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  • PCW
21 Mar 2026 19:22 - 21 Mar 2026 21:00
Replied by PCW on topic Should I buy a 7i96S card?
If you want a parallel port equivalent interface, a 7I92TF or  7I92TM might
make more sense, as these both have 2x parallel port equivalent interfaces

If you wanted to use a 7I96 or 7I96S, you could use its P1 parallel expansion
to connect to the parallel interfaced device.

The real question however is what is the pinout of the parallel connection
to the drives/switch interfaces. If it's truly parallel port compatible, a 7I92T(F,M) or
7I96(S) will work. If it's some proprietary interface from the USB card to a
custom driver card, they will not.
 
  • papaathome
21 Mar 2026 18:50 - 21 Mar 2026 18:56
Should I buy a 7i96S card? was created by papaathome
Hi everybody,

I'm looking for an advise to by an Mese 7i96S card or not.

This is why the question came up. I'm leaving Window (for good) but I have a desktop CNC machine that is depending on it, sort of...
I've bought new hardware and it is running Debian Trixie (with Xfce) as the primary OS, dual boot for the moment with windows 11.

On my old hardware I have the following line of control to my CNC machine.
Windows -> (usb) --> proprietary controller --> (D25 parallel bus connector) --> power stage --> CNC steppers and switches.
There is some proprietary controller communicating with windows driving the CNC machine through a D25 parallel port compatible connection. A power stage electronics board is driving all steppers on X/Y/Z/A axis (and providing signalling in return.

I want to replace the proprietary controller by an Mesa 7i96S card. But also want to verify that it is a valid option to go for.
The new configuration will be:
Debian trixie (RT kernel) + LinuxCNC -> (ethernet) --> 7i96S controler -> D25 parallel bus connector --> power stage --> CNC steppers and switches.
I have found out that there is a one-to-one match between signals on the 7i96S TB1, TP2 and TB3 connectors and the D25 parallel bus connectors but can not find much information on the actual D25 parallel bus signal levels at the desktop CNC side. I expect then to be in 'normal' ranges for a parallel bus connection.

My questions are:
- Is this a 'standard' way of applying a 7i96S controller card?
- Are the Mesa 7i96S TB1, TB2 and TB3 connections capable of driving a D25 parallel bus?
- Are there any pitfalls that I should be aware of when I follow this path?

Kind regards.

 
  • ihavenofish
21 Mar 2026 18:42
Replied by ihavenofish on topic Ethercat random jitter fix
no braking features.
noise, I'm not sure how to really tell if there was. the cables are all cat6.
  • raafra111
21 Mar 2026 18:02
AX5201 does not change to SAFEOP / OP was created by raafra111
Hello linuxcnc members,
I would like to use an AX5201 servo driver with LINUXCNC. The AX5201 is setup with TC3 and works fine within the TC3 enviroment. 
The firmware of AX5201 is 1.06 (Build0030) from 11.5.2015 and it seems it can not be updated to version 2.x.
In TC3, the driver goes only on stable OP mode, when the cycle time is 2ms. So the parameters in the ini file were adapted to 2ms cycle time.
The ethercat-conf.xml was created with the great conversion tool from Endian and is loaded and seems to have the correct DC, but the driver stucks in PREOP mode.
The startup-XML was exported from TC3 startup commands. 

How can I find out which parameter causes the mode change problem. 

Thanks for your help in advance!

