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1	Package:·linuxcnc-doc-de	1	Package:·linuxcnc-doc-de
2	Source:·linuxcnc	2	Source:·linuxcnc
3	Version:·2.9.1-2	3	Version:·2.9.1-2
4	Architecture:·all	4	Architecture:·all
5	Maintainer:·LinuxCNC·Developers·<emc-developers@lists.sourceforge.net>	5	Maintainer:·LinuxCNC·Developers·<emc-developers@lists.sourceforge.net>
6	Installed-Size:·26953	6	Installed-Size:·26952
7	Recommends:·xdg-utils	7	Recommends:·xdg-utils
8	Suggests:·pdf-viewer	8	Suggests:·pdf-viewer
9	Provides:·linuxcnc-doc	9	Provides:·linuxcnc-doc
10	Section:·misc	10	Section:·misc
11	Priority:·optional	11	Priority:·optional
12	Multi-Arch:·foreign	12	Multi-Arch:·foreign
13	Homepage:·https://linuxcnc.org/	13	Homepage:·https://linuxcnc.org/


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12	-rw-r--r--···0·root·········(0)·root·········(0)·2613~~2727~~·2023-11-05·11:59:16.000000·./usr/share/doc/linuxcnc/LinuxCNC_Documentation_de.pdf	12	-rw-r--r--···0·root·········(0)·root·········(0)·26131991·2023-11-05·11:59:16.000000·./usr/share/doc/linuxcnc/LinuxCNC_Documentation_de.pdf
13	-rw-r--r--···0·root·········(0)·root·········(0)···404716·2023-11-05·11:59:16.000000·./usr/share/doc/linuxcnc/LinuxCNC_Getting_Started_de.pdf	13	-rw-r--r--···0·root·········(0)·root·········(0)···404716·2023-11-05·11:59:16.000000·./usr/share/doc/linuxcnc/LinuxCNC_Getting_Started_de.pdf
14	-rw-r--r--···0·root·········(0)·root·········(0)···150052·2023-11-05·11:59:16.000000·./usr/share/doc/linuxcnc/LinuxCNC_Integrator_de.pdf	14	-rw-r--r--···0·root·········(0)·root·········(0)···150033·2023-11-05·11:59:16.000000·./usr/share/doc/linuxcnc/LinuxCNC_Integrator_de.pdf
15	-rw-r--r--···0·root·········(0)·root·········(0)····14667·2023-11-05·11:59:16.000000·./usr/share/doc/linuxcnc/gcode_de.html	15	-rw-r--r--···0·root·········(0)·root·········(0)····14667·2023-11-05·11:59:16.000000·./usr/share/doc/linuxcnc/gcode_de.html
16	drwxr-xr-x···0·root·········(0)·root·········(0)········0·2023-11-05·11:59:16.000000·./usr/share/doc/linuxcnc-doc-de/	16	drwxr-xr-x···0·root·········(0)·root·········(0)········0·2023-11-05·11:59:16.000000·./usr/share/doc/linuxcnc-doc-de/
17	-rw-r--r--···0·root·········(0)·root·········(0)····10751·2023-11-05·11:59:16.000000·./usr/share/doc/linuxcnc-doc-de/changelog.Debian.gz	17	-rw-r--r--···0·root·········(0)·root·········(0)····10751·2023-11-05·11:59:16.000000·./usr/share/doc/linuxcnc-doc-de/changelog.Debian.gz
18	-rw-r--r--···0·root·········(0)·root·········(0)····42238·2023-10-08·12:02:22.000000·./usr/share/doc/linuxcnc-doc-de/copyright	18	-rw-r--r--···0·root·········(0)·root·········(0)····42238·2023-10-08·12:02:22.000000·./usr/share/doc/linuxcnc-doc-de/copyright
19	drwxr-xr-x···0·root·········(0)·root·········(0)········0·2023-11-05·11:59:16.000000·./usr/share/doc-base/	19	drwxr-xr-x···0·root·········(0)·root·········(0)········0·2023-11-05·11:59:16.000000·./usr/share/doc-base/
20	-rw-r--r--···0·root·········(0)·root·········(0)······327·2023-10-08·12:02:22.000000·./usr/share/doc-base/linuxcnc-doc-de.linuxcnc-doc-de	20	-rw-r--r--···0·root·········(0)·root·········(0)······327·2023-10-08·12:02:22.000000·./usr/share/doc-base/linuxcnc-doc-de.linuxcnc-doc-de
21	drwxr-xr-x···0·root·········(0)·root·········(0)········0·2023-11-05·11:59:16.000000·./usr/share/lintian/	21	drwxr-xr-x···0·root·········(0)·root·········(0)········0·2023-11-05·11:59:16.000000·./usr/share/lintian/


