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- strawberry.blondish
07 Jan 2026 17:41
RPi GPIO .hal and .ini from scratch, without hardware, should the GUI open? was created by strawberry.blondish
Hello guys!
I have been trying to switch over from an online system with GRBL Teensy 4.1 with ioSender to a Raspberry Pi 4B LinuxCNC configuration for an 3-axis milling machine. The tricky part is that I am trying to make a configuration that uses the GPIO pins from the RPi instead of using a parallel port hat or a Mesa board. I am an absolute noob, with this being my first post.
Going based off some instructional files I found online and demos for the few who have done this, I have gotten to where I am today. The PDF is in Italian but can be easily inserted into Google Translate. The .hal was the demo I referenced for setting up my .hal.
My version, rpi-4-debian-bookworm-6.12.11-arm64-ext4-2025-01-27-0404.img.xz, should have PREEMPT-RT. These are my .ini and .hal files that I have made for my 3-axis CNC machine.
The problem is that when I run cd ~/linuxcnc/configs/my-rpigpio/ linuxcnc my-rpigpio.ini linuxcnc will tease me with the bootup screen, and then in the terminal I get this:
LINUXCNC - 2.9.4 Machine configuration directory is '/home/cnc/linuxcnc/configs/my-rpigpio' Machine configuration file is 'my-rpigpio.ini' Starting LinuxCNC... linuxcnc TPMOD=tpmod HOMEMOD=homemod EMCMOT=motmod Note: Using POSIX realtime Found file(REL): ./my-rpigpio.hal motion: dlopen: /usr/lib/linuxcnc/modules/motion.so: cannot open shared object file: No such file or directory ./my-rpigpio.hal:7: waitpid failed /usr/bin/rtapi_app motion ./my-rpigpio.hal:7: /usr/bin/rtapi_app exited without becoming ready ./my-rpigpio.hal:7: insmod for motion failed, returned -1 Shutting down and cleaning up LinuxCNC... Note: Using POSIX realtime LinuxCNC terminated with an error. You can find more information in the log: /home/cnc/linuxcnc_debug.txt and /home/cnc/linuxcnc_print.txt as well as in the output of the shell command 'dmesg' and in the terminal
With none of my hardware connected, should I even be expecting the LinuxCNC GUI to open? I feel I have too much stuff in my .hal file and it may be looking for components that don't exist, and that is why my LinuxCNC GUI is not opening.
I have been trying to switch over from an online system with GRBL Teensy 4.1 with ioSender to a Raspberry Pi 4B LinuxCNC configuration for an 3-axis milling machine. The tricky part is that I am trying to make a configuration that uses the GPIO pins from the RPi instead of using a parallel port hat or a Mesa board. I am an absolute noob, with this being my first post.
Going based off some instructional files I found online and demos for the few who have done this, I have gotten to where I am today. The PDF is in Italian but can be easily inserted into Google Translate. The .hal was the demo I referenced for setting up my .hal.
Attachment not found
Attachment not found
My version, rpi-4-debian-bookworm-6.12.11-arm64-ext4-2025-01-27-0404.img.xz, should have PREEMPT-RT. These are my .ini and .hal files that I have made for my 3-axis CNC machine.
Attachment not found
Attachment not found
Attachment not found
The problem is that when I run cd ~/linuxcnc/configs/my-rpigpio/ linuxcnc my-rpigpio.ini linuxcnc will tease me with the bootup screen, and then in the terminal I get this:
LINUXCNC - 2.9.4 Machine configuration directory is '/home/cnc/linuxcnc/configs/my-rpigpio' Machine configuration file is 'my-rpigpio.ini' Starting LinuxCNC... linuxcnc TPMOD=tpmod HOMEMOD=homemod EMCMOT=motmod Note: Using POSIX realtime Found file(REL): ./my-rpigpio.hal motion: dlopen: /usr/lib/linuxcnc/modules/motion.so: cannot open shared object file: No such file or directory ./my-rpigpio.hal:7: waitpid failed /usr/bin/rtapi_app motion ./my-rpigpio.hal:7: /usr/bin/rtapi_app exited without becoming ready ./my-rpigpio.hal:7: insmod for motion failed, returned -1 Shutting down and cleaning up LinuxCNC... Note: Using POSIX realtime LinuxCNC terminated with an error. You can find more information in the log: /home/cnc/linuxcnc_debug.txt and /home/cnc/linuxcnc_print.txt as well as in the output of the shell command 'dmesg' and in the terminal
With none of my hardware connected, should I even be expecting the LinuxCNC GUI to open? I feel I have too much stuff in my .hal file and it may be looking for components that don't exist, and that is why my LinuxCNC GUI is not opening.
