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  • rodw
28 Feb 2026 02:44
Replied by rodw on topic CiA 402 Folder Missing
Take care. Mine is an adaptation, the original is here  github.com/dbraun1981/hal-cia402/tree/main
  • rodw
28 Feb 2026 02:40
Replied by rodw on topic Just When You Couldn't Hate Government More
Why could I guess the author from the topic?

:)

Interesting concept but its not a kernel function so how are they going to lock it in? Just uninstall the library
  • rodw
28 Feb 2026 02:32
Replied by rodw on topic Separating CiA402 Logic from EtherCAT (lcec): Modular Adapter + Drive Stub Valid
The bare bones CIA402 state machine looks like this:
Code:
// uncomment pins if enabled /* --- CiA 402 Controlword Commands --- */ #define CMD_SHUTDOWN 0x0006 // Transition to Ready to Switch On #define CMD_SWITCH_ON 0x0007 // Transition to Switched On #define CMD_DISABLE_VOLTAGE 0x0000 // Disable power stage #define CMD_QUICK_STOP 0x0002 // Emergency deceleration #define CMD_DISABLE_OPERATION 0x0007 // Disable motor drive #define CMD_ENABLE_OPERATION 0x000F // Enable motor drive (Power On) #define CMD_FAULT_RESET 0x0080 // Reset fault on rising edge /* --- CiA 402 Statusword States --- */ // Masked with 0x006F to extract the specific state bits #define STATE_NOT_READY 0x0000 #define STATE_SWITCH_ON_DISABLED 0x0040 #define STATE_READY_TO_SWITCH_ON 0x0021 #define STATE_SWITCHED_ON 0x0023 #define STATE_OPERATION_ENABLED 0x0027 #define STATE_QUICK_STOP_ACTIVE 0x0007 #define STATE_FAULT_REACTION_ACTIVE 0x000F #define STATE_FAULT 0x0008 uint16_t update_cia402_state(config_data_t *d) { // receives status.word ( d->status.raw) unsigned short currentState = d->status.raw & 0x006F; // removes all the bits we are not interested in switch (currentState) { case STATE_SWITCH_ON_DISABLED: d->control.raw = CMD_SHUTDOWN; break; case STATE_READY_TO_SWITCH_ON: d->control.raw = CMD_SWITCH_ON; break; case STATE_SWITCHED_ON: d->control.raw = CMD_ENABLE_OPERATION; break; case STATE_OPERATION_ENABLED: // Drive is active. Keep it enabled. d->control.raw = CMD_ENABLE_OPERATION; return 1; break; case STATE_FAULT: // Attempt to clear the fault d->control.raw = CMD_FAULT_RESET; break; case STATE_QUICK_STOP_ACTIVE: // Move back to disabled if quick stop was triggered d->control.raw = CMD_DISABLE_VOLTAGE; break; default: // For any unknown or intermediate state, default to a safe "Voltage Disable" d->control.raw = CMD_DISABLE_VOLTAGE; break; } return 0; }

You should add some timeouts for error handling
  • rodw
28 Feb 2026 02:17
Replied by rodw on topic Thinking of moving my Plasma from Masso to LinuxCNC
Damn, I thought I may have had a thcad here in Brisbane but I looked and I don't.

If you have a THC that generates an up/down signal, you could use it if you set the right mode in qtplasmac. Looks like the pokeys may do that.

Totally untested but I do think my hypersensing component would probably be able to be modified to do ohmic and voltage sensing it does sense arc voltage but the scale is only 24.5 volts so it just stays on. with better scaling you probably could do both.



 
  • tar_san
28 Feb 2026 00:48
Replied by tar_san on topic Ver 2.9.4 iso clean install Trouble when disabling EOE
Thanks a lot !

They also mentioned, "if you put this newest ESI , some of this problem will fixed."

( But LinuxCNC (IgH master) desn't have this function. And Yaskawa tools doesn't have upload ESI function to drive as default.)

They said also, this ESI file contains fixture for all versions of firmware.

In this case, do you think It is possible for TwinCAT to fix default ESI in ServoDrive , to make LinuxCNC work ?

I know I have to do it with my own risk and I may not need to do it if I found another solutions.

But I'm happy if I could get some hints for it...
  • gomond
28 Feb 2026 00:38
Thinking of moving my Plasma from Masso to LinuxCNC was created by gomond
Hi all my name is Greg I have been watching this forum for years and this is my first post.

