#linuxcnc Logs
Oct 23 2022
#linuxcnc Calendar
12:26 AM pere: is there a good way to handle homing from both sides of the home switch, if the axis got absolute positioning?
12:38 AM jpa-: pere: if the axis has absolute positioning, why do you need to home it?
12:45 AM pere: to make linuxcnc happy?
12:45 AM pere: or at least to verify the positioning
12:48 AM jpa-: you could use HAL comp and or components to implement something like homing = (home_switch OR abs_pos < 1234) where 1234 is the position at which the home switch deactivates
12:51 AM jpa-: for absolute encoders you usually use this setting, which simply lets you configure a constant offset between absolute encoder value & linuxcnc machine coordinates: https://linuxcnc.org/docs/html/config/ini-homing.html#_home_absolute_encoder
01:13 AM pere: thanks.
02:15 AM Rhine_Labs: No Work Weekend Party..https://youtu.be/PE6mPpQjh9U
04:42 AM JT-Cave: morning
04:43 AM travis_farmer[m]: G'Morning
06:18 AM Tom_L: morning
06:47 AM Deejay: hi
07:17 AM JT-Cave: 63°F
07:49 AM JT-Cave: about ready to bang my head on the desk when I realized my coding error...
08:03 AM JT-Cave: one more bit of code to sort out on the ini4 branch
08:36 AM CloudEvil: :)
08:43 AM Tom_L: 73F
08:45 AM Tom_L: Hi 83 then the rest of the week will be in the high 60's
08:45 AM Tom_L: lows in the 40's
09:18 AM -!- #linuxcnc mode set to +v by ChanServ
09:18 AM travis_farmer[m]: 47F, with a high of 64F here...
10:05 AM perry_j1987: well the new rotary encoder works nice
10:09 AM perry_j1987: https://ibb.co/JHz4xbv
10:11 AM perry_j1987: made a 3d printed adapter from the old hole pattern to the new encoder and a coupler heh
10:12 AM JT-Shop: my M1 Thumb is feeling better today
10:13 AM * JT-Shop clears off the CNC plasma cutter to make a couple of peace signs for KAW
10:16 AM perry_j1987: kaw?
10:17 AM perry_j1987: some sort of a crow convention?
10:19 AM JT-Shop: her initials
10:39 AM perry_j1987: ah
10:55 AM perry_j1987: any of you guys use freecad?
10:55 AM perry_j1987: im playing around with it right now
10:58 AM roycroft: afaik there is still no official assembly module for freecad, and until there is it is not useful to me
10:59 AM perry_j1987: ah interesting so no way to assemble models together in it?
10:59 AM perry_j1987: or its just super clunky ie manual positioning vs joints
11:00 AM jpa-: there are plugins for it, but they are not official / not included in the default install
11:00 AM jpa-: freecad is clunky in many ways, but it is also advancing
11:01 AM perry_j1987: i am trying it out
11:01 AM jpa-: currently I find the freecad path workbench the best open source CAM available
11:01 AM perry_j1987: i successfuly made my first body and then i clicked on the face and added a new sketch to do the second layer of the part
11:01 AM perry_j1987: but it errors out and wont let me add the next pad
11:01 AM perry_j1987: aye i want to play around with its cam
11:02 AM jpa-: adding sketches on faces is prone to breaking when modifying earlier stages, it is often better to add sketches only on the main planes (xy/yz/xz) if possible
11:02 AM jpa-: but what error are you getting?
11:03 AM perry_j1987: not able to add external shape element
11:04 AM Thorhian[m]: Datum planes based on the main planes is a good way to go.
11:06 AM roycroft: thee are ways to do it, but they are all incompatible with each other
11:07 AM roycroft: and one will be chosen eventually as the official one
11:07 AM roycroft: if you pick wrong now, you will lose all your assemblies at some piont
11:07 AM roycroft: point
11:08 AM Thorhian[m]: You sound kind of salty roycroft.
11:11 AM perry_j1987: https://postimg.cc/GHwwj04S here's what i got
11:11 AM perry_j1987: i just noticed that random green dot to the left
11:12 AM jpa-: i think there is a fairly high change of future versions of freecad to cause problems for some models, even for the supposedly "stable" features
11:12 AM perry_j1987: could that be it somehow?