- PCW
07 Jan 2026 17:32 - 07 Jan 2026 17:32
Replied by PCW on topic El5101 possible overflow?
There is a related thread here:
forum.linuxcnc.org/24-hal-components/581...oat-precision-issues
The conclusion is that there is not an issue.
forum.linuxcnc.org/24-hal-components/581...oat-precision-issues
The conclusion is that there is not an issue.
- NickH
07 Jan 2026 17:01 - 07 Jan 2026 22:29
Replied by NickH on topic Installing ethercat repositories
Also having problems installing and building Ethercat Master. I have tried the first script at the top ofthe thread(editing Deb12 for Deb13) and the new updated script and still get SSL errors, listed below.
Linux headers are installed and latest for rt kernel.
SSL errors:
root@chewy:/home/nick/ethercat-master# make modules_install install
make -C "/usr/src/linux-headers-6.12.57+deb13-rt-amd64" M="/home/nick/ethercat-master" INSTALL_MOD_DIR="ethercat" modules_install
make[1]: Entering directory '/usr/src/linux-headers-6.12.57+deb13-rt-amd64'
INSTALL /lib/modules/6.12.57+deb13-rt-amd64/ethercat/examples/mini/ec_mini.ko
SIGN /lib/modules/6.12.57+deb13-rt-amd64/ethercat/examples/mini/ec_mini.ko
At main.c:171:
- SSL error:FFFFFFFF80000002:system library::No such file or directory: ../crypto/bio/bss_file.c:67
- SSL error:10000080:BIO routines::no such file: ../crypto/bio/bss_file.c:75
sign-file: /usr/src/linux-headers-6.12.57+deb13-common-rt/output/signing_key.pem
XZ /lib/modules/6.12.57+deb13-rt-amd64/ethercat/examples/mini/ec_mini.ko.xz
INSTALL /lib/modules/6.12.57+deb13-rt-amd64/ethercat/master/ec_master.ko
SIGN /lib/modules/6.12.57+deb13-rt-amd64/ethercat/master/ec_master.ko
At main.c:171:
- SSL error:FFFFFFFF80000002:system library::No such file or directory: ../crypto/bio/bss_file.c:67
- SSL error:10000080:BIO routines::no such file: ../crypto/bio/bss_file.c:75
sign-file: /usr/src/linux-headers-6.12.57+deb13-common-rt/output/signing_key.pem
XZ /lib/modules/6.12.57+deb13-rt-amd64/ethercat/master/ec_master.ko.xz
INSTALL /lib/modules/6.12.57+deb13-rt-amd64/ethercat/devices/ec_generic.ko
SIGN /lib/modules/6.12.57+deb13-rt-amd64/ethercat/devices/ec_generic.ko
At main.c:171:
- SSL error:FFFFFFFF80000002:system library::No such file or directory: ../crypto/bio/bss_file.c:67
- SSL error:10000080:BIO routines::no such file: ../crypto/bio/bss_file.c:75
sign-file: /usr/src/linux-headers-6.12.57+deb13-common-rt/output/signing_key.pem
XZ /lib/modules/6.12.57+deb13-rt-amd64/ethercat/devices/ec_generic.ko.xz
INSTALL /lib/modules/6.12.57+deb13-rt-amd64/ethercat/devices/r8169/ec_r8169.ko
SIGN /lib/modules/6.12.57+deb13-rt-amd64/ethercat/devices/r8169/ec_r8169.ko
At main.c:171:
- SSL error:FFFFFFFF80000002:system library::No such file or directory: ../crypto/bio/bss_file.c:67
- SSL error:10000080:BIO routines::no such file: ../crypto/bio/bss_file.c:75
sign-file: /usr/src/linux-headers-6.12.57+deb13-common-rt/output/signing_key.pem
XZ /lib/modules/6.12.57+deb13-rt-amd64/ethercat/devices/r8169/ec_r8169.ko.xz
DEPMOD /lib/modules/6.12.57+deb13-rt-amd64
Warning: modules_install: missing 'System.map' file. Skipping depmod.
make[1]: Leaving directory '/usr/src/linux-headers-6.12.57+deb13-rt-amd64'
Making install in include
make[1]: Entering directory '/home/nick/ethercat-master/include'
make[2]: Entering directory '/home/nick/ethercat-master/include'
make[2]: Nothing to be done for 'install-exec-am'.