I built a CNC plasma 2 years ago and I used a Masso CNC v3 with their DTHC, as I couldn't get the after market ones to play nicely with it.
I have had nothing but trouble with this machine, yet I have a CNC router and a CNC mill using Masso's and they work great.
The Plasma on Masso is just immature and failure prone. I have built many Plasma cutters for friends using MyPlasm and it is about 1/8 the price and flawless .
I have been watching Rods videos and am very impressed with his results. So I bought a Mesa 7i96 card but I am now retired and a pensioner so I don't have the income like when I was working hence my question , can I implement THC and OHMIC on the existing board or use the ProKeys Fibre linked THC that I have from the Masso experiments and the CNC4PC Ohmic also left over?

Thanks Heaps for any advice 

Cheers Greg.

Arthurs Creek, Vic.
  • tar_san
28 Feb 2026 00:32
Replied by tar_san on topic Cannot JOG Plus/Minus move in TeleOp mode
Sorry. Let me fix, I used 2.9.5 and 2.9.8.
I'm sure 2.9.5 have some bugs for jogs.
  • NWE
27 Feb 2026 23:48
Replied by NWE on topic Robot Arm and Controller
This reminds me of how a lot of industrial CNC machines add a linear scale encoder feedback for increased accuracy. Technically, on such a machine the servomotor feedback encoder equates to your input encoder, and the linear scale is what you call the output encoder.

The idea of measuring torque by measuring the difference between the two encoders sounds really neat, never before heard of that.
  • Dudelbert
27 Feb 2026 22:13
Replied by Dudelbert on topic Considering a Full Rewire on a Working Schaublin 125 CNC
Thank you for the offer, but I already ordered them, and I suspect that postage for you would probably be more than the €4 for five pieces delivered from the other side of the planet. I still don’t understand how these prices are possible.
  • RotarySMP
27 Feb 2026 22:05 - 27 Feb 2026 22:54
Replied by RotarySMP on topic Considering a Full Rewire on a Working Schaublin 125 CNC
Oh, I already ordered some of those board from JCLPCB years ago. I can send you a couple.
  • NWE
27 Feb 2026 20:54
Replied by NWE on topic Separating CiA402 Logic from EtherCAT (lcec): Modular Adapter + Drive Stub Valid
Thanks!
I have not studied internals of CiA402 very deeply. However, I have some EtherCAT hardware here, I'd be willing to test your component on my drives once you get to that stage of the project.
  • andrax
27 Feb 2026 20:14
Replied by andrax on topic Technical questions about CIA402 and homecomp.comp on A6
No, I haven't.I posted a query about this on the German sps forum. The response was arrogant, and I don't expect any help.We're on our own. If you have working code to test, I'd be happy to help
  • PCW
27 Feb 2026 20:07
Replied by PCW on topic Trying to set up position control mode
1. A 0 P term will not work as it will drift it must be 1/servo_period
(1000 for a 1 ms servo thread period)

2. It looks like the step/dir inputs are differential so:

Drive        7I95
7   PULS    Step+
8  /PULS    Step-
11 SIGN     Dir
12 /SIGN    Dir-
 
  • Lcvette
27 Feb 2026 19:33
Replied by Lcvette on topic QTPYVCP+VISMACH+LINUXCNC ROLLED INTO ONE?
you can adjust the vtk code to offer dynamic plot functionality. you need to add in code to correctly follow the tool and define which components of the machine remain stationary and which have motion and assign the plot constraints to match.

this has been a planned upgrade for a while now but we have a bunch going on with the move to pyside6 qt6 so this is kinda down on priority list as most folks don't both with machine simulation so its a minority "want" at the moment.

if you want to dig into the vtk display and see if you can sort some things out that would be fantastic. i have a branch already that has some good work in it where i was working on multi axis which is pretty brutal when it takes so long to test each change. I will see if i can catch up that old branch and leave the sections i was working with notated and commented out as a starting point but it will likely be next week before i can even do it since i have a pyside system currently setup as dev.
  • TurboTux
27 Feb 2026 18:35
Replied by TurboTux on topic Postprocessor for oscillating tangential knife
Hello,

that looks like a lot of work to do and I hope that the OTK-post processor will be
helpful for you as it just adds the rotation for the knife and, if necessary, the
retractions.
FYI: The stepcraft OTK-3 is a little bit "special", because it requires an unusual 30V power supply and I also had to build a small circuit to connect it to my homemade CNC router.(running at 48V) and to handle the homing and safety stop signals.
Just let me know if you encounter any problems with the post processor.. Maybe
I can fix or improve it.
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