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Hi everyone,
I'm working on a KEGEMA-branded CNC router (1300x2500mm working area) that currently runs on a RichAuto DSP A11 handheld controller. I'd like to bypass the handle and control the machine directly from a PC (jog, home, run G-code, start/pause) — similar to what was done in this thread:
forum.linuxcnc.org/30-cnc-machines/35371...troller-richauto-a11
I've read that thread carefully and it's been very helpful, but my setup differs in one important way: my machine uses AC servo motors, not steppers.
Machine specs
Working size: 1300x2500x200mm
Spindle: 6kw HQD air-cooled
Spindle inverter/VFD: 7.5kw Fuling (brand: Folinn on the unit itself)
Axis motors: Leadshine 750W AC servo motors + matching Leadshine AC servo drivers (model marking "L7", 750W, one per axis: X, Y1, Y2, Z — Y1/Y2 appear to be a dual-motor gantry setup)
Reducer: Shimpo (Japan)
Control: RichAuto DSP A11 handheld controller
What I've already confirmed
Inside the control cabinet, the A11's interface board has clearly labeled screw terminals (not just a blind 50-pin harness like in the thread above):
INPUT SIGNAL row: X1 (XH/X-home), X2 (YH/Y-home), X3 (ZH/Z-home), X4 (TS/tool setter), X5-X8 spare, 24V/GND/SHIELD
OUTPUT row: Y5-Y8 + GND (relay outputs — dust collector, water pump, etc.)
Separate 4-pin terminal blocks per axis labeled X_AXIS, Y_AXIS, Z_AXIS, C_AXIS, each with 5V / PULSE / DIR / SHIELD
Each axis terminal block has its own cable running directly to its Leadshine servo driver's CN1 connector
Since these are screw terminals (not a sealed connector), my plan is to add a second wire in parallel at each terminal (tap-off) rather than disturb the existing A11 wiring, so the A11 handle stays functional as a fallback.
What I'm unsure about / looking for help on
Pulse/Dir signal type from Leadshine 750W AC servo drivers (L7 series) — are these standard 5V single-ended step/dir inputs, or differential (like the RS422 signals in the referenced thread)? Trying to confirm from the datasheet before wiring anything.
Recommended motion controller for a 4-axis (X, Y1, Y2 as dual Y, Z) AC servo setup — Mesa 7i96 vs 7i76e vs something else? Do I need differential drivers (like the AM26L31CN used in the referenced thread) between the A11 board and the controller card?
Dual Y-axis (gantry) handling — should Y1 and Y2 be wired as one LinuxCNC axis with a single driver output, or does anyone have experience keeping them as two synced axes?
Spindle speed control — my board also has S0-S3 speed-select terminals (7-speed selection, not analog 0-10V). Anyone dealt with converting this to continuous VFD speed control from LinuxCNC/Mach, or is it easier to just leave spindle speed control on the VFD's own panel?
Any gotchas specific to RichAuto A11 + AC servo (vs. stepper) retrofits that I should know before starting?
Happy to share more photos of the interface board and servo drivers if useful. Any pointers, schematics, or "here's what worked/didn't work for me" experiences would be hugely appreciated.
Thanks in advance!

Fr3nzy wrote:

Hello Mr. Rod,
Do you have iso image of working Linuxcnc with EtherCAT for direct installation?

I have some ISO's I'm not sure anything is working right now at the ethercat and LinuxCNC end. Working on that.

Hello Mr. Rod,
Do you have iso image of working Linuxcnc with EtherCAT for direct installation?

I have a component that uses atexit. On my system this works fine to do something when i close linuxcnc. All other attemps failed.



import atexit


def exit():
    some code...
atexit.register(exit)

 

Another AI leading you up the garden path. An IP address is not required on the Ethercat NIC and without a IP address, there is no ablity to use DNS.

Please read the installing Ethercat sticky and follow what it says. Installing Ethercat becomes easy.

This has nothing to do with ethercat. 2.9.10  Debs think is available on GitHub releases but you can compile it yourself

NO, do not touch the wiring if it works with Axis GUI.
Upload the config files here so we can have a look, the working and non working ones.

your script might be able to look for linuxcnc's rtapi thread (ie the servo thread) and exit if its not found.
AI seems to think it's possible.

I look forward to testing that, but my tiny script does what I need right now - except exit.  I had hoped to find something in the docs about detecting shutdown, but did not.  It seems a strange oversight, unless you assume linuxcnc never exits until the machine shuts off...
 

I too have started a journey through EtherCAT.  I am using an EK1100, EL1008, & EL2008.  Along with a LiChaun CL57E-4A closed loop driver.  I struggled for some time with getting the driver to go into OP mode.  If you are at all familiar with VS Code it can be an invaluable tool when used with Copilot.  I was able to use AI to build my entire configuration.  The problem I had turned out to be how my ethernet card was configured.  The key was to disable DNS on the ethernet card.  DNS does not play well with EtherCAT.  Once I did that everything just worked.  All the configuration file built by using Copilot.  If you find that your driver is getting an error when it tries to change to OP mode.  Try disabling DNS on your network card.

Hope this helps.

 

I have had really good luck with compac/hp 8300 sff (3rd gen i5 4 core)

sam

PS - my plasma is running a rpi 5...

www.youtube.com/shorts/9-y316bJrGk

Since I am a linuxcnc newb I hope that the below pic is what you are asking for.
I have CL57Y drivers , currently they are wired to: PU+ PU- DR+ DR- . The MF+ (enabled +) and MF- (enabled -) are not connected. 
If they do need to be connected do I connect them from MF+ to  the +5v and from MF- to GND on the TB2 terminal?
Thanks

This is not good. I need working LinuxCNC EtherCAT master very soon. How can I compile this? Maybe install older version of LinuxCNC?

See: linuxcnc.org/2026/07/03/2.9.9-Withdrawn/

Another error after trying to "sudo apt upgrade".

Error: Failed to fetch www.linuxcnc.org/dists/trixie/2.9-uspace...pace_2.9.9_amd64.deb  404  Not Found [IP: 69.163.143.134 443]
Error: Unable to fetch some archives, maybe run apt-get update or try with --fix-missing?

Why is that happening?

The good thing is that I managed to install the ethercat. But I used another computer with UEFI for the purpose.

Thank you very much in advance!