/usr/bin/mkdir -p '/usr/local/include'
/usr/bin/install -c -m 644 ecrt.h ectty.h '/usr/local/include'
make[2]: Leaving directory '/home/nick/ethercat-master/include'
make[1]: Leaving directory '/home/nick/ethercat-master/include'
Making install in script
make[1]: Entering directory '/home/nick/ethercat-master/script'
make[2]: Entering directory '/home/nick/ethercat-master/script'
/usr/bin/mkdir -p '/etc'
/usr/bin/install -c -m 644 ethercat.conf '/etc'
/usr/bin/mkdir -p '/usr/local/sbin'
/usr/bin/install -c ethercatctl '/usr/local/sbin'
/usr/bin/mkdir -p '/usr/local/share/bash-completion/completions'
/usr/bin/install -c -m 644 ethercat.bash_completion '/usr/local/share/bash-completion/completions'
/usr/bin/mkdir -p '/etc/init.d'
/usr/bin/install -c init.d/ethercat '/etc/init.d'
/usr/bin/mkdir -p '/etc/sysconfig'
/usr/bin/install -c -m 644 ethercat '/etc/sysconfig'
make install-data-hook
Can anyone help me put this right please?
##Fresh start, reinstalled##
Linux headers are installed and latest for rt kernel.
SSL errors:
root@chewy:/home/nick/ethercat-master# make modules_install install
make -C "/usr/src/linux-headers-6.12.57+deb13-rt-amd64" M="/home/nick/ethercat-master" INSTALL_MOD_DIR="ethercat" modules_install
make[1]: Entering directory '/usr/src/linux-headers-6.12.57+deb13-rt-amd64'
INSTALL /lib/modules/6.12.57+deb13-rt-amd64/ethercat/examples/mini/ec_mini.ko
SIGN /lib/modules/6.12.57+deb13-rt-amd64/ethercat/examples/mini/ec_mini.ko
At main.c:171:
- SSL error:FFFFFFFF80000002:system library::No such file or directory: ../crypto/bio/bss_file.c:67
- SSL error:10000080:BIO routines::no such file: ../crypto/bio/bss_file.c:75
sign-file: /usr/src/linux-headers-6.12.57+deb13-common-rt/output/signing_key.pem
XZ /lib/modules/6.12.57+deb13-rt-amd64/ethercat/examples/mini/ec_mini.ko.xz
INSTALL /lib/modules/6.12.57+deb13-rt-amd64/ethercat/master/ec_master.ko
SIGN /lib/modules/6.12.57+deb13-rt-amd64/ethercat/master/ec_master.ko
At main.c:171:
- SSL error:FFFFFFFF80000002:system library::No such file or directory: ../crypto/bio/bss_file.c:67
- SSL error:10000080:BIO routines::no such file: ../crypto/bio/bss_file.c:75
sign-file: /usr/src/linux-headers-6.12.57+deb13-common-rt/output/signing_key.pem
XZ /lib/modules/6.12.57+deb13-rt-amd64/ethercat/master/ec_master.ko.xz
INSTALL /lib/modules/6.12.57+deb13-rt-amd64/ethercat/devices/ec_generic.ko
SIGN /lib/modules/6.12.57+deb13-rt-amd64/ethercat/devices/ec_generic.ko
At main.c:171:
- SSL error:FFFFFFFF80000002:system library::No such file or directory: ../crypto/bio/bss_file.c:67
- SSL error:10000080:BIO routines::no such file: ../crypto/bio/bss_file.c:75
sign-file: /usr/src/linux-headers-6.12.57+deb13-common-rt/output/signing_key.pem
XZ /lib/modules/6.12.57+deb13-rt-amd64/ethercat/devices/ec_generic.ko.xz
INSTALL /lib/modules/6.12.57+deb13-rt-amd64/ethercat/devices/r8169/ec_r8169.ko
SIGN /lib/modules/6.12.57+deb13-rt-amd64/ethercat/devices/r8169/ec_r8169.ko
At main.c:171:
- SSL error:FFFFFFFF80000002:system library::No such file or directory: ../crypto/bio/bss_file.c:67
- SSL error:10000080:BIO routines::no such file: ../crypto/bio/bss_file.c:75
sign-file: /usr/src/linux-headers-6.12.57+deb13-common-rt/output/signing_key.pem
XZ /lib/modules/6.12.57+deb13-rt-amd64/ethercat/devices/r8169/ec_r8169.ko.xz
DEPMOD /lib/modules/6.12.57+deb13-rt-amd64
Warning: modules_install: missing 'System.map' file. Skipping depmod.
