the image file that I could not get in the previous message

• Ok, setup the HOME_OFFSET to -0.118 [equivalent inch to the 0.3mm) no luck.
• Tried inverting /- latch and others.Axis has errors so attaching the image
• When attempting MACHINE / HOMING / "any single axis" I get an error message
• Home setup / limits of one [x] axis as exampleExample - output of ini for X-axis[JOINT_0]TYPE = LINEARHOME = 0.0FERROR = 10.0MIN_FERROR = 0.05MAX_VELOCITY = 3.0MAX_ACCELERATION = 2.0

current x-axis example fro ini:


[JOINT_0]
TYPE = LINEAR
HOME = 0.0
FERROR = 10.0
MIN_FERROR = 0.05
MAX_VELOCITY = 3.0
MAX_ACCELERATION = 2.0
# works - can use after home limits estop fixed - MAX_VELOCITY = 5.0
# works - can use after home limits estop fixed - MAX_ACCELERATION = 7.0
# The values below should be 25% larger than MAX_VELOCITY and MAX_ACCELERATION
# If using BACKLASH compensation STEPGEN_MAXACCEL should be 100% larger.
STEPGEN_MAXVEL = 6.25
STEPGEN_MAXACCEL = 8.75
P = 1000.0
I = 0.0
D = 0.0
FF0 = 0.0
FF1 = 1.0
FF2 = 0.0
BIAS = 0.0
DEADBAND = 0.0
MAX_OUTPUT = 0.0
# these are in nanoseconds
DIRSETUP   = 10000
DIRHOLD    = 10000
STEPLEN    = 5000
STEPSPACE  = 5000
STEP_SCALE = -1016.0030642800001
MIN_LIMIT = 0.0
MAX_LIMIT = 32.0
HOME_OFFSET = -0.118
HOME_SEARCH_VEL = 1.166667
HOME_LATCH_VEL = 1.066667
HOME_FINAL_VEL = 1.100000
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = YES
HOME_SEQUENCE = 2
#******************************************

what worked in stepconf and parallel port

[AXIS_X]
MAX_VELOCITY = 3.25
MAX_ACCELERATION = 3.8
MIN_LIMIT = -0.25
MAX_LIMIT = 36.5
[JOINT_0]
TYPE = LINEAR
HOME = 0.0
MIN_LIMIT = -0.25
MAX_LIMIT = 36.5
MAX_VELOCITY = 3.25
MAX_ACCELERATION = 3.8
STEPGEN_MAXACCEL = 6.0
SCALE = 1016.00000104
FERROR = 0.05
MIN_FERROR = 0.01
HOME_OFFSET = -0.750000
HOME_SEARCH_VEL = -1.100000
HOME_LATCH_VEL = -0.40000
HOME_IGNORE_LIMITS = YES
HOME_SEQUENCE = 1
#******************************************

should I purchase an addon card to the 7i92TM to get the home /limits /estop working and wire direct to it?

Have you checked my ini file is this all correct or have i done a mistake 

Thank you, i will check this when i am at home

With loops 100 I easily got a crash.
Unfortunately it dídn't recover. Same old libusb debug message.
This is on the "new" N100 mini pc.

I understand your point about motion being the proper authority for movements.

My current focus is strictly on validating a clean and deterministic CiA402 semantic layer in isolation, before going into deeper motion integration discussions.

As suggested earlier, I think a dedicated thread about motion/motmod integration would be better for that architectural direction.

For now, I will proceed with the next step: extending this modular CiA402 stack toward dual-axis gantry/squaring validation in SIM.

Once the semantic layer is stable and multi-axis behavior is validated, it should be easier to explore tighter motion integration if needed.

It seems that's a missing piece at the end of the file.

Let's try the attached ngc file.
Load in LinuxCNC and see if it works.
It has been generated using your ncam xml project.

Maybe you could compare it with the file which gives you the error.

Regards
Giovanni
 

 

This is what i see and where the problem code accurs , could be something Wrangler with my linuxcnc or Couleur you give me some advise ?   