11:14 AM * roycroft has not discussed freecad in quite some time before his mention a few minutes ago, as his views are pretty well-known already
11:19 AM Thorhian[m]: With realthunder’s changes being slowly accepted, it won’t surprise me if his assembly workbench or something based on it becomes the standard. I don’t know that for sure though. I’ll keep happily using FreeCAD anyways though. It’s the best Linux and FOSS option we have. Hopefully my senior project also can help the path workbench in some way as well.
11:22 AM * JT[m] uploaded an image: (255KiB) < https://libera.ems.host/_matrix/media/r0/download/matrix.org/mfqOJGaursdTIEHhtkdiJEXx/20221023_112046_1170410086992459581.jpg >
11:27 AM Thorhian[m]: Nice lol. Also, that keyboard and power switch under the monitor. That’s old school.
11:28 AM perry_j1987: https://postimg.cc/GHwwj04S im not understanding whats going on https://postimg.cc/KKSwbt2c
11:34 AM perry_j1987: Thorhian[m] what are you working on for path
11:37 AM Thorhian[m]: I’m working on a standalone 3D “adaptive” (controlling for radial endmill engagement) tool path algorithm that will eventually be interfaces with using TCP/JSON. That way a lot more projects other than FreeCAD can use it, but will still be of benefit to FreeCAD.
11:38 AM Thorhian[m]: https://github.com/Thorhian/pyThunder_Path
11:40 AM jpa-: Thorhian[m]: nice
11:42 AM roycroft: well, after breakfast i'm heading out to the fair site
11:43 AM roycroft: we're counting ballots today, and will announce the winners of the election
11:43 AM jpa-: i wish there were some program you could feed STL model in and get reasonable toolpath out, with similar level of ease as slicers work for 3d printers
11:43 AM roycroft: after that, i shall have my life back
11:43 AM jpa-: trying to teach freecad path usage to people at local hacklab has been difficult :)
11:44 AM perry_j1987: jpa- need to get 3d printing realm away from using STLs too though
11:44 AM perry_j1987: dont go adding even more intrenchment to STL :)
11:45 AM jpa-: maybe, though i don't find much hope in getting people away from STLs anymore
11:46 AM perry_j1987: there's some progress
11:46 AM jpa-: in any case for 3 axis machines, even a depthmap would be enough of 3D representation
11:47 AM Thorhian[m]: I mean, PrusaSlicer has step file compatibility along with the other more advanced file formats for 3D printing lol.
11:47 AM roycroft: you can blame the plastic squirting machines for the proliferation of stl models
11:48 AM Thorhian[m]: I mean, they work decently well.
11:48 AM jpa-: i would blame the lack of good open source design tools - openscad, blender etc. only work with meshes
11:49 AM jpa-: freecad and solvespace are ok for creating steps, but for many people they appear too difficult
11:50 AM jpa-: and both suffer from random geometry bugs
11:51 AM jpa-: (though i guess *all* the programs do, it's way too easy to create broken STLs)
11:52 AM Thorhian[m]: Thing is, the underlying algorithms for generating the GCode typically rely on mesh data anyways from what I know. Boundary representation is nice, especially for editing in an actual CAD program, but especially for 3D algorithms, you will want to have mesh data. Height maps work for 3-axis mills, but they won’t for printing.
11:54 AM perry_j1987: https://postimg.cc/KKSwbt2c any ideas what this could be?
11:58 AM JT-Cave: can't read it... print is too small
11:59 AM perry_j1987: can't set the datum because the sketch contains conflicting constraints
12:11 PM Tom_L: JT-Cave, i prefer the carhartt denim
12:12 PM JT-Cave: shirt?