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1	CreationDate:·"D:20231105115916-00'00'"	1	CreationDate:·"D:20231105115916-00'00'"
2	Creator:·'DBLaTeX-0.3.12'	2	Creator:·'DBLaTeX-0.3.12'
3	Producer:·'xdvipdfmx·(20220710)'	3	Producer:·'xdvipdfmx·(20220710)'
4	Title:·'Developer·Manual·V2.9.1,·04·Nov·2023'	4	Title:·'Developer·Manual·V2.9.1,·06·Nov·2023'


Offset 1, 10 lines modified		Offset 1, 10 lines modified
1	Developer·Manual·V2.9.1,·04·Nov·2023	1	Developer·Manual·V2.9.1,·06·Nov·2023

2	\xcDeveloper·Manual·V2.9.1,·04·Nov·2023	2	\xcDeveloper·Manual·V2.9.1,·06·Nov·2023

3	ii	3	ii

4	Contents	4	Contents
5	1·Introduction	5	1·Introduction

6	1	6	1
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117	15	117	15

118	3.8.3.1·Requirements·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.	118	3.8.3.1·Requirements·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.

119	16	119	16

120	\xcDeveloper·Manual·V2.9.1,·04·Nov·2023	120	\xcDeveloper·Manual·V2.9.1,·06·Nov·2023

121	iii	121	iii

122	3.8.3.2·Results·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.	122	3.8.3.2·Results·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.

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281	19	281	19

282	3.8.16.1Requirements·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.	282	3.8.16.1Requirements·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.

283	20	283	20

284	\xcDeveloper·Manual·V2.9.1,·04·Nov·2023	284	\xcDeveloper·Manual·V2.9.1,·06·Nov·2023

285	iv	285	iv

286	3.8.16.2Results·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.	286	3.8.16.2Results·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.

287	20	287	20

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449	3.21.3Process·line	449	3.21.3Process·line

450	27	450	27

451	.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.	451	.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.

452	\xcDeveloper·Manual·V2.9.1,·04·Nov·2023	452	\xcDeveloper·Manual·V2.9.1,·06·Nov·2023

453	v	453	v

454	3.21.4Configuration·Comments·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.	454	3.21.4Configuration·Comments·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.

455	28	455	28

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625	40	625	40

626	4.14Others·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.	626	4.14Others·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.

627	40	627	40

628	\xcDeveloper·Manual·V2.9.1,·04·Nov·2023	628	\xcDeveloper·Manual·V2.9.1,·06·Nov·2023

629	vi	629	vi

630	5·Coding·Style	630	5·Coding·Style

631	41	631	41

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781	8.4.1·LinuxCNC·official·Git·repo	781	8.4.1·LinuxCNC·official·Git·repo

782	.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.	782	.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.

783	52	783	52

784	\xcDeveloper·Manual·V2.9.1,·04·Nov·2023	784	\xcDeveloper·Manual·V2.9.1,·06·Nov·2023

785	vii	785	vii

786	8.4.2·Use·of·Git·in·the·LinuxCNC·project·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.	786	8.4.2·Use·of·Git·in·the·LinuxCNC·project·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.

787	53	787	53

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876	10.2GNU·Free·Documentation·License	876	10.2GNU·Free·Documentation·License

877	.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.	877	.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.