make[1]: Leaving directory '/usr/src/linux-headers-6.12.57+deb13-rt-amd64'
Making install in include
make[1]: Entering directory '/home/nick/ethercat-master/include'
make[2]: Entering directory '/home/nick/ethercat-master/include'
make[2]: Nothing to be done for 'install-exec-am'.
/usr/bin/mkdir -p '/usr/local/include'
/usr/bin/install -c -m 644 ecrt.h ectty.h '/usr/local/include'
make[2]: Leaving directory '/home/nick/ethercat-master/include'
make[1]: Leaving directory '/home/nick/ethercat-master/include'
Making install in script
make[1]: Entering directory '/home/nick/ethercat-master/script'
make[2]: Entering directory '/home/nick/ethercat-master/script'
/usr/bin/mkdir -p '/etc'
/usr/bin/install -c -m 644 ethercat.conf '/etc'
/usr/bin/mkdir -p '/usr/local/sbin'
/usr/bin/install -c ethercatctl '/usr/local/sbin'
/usr/bin/mkdir -p '/usr/local/share/bash-completion/completions'
/usr/bin/install -c -m 644 ethercat.bash_completion '/usr/local/share/bash-completion/completions'
/usr/bin/mkdir -p '/etc/init.d'
/usr/bin/install -c init.d/ethercat '/etc/init.d'
/usr/bin/mkdir -p '/etc/sysconfig'
/usr/bin/install -c -m 644 ethercat '/etc/sysconfig'
make install-data-hook
Can anyone help me put this right please?
##Fresh start, reinstalled##
- PCW
07 Jan 2026 16:01
Replied by PCW on topic 7i92M + 7i76 add PWM+PktUART
Unfortunately the serial interface on the 7I76 is RS-422 only so not suitable for Modbus
which normally requires a 2 wire (RS-485) connection.
You could add a single chip RS-485 adapter to the second 7I92 connector though.
Perhaps using a SP491 with the proper RS-485 bias resistors
which normally requires a 2 wire (RS-485) connection.
You could add a single chip RS-485 adapter to the second 7I92 connector though.
Perhaps using a SP491 with the proper RS-485 bias resistors
- PCW
07 Jan 2026 15:52
Replied by PCW on topic Servos drives directly start turning
Encoder issue? Did you that both encoders work?
Are they Scaled properly and in the correct direction?
Why does one joint have the scale reversed?
If the axis drifts when enabled, encoder feedback --> PID --> analog output is not working
If the axis runs away when enabled you most likely have the feedback loop reversed
Unless both motors hold position when enable (and resist applied torque)
the feedback loop is not working and needs to be checked on part at a time
Are they Scaled properly and in the correct direction?
Why does one joint have the scale reversed?
