid omron thing.

Other than these quirks though, its great and I would not switch back for anything haha.

What model number Omron drive is this? Also, are you using some form of CIA402 component with it? Which one?

I have had a keen interest in Omron servos for a while, but never actually worked with one of those. One of my upcoming projects could use one, now knowing there is "some mysterious bug" of sorts really catches my interest. If I manage to carve out some time for this, I would like to acquire the hardware and investigate the problem.
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