878	63	878	63
879	63	879	63

880	\xcDeveloper·Manual·V2.9.1,·04·Nov·2023	880	\xcDeveloper·Manual·V2.9.1,·06·Nov·2023

881	1·/·67	881	1·/·67

882	Chapter·1	882	Chapter·1

883	Introduction	883	Introduction

Offset 904, 15 lines modified		Offset 904, 15 lines modified
904	trademark·Linux®·is·used·pursuant·to·a·sublicense·from·LMI,·the·exclusive·licensee·of·Linus·Torvalds,	904	trademark·Linux®·is·used·pursuant·to·a·sublicense·from·LMI,·the·exclusive·licensee·of·Linus·Torvalds,
905	owner·of·the·mark·on·a·world-wide·basis.	905	owner·of·the·mark·on·a·world-wide·basis.
906	The·LinuxCNC·project·is·not·affiliated·with·Debian®.·Debian·is·a·registered·trademark·owned·by	906	The·LinuxCNC·project·is·not·affiliated·with·Debian®.·Debian·is·a·registered·trademark·owned·by
907	Software·in·the·Public·Interest,·Inc.	907	Software·in·the·Public·Interest,·Inc.
908	The·LinuxCNC·project·is·not·affiliated·with·UBUNTU®.·UBUNTU·is·a·registered·trademark·owned	908	The·LinuxCNC·project·is·not·affiliated·with·UBUNTU®.·UBUNTU·is·a·registered·trademark·owned
909	by·Canonical·Limited.	909	by·Canonical·Limited.

910	\xcDeveloper·Manual·V2.9.1,·04·Nov·2023	910	\xcDeveloper·Manual·V2.9.1,·06·Nov·2023

911	2·/·67	911	2·/·67

912	Chapter·2	912	Chapter·2

913	HAL·General·Reference	913	HAL·General·Reference
914	2.1·HAL·Entity·Names	914	2.1·HAL·Entity·Names
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941	functional·blocks,·each·block·might·have·several·channels,·and·each·channel·has·one·or·more·pins.	941	functional·blocks,·each·block·might·have·several·channels,·and·each·channel·has·one·or·more·pins.
942	This·results·in·a·structure·that·resembles·a·directory·tree.·Even·though·halcmd·doesn’t·recognize·the	942	This·results·in·a·structure·that·resembles·a·directory·tree.·Even·though·halcmd·doesn’t·recognize·the
943	tree·structure,·proper·choice·of·naming·conventions·will·let·it·group·related·items·together·(since·it	943	tree·structure,·proper·choice·of·naming·conventions·will·let·it·group·related·items·together·(since·it
944	sorts·the·names).·In·addition,·higher·level·tools·can·be·designed·to·recognize·such·structure,·if·the	944	sorts·the·names).·In·addition,·higher·level·tools·can·be·designed·to·recognize·such·structure,·if·the
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1	LinuxCNC·V2.9.1,·04·Nov·2023	1	LinuxCNC·V2.9.1,·06·Nov·2023

2	\xcLinuxCNC·V2.9.1,·04·Nov·2023	2	\xcLinuxCNC·V2.9.1,·06·Nov·2023

3	ii	3	ii

4	Contents	4	Contents

5	I·Getting·Started·&·Configuration	5	I·Getting·Started·&·Configuration

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118	9	118	9

119	1.3.5.1·Basic·Tweaks·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.	119	1.3.5.1·Basic·Tweaks·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.

120	9	120	9

121	\xcLinuxCNC·V2.9.1,·04·Nov·2023	121	\xcLinuxCNC·V2.9.1,·06·Nov·2023

122	iii	122	iii

123	1.3.6·PREEMPT_RT·Tweaks·(x86/AMD64·only)·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.	123	1.3.6·PREEMPT_RT·Tweaks·(x86/AMD64·only)·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.

124	10	124	10

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284	1.6.6.2·The·GUI·Way·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.	284	1.6.6.2·The·GUI·Way·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.

285	24	285	24

286	1.6.3·Terminal	286	1.6.3·Terminal

287	\xcLinuxCNC·V2.9.1,·04·Nov·2023	287	\xcLinuxCNC·V2.9.1,·06·Nov·2023

288	1.6.6.3·Root·Access	288	1.6.6.3·Root·Access

289	iv	289	iv

290	.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.	290	.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.

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454	2.3.5·Coordinate·Systems	454	2.3.5·Coordinate·Systems

455	46	455	46

456	.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.	456	.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.