If the axis drifts when enabled, encoder feedback --> PID --> analog output is not working
If the axis runs away when enabled you most likely have the feedback loop reversed
Unless both motors hold position when enable (and resist applied torque)
the feedback loop is not working and needs to be checked on part at a time
- PCW
07 Jan 2026 15:40
Replied by PCW on topic Bitfile for Mesa 7i96s + 7i85 (+Modbus (PKT-Pin))
If you are not sure of sserial port locations sure you could always:
sserial_port_0=00000000
Also on mesaflash you can show the daughtercard pinout with (for example):mesaflash --device Ethernet --addr 10.10.10 --dbnbame3 7i85 --readhmid
sserial_port_0=00000000
Also on mesaflash you can show the daughtercard pinout with (for example):mesaflash --device Ethernet --addr 10.10.10 --dbnbame3 7i85 --readhmid
- nick.smith
07 Jan 2026 15:39
Replied by nick.smith on topic 4th axis scale factor (steps per degree)
- TripleM
07 Jan 2026 14:41
Replied by TripleM on topic Bitfile for Mesa 7i96s + 7i85 (+Modbus (PKT-Pin))
The 7I84 is connected to 7I85 TB2 pins 10..16.
for test I have flashed the 7i96s + 7i85 firmware.
So I think this is the correct load line?! Or have I misunderstood something?
for test I have flashed the 7i96s + 7i85 firmware.
So I think this is the correct load line?! Or have I misunderstood something?
Code:
loadrt hm2_eth board_ip="192.168.1.121" config="num_encoders=6 num_pwmgens=1 num_stepgens=9 sserial_port_0=x2xxxx"
Code:
Configuration Name: HOSTMOT2
General configuration information:
BoardName : MESA7I96
FPGA Size: 20 KGates
FPGA Pins: 256
Number of IO Ports: 3
Width of one I/O port: 17
Clock Low frequency: 100.0000 MHz
Clock High frequency: 200.0000 MHz
IDROM Type: 3
Instance Stride 0: 4
Instance Stride 1: 64
Register Stride 0: 256
Register Stride 1: 256
Modules in configuration:
Module: DPLL
There are 1 of DPLL in configuration
Version: 0
Registers: 7
BaseAddress: 7000
ClockFrequency: 100.000 MHz
Register Stride: 256 bytes
Instance Stride: 4 bytes
Module: WatchDog
There are 1 of WatchDog in configuration
Version: 0
Registers: 3
BaseAddress: 0C00
ClockFrequency: 100.000 MHz
Register Stride: 256 bytes
Instance Stride: 4 bytes
Module: IOPort
There are 3 of IOPort in configuration
Version: 0
Registers: 5
BaseAddress: 1000
ClockFrequency: 100.000 MHz
Register Stride: 256 bytes
Instance Stride: 4 bytes
Module: OutM
There are 1 of OutM in configuration
Version: 0
Registers: 1
BaseAddress: B000
ClockFrequency: 100.000 MHz
Register Stride: 256 bytes
Instance Stride: 4 bytes
Module: PWM
There are 1 of PWM in configuration
Version: 0
Registers: 5
BaseAddress: 4100
ClockFrequency: 200.000 MHz
Register Stride: 256 bytes
Instance Stride: 4 bytes
Module: StepGen
There are 9 of StepGen in configuration
Version: 2
Registers: 10
BaseAddress: 2000
ClockFrequency: 100.000 MHz
Register Stride: 256 bytes
Instance Stride: 4 bytes
Module: MuxedQCount
There are 6 of MuxedQCount in configuration
Version: 4
Registers: 5
BaseAddress: 3600
ClockFrequency: 100.000 MHz
Register Stride: 256 bytes
Instance Stride: 4 bytes
Module: MuxedQCountSel
There are 1 of MuxedQCountSel in configuration
Version: 0
Registers: 0
BaseAddress: 0000
ClockFrequency: 100.000 MHz
Register Stride: 256 bytes
Instance Stride: 4 bytes
Module: SSerial
There are 1 of SSerial in configuration
Version: 0