12:12 PM Tom_L: yes
12:12 PM Tom_L: i used to get levis but can't find the ones i liked anymore
12:13 PM Tom_L: carhartt are heavier anyway
12:14 PM JT-Cave: I like the Wrangler bluejean shirt
12:14 PM JT-Cave: I've not tried the carhartt shirt but wear carhartt jeans
12:14 PM Tom_L: same quality
12:14 PM Tom_L: button not snap
12:15 PM Tom_L: they do have snap
12:17 PM JT-Cave: I only wear snap
12:19 PM JT-Cave: https://dungarees.com/
12:20 PM JT-Cave: had to order jeans from them no one around here had any stock in my size
12:20 PM Tom_L: becoming a trend i think
12:20 PM * JT-Cave wanders upstairs for a power nap
12:20 PM JT-Cave: the place I buy them from has them on order but never gets any
12:21 PM JT-Cave: ini4 is almost ready for testing, just have to finish up the spindle section
12:21 PM Tom_L: was wondering about that
12:21 PM Tom_L: figured you were busy eating dirt under a car
12:21 PM roycroft: i have lots of carhartt shirts, but not demin ones
12:22 PM roycroft: i like their flanner shirts
12:22 PM Tom_L: i like all their stuff i've gotten so far
12:22 PM roycroft: and i also wear carhartt jeans - they fit the best and last the longest of any i've ever worn
12:23 PM Tom_L: quite a few pocket tees
12:24 PM roycroft: i wear hemp tee shirts when i'm working - hemp breathes better than any other fabric
12:25 PM roycroft: i do have some long sleeve carhartt tees, but i only wear them under another shirt when it's cold and i'm working outside
12:26 PM roycroft: so i need a way to move logs around manually
12:26 PM roycroft: for those who do that stuff, peavey or cant, and why?
12:26 PM roycroft: i've used a peavey before, but a lot of folks say cants are a lot better
12:26 PM roycroft: i've never used a cant
12:26 PM roycroft: and i'd rather not get both
12:27 PM * roycroft understands this could be the logger version of the emacs vs. vi argument
12:28 PM Tom_L: tongs
12:29 PM roycroft: tongs are more for grabbing an pulling with a winch or truck
12:29 PM roycroft: and i'll be getting some tongs
12:30 PM roycroft: i'm talking about moving them around by hand, rotating, rolling, etc.
12:38 PM * roycroft heads off to count votes
12:58 PM perry_j1987: ah thats much nicer added some LED strip indirect lighting to this armoire desk
12:58 PM perry_j1987: now i can see in the shelves without grabbing a flashlight heh
01:51 PM perry_j1987: so much nicer!
02:04 PM Tom_L: man, it's knock ya down windy out today
02:12 PM * JT[m] uploaded an image: (257KiB) < https://libera.ems.host/_matrix/media/r0/download/matrix.org/VtnGADPaPXmkeXAkFmONOpmZ/20221023_141016_7200256079319152468.jpg >
02:16 PM JT-Shop2: getting close to the prize
02:17 PM Tom_L: layer after layer..
02:17 PM Tom_L: are the cv boots still good?
02:17 PM Tom_L: may as well make sure of that while it's out
02:24 PM JT-Shop2: https://www.tickperformance.com/1997-2004-corvette-c5-z06-24/
02:24 PM JT-Shop2: only $1k to replace the axles :)
03:24 PM * JT[m] uploaded an image: (204KiB) < https://libera.ems.host/_matrix/media/r0/download/matrix.org/ebIjdpstpGkimZpWbNmmMXqr/20221023_152237_735698262986135425.jpg >
03:25 PM JT-Shop2: differential ready to come out after I drain the transmission
03:55 PM JT-Shop2: who makes a good click type torque wrench?
03:56 PM xxcodery: being good one. pretty many just suck
03:57 PM JT-Shop2: https://www.mcmaster.com/torque-wrenches/adjustable-torque-wrenches-12/
03:57 PM xxcodery: id suggest somehow test it to see how correct torques are also, though I never did that as only torque wrenches I used was at compant ones
03:57 PM JT-Shop2: I wonder what brand those are
03:58 PM xxcodery: I dont remember sadly. usa brands I think though
04:06 PM JT-Shop2: mcmaster is good about answering questions
04:37 PM Tom_L: i got mine from snapon years and years ago
04:38 PM perry_j1987: looks like there's no lathe cam in freecad yet?
04:38 PM Tom_L: this says tekton: https://www.popularmechanics.com/home/tools/g40821226/best-torque-wrenches/
04:39 PM Tom_L: never heard of em
04:40 PM travis_farmer[m]: and here i thought Harbor Freight Tools made the best tools 😉
04:40 PM Tom_L: if you get to use them once consider them 'good'
04:40 PM travis_farmer[m]: lol
04:41 PM Tom_L: best click: CDI owned by snapon?
04:42 PM Tom_L: you need 3/8 or 1/2" drive?
