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  • LearningLinuxCNC
  • LearningLinuxCNC's Avatar
04 Dec 2025 22:57
Replied by LearningLinuxCNC on topic MesaCT and 7i76eu Issues with generated configuration

MesaCT and 7i76eu Issues with generated configuration

Category: Configuration Tools

Here is a generated HAL file X axis configuration.
# Axis: X Joint: 0 Output: 2
# PID Setup
setp pid.x.Pgain [JOINT_0](P)
setp pid.x.Igain [JOINT_0](I)
setp pid.x.Dgain [JOINT_0](D)
setp pid.x.bias [JOINT_0](BIAS)
setp pid.x.FF0 [JOINT_0](FF0)
setp pid.x.FF1 [JOINT_0](FF1)
setp pid.x.FF2 [JOINT_0](FF2)
setp pid.x.deadband [JOINT_0](DEADBAND)
setp pid.x.maxoutput [JOINT_0](MAX_OUTPUT)
setp pid.x.error-previous-target True

# joint-0 enable chain
net joint-0-index-enable <=> pid.x.index-enable
net joint-0-index-enable <=> joint.0.index-enable

net joint-0-enable <= joint.0.amp-enable-out
net joint-0-enable => pid.x.enable

# position command and feedback
net joint-0-pos-cmd <= joint.0.motor-pos-cmd
net joint-0-pos-cmd => pid.x.command

net joint-0-pos-fb <= hm2_[MESA](BOARD).0.stepgen.00.position-fb
net joint-0-pos-fb => joint.0.motor-pos-fb
net joint-0-pos-fb => pid.x.feedback

# PID Output
net joint.0.output <= pid.x.output

# Axis: Z Joint: 1 Output: 3

This is what I had to change it to in order to make it work properly.
# Axis: X Joint: 0 Output: 2
# PID Setup
setp pid.x.Pgain [JOINT_0](P)
setp pid.x.Igain [JOINT_0](I)
setp pid.x.Dgain [JOINT_0](D)
setp pid.x.bias [JOINT_0](BIAS)
setp pid.x.FF0 [JOINT_0](FF0)
setp pid.x.FF1 [JOINT_0](FF1)
setp pid.x.FF2 [JOINT_0](FF2)
setp pid.x.deadband [JOINT_0](DEADBAND)
setp pid.x.maxoutput [JOINT_0](MAX_OUTPUT)
setp pid.x.error-previous-target True
setp pid.x.maxerror 0.0005

# joint-0 enable chain
net joint-0-index-enable <=> pid.x.index-enable
net joint-0-index-enable <=> joint.0.index-enable

net joint-0-enable <= joint.0.amp-enable-out
net joint-0-enable => pid.x.enable
net joint-0-enable => hm2_[MESA](BOARD).0.stepgen.02.enable

# position command and feedback
net joint-0-pos-cmd <= joint.0.motor-pos-cmd
net joint-0-pos-cmd => pid.x.command
net joint-0-vel-cmd <= joint.0.vel-cmd


net joint-0-pos-fb <= hm2_[MESA](BOARD).0.stepgen.02.position-fb
net joint-0-pos-fb => joint.0.motor-pos-fb
net joint-0-pos-fb => pid.x.feedback

# PID Output
net joint.0.output <= pid.x.output
net joint.0.output => hm2_[MESA](BOARD).0.stepgen.02.velocity-cmd
  • vibram
  • vibram
04 Dec 2025 20:46 - 04 Dec 2025 20:46
MPG and analog command config issue was created by vibram

MPG and analog command config issue

Category: Basic Configuration

Hello I try to setup a mill with all servo drives run with analog command and it's working fine.