Registers: 6
BaseAddress: 5B00
ClockFrequency: 100.000 MHz
Register Stride: 256 bytes
Instance Stride: 64 bytes
Module: SSR
There are 1 of SSR in configuration
Version: 0
Registers: 2
BaseAddress: 7D00
ClockFrequency: 100.000 MHz
Register Stride: 256 bytes
Instance Stride: 4 bytes
Module: InM
There are 1 of InM in configuration
Version: 0
Registers: 5
BaseAddress: 8500
ClockFrequency: 100.000 MHz
Register Stride: 256 bytes
Instance Stride: 4 bytes
Module: LED
There are 1 of LED in configuration
Version: 0
Registers: 1
BaseAddress: 0200
ClockFrequency: 100.000 MHz
Register Stride: 256 bytes
Instance Stride: 4 bytes
Configuration pin-out:
IO Connections for TB3 -> 7I96_0
Pin# I/O Pri. func Sec. func Chan Sec. Pin func Sec. Pin Dir
TB3-1 0 IOPort InM 0 Input0_EncA0 (In)
TB3-2 1 IOPort InM 0 Input1_EncB0 (In)
TB3-3 2 IOPort InM 0 Input2_EncA1 (In)
TB3-4 3 IOPort InM 0 Input3_EncB1 (In)
TB3-5 4 IOPort InM 0 Input4_EncA2 (In)
TB3-6 5 IOPort InM 0 Input5_EncB2 (In)
TB3-7 6 IOPort InM 0 Input6_EncA3 (In)
TB3-8 7 IOPort InM 0 Input7_EncB3 (In)
TB3-9 8 IOPort InM 0 Input8 (In)
TB3-10 9 IOPort InM 0 Input9 (In)
TB3-11 10 IOPort InM 0 Input10 (In)
TB3-13,14 11 IOPort SSR 0 Out-00 (Out)
TB3-15,16 12 IOPort SSR 0 Out-01 (Out)
TB3-17,18 13 IOPort SSR 0 Out-02 (Out)
TB3-19,20 14 IOPort SSR 0 Out-03 (Out)
TB3-21,22 15 IOPort OutM 0 Output4 (Out)
TB3-23,24 16 IOPort OutM 0 Output5 (Out)
IO Connections for TB1/TB2 -> 7I96_1
Pin# I/O Pri. func Sec. func Chan Sec. Pin func Sec. Pin Dir
TB1-2,3 17 IOPort StepGen 0 Step/Table1 (Out)
TB1-4,5 18 IOPort StepGen 0 Dir/Table2 (Out)
TB1-8,9 19 IOPort StepGen 1 Step/Table1 (Out)
TB1-10,11 20 IOPort StepGen 1 Dir/Table2 (Out)
TB1-14,15 21 IOPort StepGen 2 Step/Table1 (Out)
TB1-16,17 22 IOPort StepGen 2 Dir/Table2 (Out)
TB1-20,21 23 IOPort StepGen 3 Step/Table1 (Out)
TB1-22,23 24 IOPort StepGen 3 Dir/Table2 (Out)
TB2-2,3 25 IOPort StepGen 4 Step/Table1 (Out)
TB2-4,5 26 IOPort StepGen 4 Dir/Table2 (Out)
TB2-7,8 27 IOPort MuxedQCount 2 MuxQ-A (In)
TB2-10,11 28 IOPort MuxedQCount 2 MuxQ-B (In)
TB2-13,14 29 IOPort MuxedQCount 2 MuxQ-IDX (In)
TB2-16,17 30 IOPort SSerial 0 RXData0 (In)
TB2-18,19 31 IOPort SSerial 0 TXData0 (Out)
Internal-TXEn 32 IOPort SSerial 0 TXEn0 (Out)
Internal 33 IOPort SSR 0 AC Ref (Out)
IO Connections for P1 -> 7I96_2
Pin# I/O Pri. func Sec. func Chan Sec. Pin func Sec. Pin Dir
P1-01/DB25-01 34 IOPort SSerial 0 RXData5 (In)
P1-02/DB25-14 35 IOPort SSerial 0 TXData5 (Out)
P1-03/DB25-02 36 IOPort SSerial 0 RXData4 (In)
P1-04/DB25-15 37 IOPort SSerial 0 TXData4 (Out)
P1-05/DB25-03 38 IOPort SSerial 0 RXData3 (In)
P1-06/DB25-16 39 IOPort SSerial 0 TXData3 (Out)
P1-07/DB25-04 40 IOPort SSerial 0 RXData2 (In)
P1-08/DB25-17 41 IOPort SSerial 0 TXData2 (Out)
P1-09/DB25-05 42 IOPort SSerial 0 RXData1 (In)
P1-11/DB25-06 43 IOPort SSerial 0 TXData1 (Out)
P1-13/DB25-07 44 IOPort MuxedQCountSel 0 MuxSel0 (Out)
P1-15/DB25-08 45 IOPort MuxedQCount 0 MuxQ-A (In)
P1-17/DB25-09 46 IOPort MuxedQCount 0 MuxQ-B (In)
P1-19/DB25-10 47 IOPort MuxedQCount 0 MuxQ-IDX (In)
P1-21/DB25-11 48 IOPort MuxedQCount 1 MuxQ-A (In)
P1-23/DB25-12 49 IOPort MuxedQCount 1 MuxQ-B (In)
P1-25/DB25-13 50 IOPort MuxedQCount 1 MuxQ-IDX (In)
- vibram
07 Jan 2026 14:27
El5101 possible overflow? was created by vibram
Hello
I have a spindle encoder with a quadrature signal.