04:44 PM JT-Shop: 3/8"
04:44 PM Tom_L: for best accuracy get one that has the torque you need in it's midrange
04:45 PM Tom_L: you're welcome to borrow mine if you come get it :)
04:46 PM Tom_L: used quite a bit in my younger days but not much lately
04:46 PM Tom_L: i'd get one with a ratchet head
04:48 PM JT-Shop: yep, cdi seems to be a bit elusive
04:48 PM Tom_L: it's probably like their bluepoint line
04:52 PM Tom_L: i've rented a few oddball tools from the auto store before but nothing that was calibrated
04:52 PM JT-Shop: my M1 Thumb is feeling much better today
04:53 PM Tom_L: my plans are to keep all mine in tact
04:53 PM Tom_L: so far it's working out
04:53 PM JT-Shop: fingers or torque wrenches?
04:53 PM Tom_L: fingers
04:53 PM Tom_L: well both
04:54 PM JT-Shop: when you get a M1 Thumb you remember the proper way to put the clip in for a long time
04:54 PM Tom_L: so it was actually from that?
04:54 PM Tom_L: i figured you just smashed it
04:55 PM JT-Shop: https://www.youtube.com/watch?v=d-FLvnQsggU
04:55 PM Tom_L: yeah
04:55 PM JT-Shop: well actually that's not how it happens
04:56 PM JT-Shop: when you push the clip in a M1 you have to allow the bolt to lift your thumb out of the way
04:56 PM Tom_L: https://www.motor1.com/products-services/auto-products/best-torque-wrench/
04:56 PM Tom_L: this guy likes the CDI too
04:57 PM JT-Shop: https://www.youtube.com/watch?v=iFtouuMyNSo
04:58 PM * Tom_L chows down on some homemade chicken soup
04:58 PM JT-Shop: hmm amazon has cdi torque wrenches
04:59 PM JT-Shop: https://www.amazon.com/CDI-1002MFRMH-8-Inch-Handle-100-Ft-lbs/dp/B002LA19P2
05:00 PM Tom_L: i think mine goes a little higher but quite similar
05:00 PM Tom_L: using 3/8 on head bolts may be marginal anyway
05:00 PM JT-Shop: hmm seems like they are selling horror fright and labeling it cdi
05:00 PM Tom_L: but i did
05:02 PM Tom_L: https://www.mscdirect.com/industrialtools/cdi-torque-wrenches.html
05:03 PM JT-Shop: https://www.mscdirect.com/industrialtools/cdi-torque-wrenches.html
05:03 PM JT-Shop: prob legit
05:03 PM Tom_L: yeah i just posed that
05:04 PM JT-Shop: let me see what my price is at msc when I log in
05:04 PM xxcodery: how do you guys test torque wrenches anyway
05:05 PM xxcodery: at my last job they was all calibrated
05:08 PM Tom_L: get some antiseize when you put them back into the alum
05:09 PM Tom_L: i've used the needle type to but they're harder to use on high torque numbers
05:10 PM Tom_L: imo digital are just fluff
05:10 PM xxcodery: yeah id not buy digitial
05:10 PM JT-Shop: most of the time I can't see the needle
05:10 PM Tom_L: right
05:10 PM Tom_L: it's never where you need it
05:11 PM xxcodery: needle type is fine for pretty specific uses I would think. have to be able to view it, which limits applications and yeah lower torque
05:11 PM Tom_L: https://www.amazon.com/CDI-2401CI3-Computorq-Electronic-Torque/dp/B000I1Y5RK?source=ps-sl-shoppingads-lpcontext&ref_=fplfs&psc=1&smid=ATVPDKIKX0DER
05:11 PM Tom_L: that's crazy
05:12 PM xxcodery: lol thats a nope from me
05:12 PM Tom_L: inlb
05:12 PM Tom_L: but still i wouldn't want the swivel head on a torque wrench
05:12 PM xxcodery: https://www.wikihow.com/Calibrate-a-Torque-Wrench
05:13 PM Tom_L: just measure out a distance and do the math
05:14 PM Tom_L: guess my barbell set would come in handy afterall
05:14 PM Tom_L: not used for much else now
05:16 PM xxcodery: tom yeah, it does couple more steps to basically confirm by converence
05:16 PM xxcodery: pretty strightforward
05:18 PM JT-Shop: on the rigs we had torque multiplier for the head crab nuts... some crazy torque like 750 foot pounds
05:20 PM JT-Shop: the EMD has 645 cu/in per cylinder
05:23 PM JT-Shop: time to retire to the deck
05:40 PM unterhaus: cdi is snapon, so that price isn't exactly surprising
05:40 PM funkenjaeger1683: I'm getting the following error on `make`: `asciidoc: writing: /home/evand/linuxcnc-dev/docs/man/man1/xhc-whb04b-6.1.xml... (full message at <https://libera.ems.host/_matrix/media/r0/download/libera.chat/4af3fbf3204502c06e67346e1f1443b37bea5596>)
05:40 PM funkenjaeger1683: * I'm getting the following error on `make`:... (full message at <https://libera.ems.host/_matrix/media/r0/download/libera.chat/9c1c5afff2bc592800e3d1f6a8f3c316246b92a0>)
05:41 PM funkenjaeger1683: I don't have any trouble reaching the referenced .xsl file by punching that URL into the browser
07:32 PM CaptHindsight[m]: funkenjaeger#1683: https://matrix.to/#/#linuxcnc-devel:libera.chat
07:51 PM roycroft: *whew* we have a new board of directors
07:51 PM roycroft: the election is over!