Hi JRC,Thanks for sharing your spindle configuration — it was really helpful. I’ve also replaced the original spindle motor with a 1000W servo from StepperOnline, and I’m  pleased with how it’s performing so far - machine has its limitations but for aluminium it seems good so far. I’ve nearly completed my enclosures; I just need to install a  coolant system and add the chip tray and filtration underneath to separate the swarf properly.I’m running the Probe Basic interface as well, which I find very intuitive and easy to use.I have the ATC fitted to my machine but haven’t configured it yet. Do you have an ATC installed on yours? If so, would you be willing to share your configuration files (INI, HAL, etc.)? That would be a huge help.Also, I’d really appreciate a bit more detail on the cylinders you’re using to counterbalance the spindle weight.I’m currently designing a 3D-printed cover for the ATC and would be happy to share it once it’s finished.Thanks again Will 
 


 

Standard vanilla Gmoccapy 2.9.4, 3-axis turret mill, no internet connection,
Has operated fine, no problems, no faults, for quite some time,

Now it powers up with a blue screen devoid of icons,
Can still launch with/Applications/Accessories/LinuxCNC/drop-down-dialog-box/Gmoccapy/.

Web search tells me the absence of desktop icons is normal for Debian 12 Gnome desktop.
Also found a Gnome extension, "desktop-icons-ng", that can be applied to add the icons.

Will I break something if I attempt to apply this extension ?

Is there a better way ?

Thanks,
John.

@andrax
You are right, the encoders are absolute and have batteries. Perhaps, the homing may be needed for squaring the gantry.

I changed all the cables with CAT6 and there are no loops. Attached are the terminal outputs for "ethercat master", "ethercat slaves" and "sudo dmesg". The synchronization errors seem to be disappeared. There is still some errors but I am not sure if they influence the EtherCAT synchronization.

When I try to execute "dmesg | grep ethercat" it does not output anything, just moves to a new row in the terminal.

EDIT 1: After I ran LinuxCNC and executed "sudo dmesg", it showed a warning that says 'Slave did not sync after 5000ms'. Attaches is a new file - dmesg_new.txt. It contains the warning for synchronization.

EDIT 2: Something weird happens to my system. After playing with LinuxCNC with different configuration, the same syncronization error appears again. It seems that the cable did not help. Attached is the lates "sudo dmesg" output - dmesg_last.txt
 

I know it's a step to include motion/motmod.
Linuxcnc should be in charge of the movements, that's the whole point.
Motion should do the the homing, and control it (as best as it can).
Motion should also make possible to switch an joint from axis to spindle. 
Or make possible to use EtherCAT probing.
We don't need to invent crazy situations, but the common ones.

What we do now with these components, homecomp, etc and I have done one myself
for Profile Velocity for spindle, is to have the component decouple the real position from motion
and then re-couple it. The right thing to do would be to have motion handle all motions.

I don't expect you to go that route. I just raise the thought.

 

IKEmaster wrote:

I need 1 card, 1 rpm sensor, 1 accelerometer + cable.

I can sell 1 card, 1 rpm sensor and 1 piezo for 210Usd included shipping to Hungary.
More info cnc-wroc@wp.pl
 

Quick progress update on this project.

The CiA402 semantic layer has now been fully validated in pure HAL + AXIS SIM.

Current validated behavior:

- Clean separation between PDS state machine and opmode modules
- Deterministic controlword composition (no 6040 ambiguity)
- 6060/6061 handshake confirmed
- Mask/value based statusword evaluation
- Operation Enabled gating exposed as a hard industrial gate
- Fault injection during active homing:
-> immediate abort
-> op-enabled cleared
-> no false “done”
-> clean fault-reset return to OE

All of this is transport-agnostic and does not depend on LCEC or EtherCAT internals.

The next planned step is extending this architecture to dual-axis gantry / squaring validation in SIM, keeping CiA402 logic fully modular.

At this stage I do not have EtherCAT hardware available.
If someone with LCEC + CiA402 hardware would be willing to test the modular stack on real drives, I can prepare:

- Clean HAL example configuration
- Minimal README
- Reproducible test steps
- Fault and homing test scenarios

The goal is to validate that the semantic layer behaves identically when replacing the stub with real PDOs.

Feedback on the gantry direction is also welcome before I proceed further.