It will be wired to a El5101 but I'm worried about a possible variable overflow as I have 2000 ppr and my spindle can go up to 3000rpm.
I don't think I'm the first one in this situation. How I can handle it?
Thank you for your help
I have a spindle encoder with a quadrature signal.
It will be wired to a El5101 but I'm worried about a possible variable overflow as I have 2000 ppr and my spindle can go up to 3000rpm.
I don't think I'm the first one in this situation. How I can handle it?
Thank you for your help
- rodw
-
07 Jan 2026 11:26
Replied by rodw on topic LinuxCNC S-Curve Accelerations
I really think this discussion of latency is irrelevant. I've had my doubts about 2 core CPU's being adequate for a few years but with careful tuning they work for some.
Either the latency is acceptable or it isn't on a specific PC. There is no hard and fast rule for what is acceptable.You all seem to be working with ethercat or Mesa devices so system latency is no longer relevant if the system is correctly set up to minimize system processes that cause periodic latency spikes.
Network latency is a fairly new concept for Linuxcnc users and has only been an issue since the release of Debian Bullseye but that coincides with increased power saving technology and an insistence by kernel developers to use fully open source network drivers and not incorporate the Realtek DKMS drivers where full source is not available.
I really would like to see actual results discussed, not theoretical dicussions about what might work and what might not. From kernel traces, I know there is a spare 800 ns on most systems before latency will be an issue. I am sure that is more than enough to support any additional processing.
Either the latency is acceptable or it isn't on a specific PC. There is no hard and fast rule for what is acceptable.You all seem to be working with ethercat or Mesa devices so system latency is no longer relevant if the system is correctly set up to minimize system processes that cause periodic latency spikes.
Network latency is a fairly new concept for Linuxcnc users and has only been an issue since the release of Debian Bullseye but that coincides with increased power saving technology and an insistence by kernel developers to use fully open source network drivers and not incorporate the Realtek DKMS drivers where full source is not available.
I really would like to see actual results discussed, not theoretical dicussions about what might work and what might not. From kernel traces, I know there is a spare 800 ns on most systems before latency will be an issue. I am sure that is more than enough to support any additional processing.
- unknown
07 Jan 2026 10:50
Replied by unknown on topic RPi CM5 on Mesa Ethernet 7i95
Please use this image:
drive.google.com/file/d/1CoO_2y7iDTwtubG...VSw/view?usp=sharing
Usually a no carrier issue would be a cable issue between the RPi5 & Mesa board (the drivers have been loaded), has the Mesa board booted correctly ?
Bear in mind that the kernel used is directly from the Raspberry Pi repos, ie it is not a custom kernel other than being RT capable. The RPi kernel build instruction make no differentiation between any of the "5" series. The all use the same kernel. Neither is there special options related to ethernet for the CM5 in the config.txt file.
It may help if you can provide a link to the carrier board.
The best place for any issues relating to the current Trixie images is at the link below as I don't use the forum as often as I used to. There is no need to raise an issue as I'm aware of it.
github.com/ozzyrob/linuxcnc-rpi-2.9.7-image-issues
drive.google.com/file/d/1CoO_2y7iDTwtubG...VSw/view?usp=sharing
Usually a no carrier issue would be a cable issue between the RPi5 & Mesa board (the drivers have been loaded), has the Mesa board booted correctly ?