 
Here the logs:
Code:
Log: dmesg -w   ... [276908.318162] EtherCAT DEBUG 0-0: Writing IDN 0x0064 of drive 0 (4 byte). [276908.318164] EtherCAT DEBUG 0-0: SSC write request: [276908.326158] EtherCAT DEBUG 0-0: SSC write response: [276908.326162] EtherCAT DEBUG 0-0: Writing IDN 0x0065 of drive 0 (2 byte). [276908.326163] EtherCAT DEBUG 0-0: SSC write request: [276908.334159] EtherCAT DEBUG 0-0: SSC write response: [276908.334164] EtherCAT DEBUG 0-0: Writing IDN 0x8043 of drive 0 (2 byte). [276908.334165] EtherCAT DEBUG 0-0: SSC write request: [276908.342158] EtherCAT DEBUG 0-0: SSC write response: [276908.342169] EtherCAT WARNING 0-0: Slave does not support changing the PDO mapping! [276908.342170] EtherCAT WARNING 0-0: Currently mapped PDO entries: 0x0086:00/16 0x0024:00/32. Entries to map: 0x0086:01/16 0x002F:01/32 [276908.342178] EtherCAT WARNING 0-0: Slave does not support changing the PDO mapping! [276908.342179] EtherCAT WARNING 0-0: Currently mapped PDO entries: 0x0086:00/16 0x0024:00/32. Entries to map: 0x0086:01/16 0x0024:01/32 [276908.342195] EtherCAT WARNING 0-0: Slave does not support changing the PDO mapping! [276908.342196] EtherCAT WARNING 0-0: Currently mapped PDO entries: 0x0087:00/16 0x0033:00/32. Entries to map: 0x0087:01/16 0x0033:01/32 0x00BD:01/32 [276908.342203] EtherCAT WARNING 0-0: Slave does not support changing the PDO mapping! [276908.342204] EtherCAT WARNING 0-0: Currently mapped PDO entries: 0x0087:00/16 0x0033:00/32. Entries to map: 0x0087:01/16 0x0033:01/32 [276908.342210] EtherCAT DEBUG 0-0: SM2: Addr 0x1000, Size  12, Ctrl 0x24, En 1 [276908.342212] EtherCAT DEBUG 0-0: SM3: Addr 0x1100, Size  16, Ctrl 0x22, En 1 [276908.346158] EtherCAT DEBUG 0 0:0: FMMU: LogAddr 0x00000000, Size  12, PhysAddr 0x1000, SM2, Dir out [276908.346161] EtherCAT DEBUG 0 0:0: FMMU: LogAddr 0x0000000C, Size  16, PhysAddr 0x1100, SM3, Dir in [276908.350158] EtherCAT DEBUG 0-0: Setting DC cycle times to 250000 / 1750000. [276908.352161] EtherCAT DEBUG 0-0: Checking for synchrony. [276908.354160] EtherCAT DEBUG 0-0: 0 ns difference after 0 ms. [276908.354161] EtherCAT DEBUG 0-0:    ref_time=827427005080485037 [276908.354163] EtherCAT DEBUG 0-0:    app_time=827427083006477389 [276908.354163] EtherCAT DEBUG 0-0:  start_time=827427083106477389 [276908.354164] EtherCAT DEBUG 0-0:       cycle=2000000 [276908.354165] EtherCAT DEBUG 0-0:  shift_time=50000 [276908.354166] EtherCAT DEBUG 0-0:   remainder=1992352 [276908.354167] EtherCAT DEBUG 0-0:        start=827427083106535037 [276908.354168] EtherCAT DEBUG 0-0: Setting DC cyclic operation start time to 827427083106535037. [276908.358159] EtherCAT DEBUG 0-0: Setting DC AssignActivate to 0x0740. [276909.712164] EtherCAT ERROR 0-0: Failed to set SAFEOP state, slave refused state change (PREOP + ERROR). [276909.716169] EtherCAT ERROR 0-0: AL status message 0x0045: "MBX_SOE". [276909.720166] EtherCAT 0-0: Acknowledged state PREOP. On Display: Error: 0xF4A5 plasma@linuxcnc:~ $ ethercat slaves  0  0:0   PREOP  E  AX5201-0000 EtherCAT Drive (SoE, 2 Ch.)  1  0:1   OP     +  EK1100 EtherCAT-Koppler (2A E-Bus)  2  0:2   OP     +  EL2904, 4 K. Safety Ausgang 24V, 0.5A, TwinSAFE  3  0:3   OP     +  EL1904, 4 K. Safety Eingang 24V, TwinSAFE  4  0:4   OP     +  EL1904, 4 K. Safety Eingang 24V, TwinSAFE  5  0:5   OP     +  EL1904, 4 K. Safety Eingang 24V, TwinSAFE  6  0:6   OP     +  EL9110 Einspeiseklemme mit LED (24V, Diagnose)  7  0:7   OP     +  EL1819 16K. Dig. Eingang 24V, 10�s  8  0:8   OP     +  EL2809 16K. Dig. Ausgang 24V, 0.5A  9  0:9   OP     +  EL3061 1K.Ana. Eingang 0-10V 10  0:10  OP     +  EL3061 1K.Ana. Eingang 0-10V  
  • susan-parker
21 Mar 2026 17:34
30 Second timeout before opening and E-Stop button not clicking... was created by susan-parker
Trying to setup Probe Basic Lathe for use with an EMCO Compact 5 CNC lathe with my own electronics.
After the splash screen there is about a 30 second delay before the main GUI appears.
All looks okay, the tabs work but the E-Stop won't click...
Note: In AXIS the E-Stop is correctly asserted for the 7i96s, and the power button works to enable a 7i96s output.
I think it is a python thing, but don't know where to look.
  • grandixximo
21 Mar 2026 15:17 - 21 Mar 2026 15:18
Replied by grandixximo on topic Ethercat random jitter fix
Another thing that comes to mind, do your servos have braking feature? The clunking and the resonance could be related to that if you do have brakes, possibly they are not being properly managed? I use braking on my Z servo drive, and if I lock it when idle I have resonance as well, that's the only thing that comes to mind, also it does make a noise when it engages more of a click than a clunk, just my brain went there...
  • grandixximo
21 Mar 2026 15:08 - 21 Mar 2026 15:10
Replied by grandixximo on topic Ethercat random jitter fix
Never had any of these issues, could be something with your configuration, ini Hal XML or the servo parametrization.
What my patch definitely improved is phasing, what could happen before the patch, was wrong phasing where latency could happen to sit on the threshold of when the servos were expecting the packets, and they could arrive at different cycles, making the motor grind, but all your listed issues probably have a different root cause. If you shared your configuration I could see if anything stands out to me. Other than settings it kind of sounds like an electromagnetic noise issue, are you using shielded cables for the ethercat network connections? Are all components properly grounded? Mostly the servo motors, and if you have a spindle with a VFD those need to be properly shielded filtered and grounded.
  • ihavenofish
21 Mar 2026 14:28
Replied by ihavenofish on topic Ethercat random jitter fix
op state cycling. joint and limit errors when standing still, resonance. When the limit error happens it makes a clunk. It does not seem to ever have an issue in actual motion though.
  • grandixximo
21 Mar 2026 14:23
Replied by grandixximo on topic Ethercat random jitter fix
You have no grinding noise correct?
Your problem is random OP cycling, and motor resonate when the machine is off or on?
  • ihavenofish
21 Mar 2026 13:35
Replied by ihavenofish on topic Ethercat random jitter fix