However, now I try to setup a MPG
after customizing the HAL file, here is the situation:
the MUX is correctly working for the scale and the axis.x.jog-scale is correct (value from 0.01 to 1mm)
axis.x.jog-enable works fine, same for Y and Z
axis.x.jog-counts works fine, I can see the number of pulses moving when I turn the handle
axis.x.jog-accel-fraction is set to 1

When using Axis interface with the and - button, it works fine
However; when I turn the handle, the axis is not moving at all, I don't have any error message.E-stop is off and Toggle Machine power if ON obviously. 

Any idea what could be the issue?
thank you
  • Hakan
  • Hakan
04 Dec 2025 20:35
Replied by Hakan on topic Ethercat drives not responding, mesa error finishing read

Ethercat drives not responding, mesa error finishing read

Category: EtherCAT

There is no way to read an SDO value into hal as far as I know.
But as you say it wouldn't be too hard to write a user-space hal component in python
the runs the command "ethercat -p n upload 0x2608 0", parses the output and returns a value.
I mean, in principle.
 
  • LearningLinuxCNC
  • LearningLinuxCNC's Avatar
04 Dec 2025 20:23 - 04 Dec 2025 20:23
Replied by LearningLinuxCNC on topic Mesa 7i76eu Encoder Questions

Mesa 7i76eu Encoder Questions

Category: Driver Boards

7i76eud.bin firmware did the trick. Interesting this firmware does not show up in the MesaCT list when using the Configuration Tool. It was in the /lib/firmware/hm2/ folder but it was not showing up in the drop down list.
  • Hexagon
  • Hexagon
04 Dec 2025 19:52
Replied by Hexagon on topic EtherCAT servo as main spindle

EtherCAT servo as main spindle

Category: EtherCAT

I noticed that if I disable the machine the joint.0.motor-pos-cmd tracks the joint.0.motor-fb. So I set up a new hal file with only one cia402 and no cia402pv. Because you can't change the mode of the cia402 while LinuxCNC is running, I change between CSP and CSV by writing directly into the mode of the frequency drive via EtherCAT.

In CSP mode cia402.0.pos-fb -> joint.0.motor-pos-fb. 
In CSV mode joint.0.motor-pos-cmd -> joint.0.motor-pos-fb.

So I have no following error in CSV mode, but I need to change the position before changing from CSV back to CSP or I can turn the machine off and back on again. I built a network with mux2, oneshot and flipflop to toggle the machine for a very short amount and to reset all my mode switching logic. This works surprising well and isn't noticable.

I know that this soultion is not good and only works for my usecase because I only have one servo and nothing gets interrupted by the power cycle.

The bigger problem is that my gcode file gets stopped aswell and I can't resume. Maybe there is a way by tracking the executed lines and then starting from there... But I'm not happy with the power cycle solution in the first place.

Is there any other situation where joint.0.motor-pos-cmd tracks joint.0.motor-fb?
  • Aciera
  • Aciera's Avatar
04 Dec 2025 19:20
Replied by Aciera on topic Gladevcp pin does not exsist

Gladevcp pin does not exsist

Category: GladeVCP

Looks like you got the pin name wrong. Try removing the 'gladevcp.' at the beginning.
  • nanowhat
  • nanowhat
04 Dec 2025 18:44
Replied by nanowhat on topic Ethercat drives not responding, mesa error finishing read

Ethercat drives not responding, mesa error finishing read

Category: EtherCAT

I figured it out. The manual doesn't explicitly mention SDOs but it does say whether an index can be assigned to a PDO and I ignored that information the first time around.
260B, 260C, and 260D cannot be assigned to a PDO.

Is there another way of getting this information into HAL, or do I need to write a custom component?
  • mmt
  • mmt
04 Dec 2025 18:40
Gladevcp pin does not exsist was created by mmt

Gladevcp pin does not exsist

Category: GladeVCP

Been quite a while since I've edited my linuxcnc v2.9.x Not sure what I am doing wrong here.

Help is appreciated

 
  • nanowhat
  • nanowhat
04 Dec 2025 18:30 - 04 Dec 2025 18:33
Replied by nanowhat on topic Ethercat drives not responding, mesa error finishing read

Ethercat drives not responding, mesa error finishing read

Category: EtherCAT

Output from "ethercat pdos" in attached file.