Bear in mind that the kernel used is directly from the Raspberry Pi repos, ie it is not a custom kernel other than being RT capable. The RPi kernel build instruction make no differentiation between any of the "5" series. The all use the same kernel. Neither is there special options related to ethernet for the CM5 in the config.txt file.
It may help if you can provide a link to the carrier board.
The best place for any issues relating to the current Trixie images is at the link below as I don't use the forum as often as I used to. There is no need to raise an issue as I'm aware of it.
github.com/ozzyrob/linuxcnc-rpi-2.9.7-image-issues
- grandixximo
-
07 Jan 2026 09:00 - 07 Jan 2026 09:06
Replied by grandixximo on topic LinuxCNC S-Curve Accelerations
We have our own proprietary protocol, but you can take a look at this, it's very similar to our own work:
linuxcnc.org/docs/2.8/html/man/man1/linuxcncrsh.1.html
It's all good and well, but let's try to stay on topic, I'm more interested in tp0 vs tp1 issues, or other S-curve/blending related topics.
linuxcnc.org/docs/2.8/html/man/man1/linuxcncrsh.1.html
It's all good and well, but let's try to stay on topic, I'm more interested in tp0 vs tp1 issues, or other S-curve/blending related topics.
- zmrdko
07 Jan 2026 08:49
Replied by zmrdko on topic LinuxCNC S-Curve Accelerations
Hello grandixximo,
amazing work, I have cloned your repo and tested rip install on my i7 9700k.
I have just read in your last post, that you are using external UI, which is brilliant idea - to offload system running linuxcnc and use UI on another PC.
Can you share some details, if it's possible?
Thank you very much for you work, time and effort.
amazing work, I have cloned your repo and tested rip install on my i7 9700k.
I have just read in your last post, that you are using external UI, which is brilliant idea - to offload system running linuxcnc and use UI on another PC.
Can you share some details, if it's possible?
Thank you very much for you work, time and effort.
- endian
07 Jan 2026 08:24
Replied by endian on topic LinuxCNC S-Curve Accelerations
Yes Michel did amazing job ... I have been in touch with him few months ago and he knows about the situation of his scurve too .. We have testing it long time and talking about the possible solutions but he is down for now ...
Can you share some details of hints to best hardware performace at your side please?
Can you share some details of hints to best hardware performace at your side please?
- grandixximo
-
07 Jan 2026 08:17 - 07 Jan 2026 08:30
Replied by grandixximo on topic LinuxCNC S-Curve Accelerations
Our S-Curve code has almost nothing to do with what Grotius did, we have been working on this long before Grotius started on it, we have read Grotius reference material, and followed Grotius progress, and took some inspiration for some refining of our original code we were testing, and we are very grateful for his work, but you cannot compare our S-Curve to Grotius's one.
The testing that you can report to us are to be done with the latest code from github, on my fork of linuxcnc
github.com/grandixximo/Linuxcnc-G-code
You have to provide pictures or written comparison with planner_type 1 and with planner_type 0
Then we will try to reproduce on our end, and see if we can fix whatever the issue might be.
Edit:
As far as hardware goes, we had been running intel G2030 CPUS for many years with mesa PCI LPT and realtek network with mesa_eth cards, but these systems are now very hard to come by, we work now with NUCS, and have used N100 and now N150 based SBC's with intel i225 (igc) for good ethercat latency, we are probably around 20us latency (which I'm not super happy with), but mind that we do not run much of anything but mate-debian ethercat-master and linuxcnc, not even axis UI runs on our systems, we have our own remote UI.
The testing that you can report to us are to be done with the latest code from github, on my fork of linuxcnc
github.com/grandixximo/Linuxcnc-G-code
You have to provide pictures or written comparison with planner_type 1 and with planner_type 0
Then we will try to reproduce on our end, and see if we can fix whatever the issue might be.
Edit:
As far as hardware goes, we had been running intel G2030 CPUS for many years with mesa PCI LPT and realtek network with mesa_eth cards, but these systems are now very hard to come by, we work now with NUCS, and have used N100 and now N150 based SBC's with intel i225 (igc) for good ethercat latency, we are probably around 20us latency (which I'm not super happy with), but mind that we do not run much of anything but mate-debian ethercat-master and linuxcnc, not even axis UI runs on our systems, we have our own remote UI.
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