Check on halscope and halshow, have lcec.0.dc-phased
app-phase
pll-error
pll-out

Those will show if the system is working proper.
See previous users posts.
 

dc phase is true
app phase is changing around 600k
pll error is randomly changing plus or minus 30k
pll out is minus 1000



 
  • grandixximo
21 Mar 2026 12:49
Replied by grandixximo on topic Ethercat random jitter fix
Check on halscope and halshow, have lcec.0.dc-phased
app-phase
pll-error
pll-out

Those will show if the system is working proper.
See previous users posts.
  • Todd Zuercher
21 Mar 2026 11:43
Replied by Todd Zuercher on topic Updating Old GladeVCP Files?
Thank you all. Now that the old vcp is working again, I can try making the modifications I need to do.

I'll post back with either the final results or additional frustrations when I can work on it again Monday.
  • ihavenofish
21 Mar 2026 11:33
Replied by ihavenofish on topic Ethercat random jitter fix
I take it back, all the same issues are there, zero change. Just took a while to show up.

So how do I check if it actually did the thing its supposed to do?
  • grandixximo
21 Mar 2026 11:12
Replied by grandixximo on topic Ethercat random jitter fix
Could you share ini Hal and XML?
  • andrax
21 Mar 2026 10:52
Replied by andrax on topic Problem bei installation Ethercat
Bekommst du irgendwelche Fehler?
Vielleicht hilft es, wenn du das repo wechselst.
 
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