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  • andrax
29 Mar 2026 15:04
Replied by andrax on topic Ethercat Setup help needed for beginner

Er, no. It’s not that simple; LinuxCNC isn’t plug-and-play. If you don’t have any prior knowledge, you should put the A6 aside for now and start with simple stepper motors. You’ll first need to learn how the system works and what each component does. With EtherCAT, you’re moving beyond the hobbyist level, and even professionals sometimes find it frustrating.

I only broke 4 mice from throwing them in anger... its fiiiinnnee.

In seriousness though, I find its less about beginner vs expert in CNC stuff, and more about if you are well versed in linux usage. Most of my troubles setting up were because the instructions just assume you know everything about linux already and leave a lot of critical details out. I am working with one of my customers to trying an make a true step by step guide.

If you do know "nothing", step and direction with a mesa card is generally pretty safe cause its mostly done by a wizard. You aren't mucking in the terminal or doing much editing in HAL.

(also important to note ethercat in linuxcnc has some quirks too, its not quite "final" in my opinion)
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This sounds familiar to me.
I just ended up tearing the whole setup apart in frustration every time and starting over from scratch.

@Spezidrone, this isn’t meant to be a criticism. But it really is an advantage to build a test system with steppers first. That’s the best way to get to know the system and all its configurations.
Etercat sounds simple. Plug the LAN cable into the servo and it’s plug-and-play. If only it were that easy...
If you really want to go through with this, we’d be happy to help, of course.
Welcome to the world of jitter, EMC, XML errors, Hall errors, jumps, and dmesg error logs.
 
  • Aciera
29 Mar 2026 14:53
Replied by Aciera on topic CSS/G96 for other than X-axis?
for a simple example of how to use switchable kinematics see:
configs/sim/axis/vismach/millturn

which uses this custom kinematics component:
github.com/LinuxCNC/linuxcnc/blob/master...onents/millturn.comp

for your use case it would look even simpler.

Forward mapping:
Code:
// define forward kinematic models using case structure for // for switchable kinematics switch (switchkins_type) { case 0: pos->tran.x = j[0]; pos->tran.z = j[1]; pos->v = j[2]; break; case 1: pos->tran.x = j[2]; pos->tran.z = j[1]; pos->v = j[0]; break; } // unused coordinates: pos->a = 0; pos->b = 0; pos->c = 0; pos->u = 0; pos->w = 0;

and the inverse:
Code:
switch (switchkins_type) { case 0: j[0] = pos->tran.x; j[1] = pos->tran.z; j[2] = pos->v; break; case 1: j[2] = pos->tran.x; j[1] = pos->tran.z; j[0] = pos->v; break; }

Limit and acc/vel values can be switched as well (this is also shown in the millturn sim)
  • MaHa
29 Mar 2026 14:38
Replied by MaHa on topic G64 and G20/G21 handling
Axis UI => Machine menu => Show LinuxCNC Status => settings


or from linuxcnc.stat attributes
linuxcnc.org/docs/stable/html/config/pyt...ding_linuxcnc_status

settings
    (returns tuple of floats) - current interpreter settings. settings[0] = sequence number, settings[1] = feed rate, settings[2] = speed, settings[3] = G64 P blend tolerance, settings[4] = G64 Q naive CAM tolerance.

 
  • Hakan
29 Mar 2026 14:08 - 29 Mar 2026 14:12
Replied by Hakan on topic Ethercat Setup help needed for beginner
lcec.0.n.pos-scale
Set it to how much the encoder increases when moving the axis one mm.
setp lcec.0.2.pos-scale 500
for example, or maybe you have one of those with crazy big numbers. Same anyway.
Read encoder value from lcec.0.2.actual-position (before any scaling)
  • dbtayl
29 Mar 2026 14:02
Replied by dbtayl on topic G64 and G20/G21 handling
Where are you seeing that? I don't recall seeing the blending tolerance displayed anywhere, though I suspect I'm just being blind.