07:52 PM * roycroft can now return to his regularly scheduled life
07:54 PM CaptHindsight[m]: another stolen election success! :)
07:58 PM CloudEvil: :)
07:59 PM CaptHindsight[m]: CloudEvil: quite the drama you have over there as well
08:01 PM CloudEvil: Basically the same issues with 'our system of government assumes basically good faith compliance with regulations
08:13 PM solarwind: Let's say someone were to have ruined my lathe spindle taper
08:14 PM solarwind: What are my options to rebuild? Do they typically sell replacement spindle noses?
08:15 PM solarwind: It didn't happen, but with the amount of times I change my chucks, I'm bound to damage it one of these days somehow
08:15 PM Rab: solarwind, what's the age and make of the lathe?
08:16 PM solarwind: And an unrelated question about the architecture of LinuxCNC: what is the main kind of control signal the motion planner sends to the HAL? Is it velocity or position or what?
08:16 PM solarwind: Rab It's an ACER E lathe 1440V
08:16 PM solarwind: They still make that model
08:18 PM solarwind: Regarding the LinuxCNC question, it's for the ethercat drivers I'm going to write
08:18 PM solarwind: I want to ideally run them in asynchronous torque mode
08:18 PM solarwind: If that proves too difficult, I'll have to likely fall back to cyclic synchronous velocity profile
08:19 PM Rab: I have heard of people mounting a toolpost grinder and touching up the spindle taper. Seems like something that could result in anything from improved runout to turning your spindle into junk, totally dependant on one's expertise.
08:20 PM solarwind: Rab I stoned it by hand very lightly and so far haven't had any problems. I was able to turn a 20mm shaft to 1µm tolerance along its entire length
08:21 PM solarwind: with a vertical shear tool
08:22 PM Rab: solarwind, sounds orders of magnitude better than anything I have ever turned, so I'm no expert. How do you define "ruined" in the context of the work you do?
08:23 PM solarwind: If I had somehow damaged it when stoning it
08:23 PM solarwind: Like grinding off too much on one side
08:23 PM ZincBoy[CAON][m]: @solarwind, linuxcnc outputs a position command and updates it every servo period. Running the drives in torque or velocity mode requires closing the position loop in HAL. Typically this is done with a PID function. Note that this expects the position feedback to be updated every servo period as well. An asynchronous system would require creating your own control function to close the loop and would be non-trivial.
08:24 PM Rab: Acer says: "1-1/2" bored spindle is made from medium carbon steel and is induction hardened & ground to its final accuracy. It also has a two-point support with both bearings being taper roller." They don't say if it's ground on the lathe.
08:26 PM solarwind: ZincBoy[CAON][m] ah ok. How do the analog servo drive MESA cards work then?
08:26 PM solarwind: That is, what is LinuxCNC sending to them?
08:27 PM ZincBoy[CAON][m]: @solarwind, The PID converts the position error into a velocity command.
08:28 PM solarwind: is that happening on the LinuxCNC side or in the MESA firmware for the analog servo cards?
08:28 PM ZincBoy[CAON][m]: But the PID also needs the encoder values every servo period to update the PID.
08:28 PM solarwind: ok so it's happening in the LinuxCNC side
08:29 PM ZincBoy[CAON][m]: LinuxCNC. The mesa firmware can do it with a special config but this is not normally done.