0x2605 works just fine: that's the DC link voltage and I can read that from all 3 drives.
0x260B does not.

The drive manual doesn't discuss SDOs, or whether some data index is a PDO or SDO. I would hope a temperature sensor would be continuously readable, which would require it to be a PDO.
  • Hakan
  • Hakan
04 Dec 2025 18:20
Replied by Hakan on topic Ethercat drives not responding, mesa error finishing read

Ethercat drives not responding, mesa error finishing read

Category: EtherCAT

With pll-reset-count steady at to 2 it should be fine.

Try to locate temperature sensors in the pdo listing from "ethercat pdos".
I suspect you are addressing a sdo with 2605 and that won't work.
You'll find out from the ethercat pdos listing.
  • nanowhat
  • nanowhat
04 Dec 2025 18:20
Replied by nanowhat on topic Long initialization of Ethercat on servo drive SV660N

Long initialization of Ethercat on servo drive SV660N

Category: EtherCAT

I recently did this and my exact command was:
"./configure --sysconfdir=/etc/ --disable-8139too --enable-userlib --enable-generic --disable-eoe"
  • nanowhat
  • nanowhat
04 Dec 2025 17:34
Replied by nanowhat on topic Ethercat drives not responding, mesa error finishing read

Ethercat drives not responding, mesa error finishing read

Category: EtherCAT

$lcecObject.pll-error-count is holding at 2. I haven't seen it increase yet.

I want to read some more data from the drives, and it won't work. See attached iX7NH.xml, line 23. I want to see the temperature values from the drive, but I can't read them. As shown, where pdoEntry idx="260B", the drive stays in PREOP (see dmesg output in dmesg260B.txt). If I change the index to "2606", the drive will go to OP (see dmesg output in dmesg2606.txt) and I can see the number through HAL (that I don't want). Registers 2606 and 260B are both 16 bit signed integers.
Any of 260B, 260C, or 260D (all temperature sensors in the servo system) have the same effect.


I can read the values manually with "ethercat upload -p0 -t int16 0x260B 0" and I get some number.
The drive manual says I can read up to 10 registers with one TxPDO: I have 6.
It also says that I am limited to 28 bytes in one TxPDO: I have 13.
How do I do this?
  • Hexagon
  • Hexagon
04 Dec 2025 17:11
Replied by Hexagon on topic EtherCAT servo as main spindle

EtherCAT servo as main spindle

Category: EtherCAT

The sync component only calculates the c-pos-sync.0.pos_cmd_out, but has no effect to the joint.0.motor-pos-cmd.

It takes joint.0.motor-pos-cmd as c-pos-sync.0.pos-cmd-in and joint.0.motor-pos-fb as c-pos-sync.0.pos-fb_in. The calculated delta is called offset. So in spindle mode cmd_out = fb_in, but cmd_in is fixed. That results in the following joint error.

FUNCTION(_) {
    if (!c_mode_active) {
        offset = pos_fb_in - pos_cmd_in;
        pos_cmd_out = pos_fb_in;
    } else {
        pos_cmd_out = pos_cmd_in + offset;
    }
}
  • Hakan
  • Hakan
04 Dec 2025 16:38
Replied by Hakan on topic EtherCAT servo as main spindle

EtherCAT servo as main spindle

Category: EtherCAT

I thought ADm1N solved this with the c_pos_sync component?
  • Aciera
  • Aciera's Avatar
04 Dec 2025 16:08
Replied by Aciera on topic EtherCAT servo as main spindle

EtherCAT servo as main spindle

Category: EtherCAT

I'm not familiar with ethercat but the somewhat 'established' strategy when switching between spindle and rotary is to use a hal component to freeze the encoder position feedback when switching to spindle mode and reposition the spindle using M19 before switching back to rotary mode and reconnecting the encoder signal.
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