That answer works well enough for my purposes- regardless of whether that means "always uses mm" or "always uses machine units".
  • spumco
29 Mar 2026 13:56
Replied by spumco on topic CSS/G96 for other than X-axis?
I guess Y-axis turning/parting wasn't really a thing in the early days of LCNC.

Pausing and axis (disconnect feedback) works fine, especially since the X-axis won't move during the swap.  Your C-axis encoder disconnect component is a perfect example of this.

But I don't see how to 'write' a new/different position for an axis after it's homed.  Unless there's some sort of math going on backstage that takes the current V-axis position and adds/subtracts/whatever from the X-axis.  Switching the stepgen is, as you've shown, pretty straight-forward.

My particular config may be slightly easier to dea with, at least for testing since the X-axis machine zero corresponds with the subspindle in-line with the main spindle.  G53 X0 is where the X-axis will need to stay during the axis swap.

Any idea what a switchable kinematics axis swap thing looks like?
  • Spezidrohne
29 Mar 2026 12:49
Replied by Spezidrohne on topic Ethercat Setup help needed for beginner
I can see the number changing on the DRO when i turn the shaft of the motor, i guess there is some setting missing on the pitch/turns per mm ?
  • Spezidrohne
29 Mar 2026 12:45
Replied by Spezidrohne on topic Ethercat Setup help needed for beginner
I did that, but it didn't work. Then remebered i am in mm. And i changed axis.ini and not axis_mm.ini. Commented out everything except the cia halfile in the mm file, and it worked. I can now drive the servo from the gui. But i get an immediate following error on the joint.
  • Jaragua
29 Mar 2026 12:34
Replied by Jaragua on topic Linuxcnc locks up on T1 M6 (Manual Tool Change)
Tem que colocar abaixo do link do código mais essas linhas:

net tool-prepare iocontrol.0.tool-prepare iocontrol.0.tool-prepared
  • grandixximo
29 Mar 2026 12:25
Replied by grandixximo on topic Ethercat Setup help needed for beginner
It's because it is loaded twice, and once it is from coresim.hal
you will see loadrt [KINS]KINEMATICS or loadrt trivkins or something similar in your hal, that conflicts with the same thing that is written in coresim,hal you can only load kinematics once
and you cannot modify that, it's in the libraries, you can remove the
HALFILE = core_sim.hal
from your ini file
Or as I advised before start from a pncconf configuration, that is more local, and it is easier to understand, as you change settings in pncconf and you see the hal changing, it is more intuitive, just take it easy, it is a steep learning curve.

 
  • Spezidrohne
29 Mar 2026 12:04
Replied by Spezidrohne on topic Ethercat Setup help needed for beginner
Tried removing all halfiles with sim, still get error trivkins already exist.
  • TAKUYA
29 Mar 2026 10:40
Replied by TAKUYA on topic Ethercat random jitter fix
im reinstalling the whole unit today.
i was trying trixie as i had to redo my host for the new cnc. But apparently is this very experimental with debian 13.

Im installing the linuxcnc 2.9.4 iso now, which should still be bookworm. then updating to 2.9.8 and installing the patch again
  • Aciera
29 Mar 2026 09:02
Replied by Aciera on topic CSS/G96 for other than X-axis?
Not sure but looking at this makes me think that CSS is indeed hard coded to the X-Axis:
github.com/LinuxCNC/linuxcnc/blob/4025bf...ontrol.c#L1918-L1922

So the only thing I can think of is to use a switchable custom kinematic that swaps the joints used for the V axis and the X axis.
  • grandixximo
29 Mar 2026 08:14
Replied by grandixximo on topic Ethercat Setup help needed for beginner
coresim will still be in the hal lib, which is symlinked and cannot be modified by user.

try to make a base configuration with pncconf, I think that is how I started.

it makes it easier to understand what is happening, also read the docs, very insightful.
  • grandixximo
29 Mar 2026 07:35
Replied by grandixximo on topic LinuxCNC S-Curve Accelerations
switching live I think is last refinement, YangYang working in separating the TP on a separate thread, switching will be refined after that.
At least spiking is gone, the fall back messages with TP1 are expected, just debugs, will be removed in next PR I think, thank you for spending the time testing.
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