08:29 PM solarwind: Ok that's fine, I can use that same logic
08:29 PM solarwind: It's just going to do it over ethercat
08:29 PM solarwind: it's the exact same idea
08:29 PM ZincBoy[CAON][m]: I would expect the ethercat drives to have best performance in position mode
08:29 PM ZincBoy[CAON][m]: Have the drive close the position loop.
08:29 PM solarwind: That's what the fallback plan is
08:29 PM ZincBoy[CAON][m]: Closing it in LinuxCNC buys you nothing.
08:30 PM solarwind: There's already an ethercat driver which uses cyclic synchronous position profile
08:30 PM solarwind: Yeah in practice, especially for hobbyist use cases like mine, it will surely gain me nothing
08:31 PM ZincBoy[CAON][m]: You only gain if the control is much more advanced than LinuxCNC's motion planner.
08:31 PM solarwind: The drives are the leadshine EL7 ethercat model
08:31 PM solarwind: so they're already rock solid
08:31 PM solarwind: I figured I'd do it just as an exercise, because they have a 125µs ethercat cycle time
08:32 PM solarwind: So they can do 8kHz servo update rate to > 12 servos on the same link
08:33 PM ZincBoy[CAON][m]: Latency will kill you trying to close the loop in the host the way linuxcnc does things.
08:33 PM solarwind: I intend to write a big part of that
08:33 PM solarwind: I looked at the code and latency was definitely a concern
08:34 PM solarwind: I know LinuxCNC wasn't written with the intention to do real time velocity/torque PID in the controller
08:34 PM solarwind: but I want to add that, for some reason lol
08:34 PM ZincBoy[CAON][m]: It was, just not in the way that ethercat does things.
08:34 PM solarwind: ethercat isn't the bottleneck here
08:35 PM solarwind: I'm going to be using very low latency ethernet cards
08:35 PM solarwind: and possibly experiment with dedicated ethercat master PCIe cards
08:35 PM solarwind: those offload the ethercat stack from the host and give you a very low latency API
08:36 PM solarwind: so it bypasses the OS ethernet stack
08:36 PM solarwind: they use DMI for insanely low latency and linuxCNC can just read those position/velocity information immediately every servo cycle period
08:36 PM ZincBoy[CAON][m]: It can be done and would be interesting to see it work but that is a ton of work for no benefit. I understand if it is for the fun of it though 🙂
08:36 PM solarwind: For the fun of it and possibly to benefit further work in this area
08:37 PM solarwind: There's nothing I'm doing that would require this level of control
08:37 PM solarwind: For now, I'll just run the servo drives in cyclic synchronous position mode
08:38 PM solarwind: I've written real time PID loops on freeRTOS with great success
08:38 PM solarwind: Like > 10kHz servo update rate
08:38 PM solarwind: So the challenge will be working with the constraints of a big heavy OS
08:38 PM ZincBoy[CAON][m]: You don't need to write anything if you go down the path of low latency cards. The stock PID will work fine.
08:39 PM solarwind: you mean for velocity control?
08:39 PM solarwind: like what it's currently doing with the MESA analog servo drive cards?
08:39 PM ZincBoy[CAON][m]: Yes. And sync torque mode
08:40 PM solarwind: oh it's doing sync torque mode with those cards too?
08:40 PM solarwind: if you can run above ~4kHz or so that is
08:40 PM ZincBoy[CAON][m]: If the ethercat latency is low enough it is pretty much the same as using the hardware encoders.
08:40 PM solarwind: ZincBoy[CAON][m] it can get position information every servo update
08:40 PM solarwind: guaranteed
08:41 PM solarwind: The ethercat profile sends out position/velocity/torque, and a few microseconds later, the servo responds with the data
08:41 PM solarwind: Those profiles were designed for this application
08:41 PM ZincBoy[CAON][m]: With the PCIe mesa hardware I have run a 4kHz torque mode servo loop just fine. You can't do that using the ethernet hardware as the practical latency is too high.
08:42 PM solarwind: yeah that's part of what I intend to optimize
08:43 PM solarwind: But regarding the thing you just said, linuxCNC is sending torque commands to the MESA cards then?
08:46 PM ZincBoy[CAON][m]: Yes, you just need to configure the PID differently. And tuning is a bit different but it works fine.