457	\xcLinuxCNC·V2.9.1,·04·Nov·2023	457	\xcLinuxCNC·V2.9.1,·06·Nov·2023

458	v	458	v

459	2.3.5.1·G53·Machine·Coordinate·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.	459	2.3.5.1·G53·Machine·Coordinate·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.

460	47	460	47

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620	57	620	57

621	2.6.1·Lathe·Mode·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.	621	2.6.1·Lathe·Mode·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.

622	57	622	57

623	\xcLinuxCNC·V2.9.1,·04·Nov·2023	623	\xcLinuxCNC·V2.9.1,·06·Nov·2023

624	vi	624	vi

625	2.6.2·Lathe·Tool·Table·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.	625	2.6.2·Lathe·Tool·Table·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.

626	57	626	57

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782	76	782	76

783	2.7.14.3Float·switch·(input)·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.	783	2.7.14.3Float·switch·(input)·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.

784	76	784	76

785	\xcLinuxCNC·V2.9.1,·04·Nov·2023	785	\xcLinuxCNC·V2.9.1,·06·Nov·2023

786	vii	786	vii

787	2.7.14.4Ohmic·Sensor·enable·(output)·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.	787	2.7.14.4Ohmic·Sensor·enable·(output)·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.

788	76	788	76

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944	97	944	97

945	3.1.11.1Operating·without·Limit·Switches·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.	945	3.1.11.1Operating·without·Limit·Switches·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.

946	98	946	98

947	\xcLinuxCNC·V2.9.1,·04·Nov·2023	947	\xcLinuxCNC·V2.9.1,·06·Nov·2023

948	viii	948	viii

949	3.1.11.2Operating·without·Home·Switches	949	3.1.11.2Operating·without·Home·Switches

950	.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.	950	.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.

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1013	4.2.1·What·is·latency?·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·134	1013	4.2.1·What·is·latency?·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·134
1014	4.2.2·Latency·Tests	1014	4.2.2·Latency·Tests

1015	.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·135	1015	.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·135

1016	4.2.2.1·Latency·Test·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·135	1016	4.2.2.1·Latency·Test·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·135

1017	\xcLinuxCNC·V2.9.1,·04·Nov·2023	1017	\xcLinuxCNC·V2.9.1,·06·Nov·2023

1018	ix	1018	ix

1019	4.2.2.2·Latency·Plot·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·137	1019	4.2.2.2·Latency·Plot·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·137
1020	4.2.2.3·Latency·Histogram·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·137	1020	4.2.2.3·Latency·Histogram·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·137
1021	4.2.3·Latency·tuning·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·138	1021	4.2.3·Latency·tuning·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·138
1022	4.2.3.1·Tuning·the·BIOS·for·latency·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·139	1022	4.2.3.1·Tuning·the·BIOS·for·latency·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·139
Offset 1087, 15 lines modified		Offset 1087, 15 lines modified
1087	4.4.2.14[SPINDLE_<num>]·Section(s)·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·166	1087	4.4.2.14[SPINDLE_<num>]·Section(s)·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·166
1088	4.4.2.15[EMCIO]·Section·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·167	1088	4.4.2.15[EMCIO]·Section·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·167
1089	4.5·Homing·Configuration·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·167	1089	4.5·Homing·Configuration·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·167
1090	4.5.1·Overview·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·167	1090	4.5.1·Overview·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·167
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Offset 1, 10 lines modified		Offset 1, 10 lines modified
1	Getting·Started·V2.9.1,·04·Nov·2023	1	Getting·Started·V2.9.1,·06·Nov·2023

2	\xcGetting·Started·V2.9.1,·04·Nov·2023	2	\xcGetting·Started·V2.9.1,·06·Nov·2023

3	ii	3	ii

4	Contents	4	Contents
5	1·About·LinuxCNC	5	1·About·LinuxCNC

6	1	6	1
Offset 113, 15 lines modified		Offset 113, 15 lines modified

113	10	113	10

114	3.7·Review·Latency·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.	114	3.7·Review·Latency·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.

115	10	115	10

116	\xcGetting·Started·V2.9.1,·04·Nov·2023	116	\xcGetting·Started·V2.9.1,·06·Nov·2023

117	iii	117	iii

118	3.8·Set·fixed·ip·address·-·only·for·mesa·card.	118	3.8·Set·fixed·ip·address·-·only·for·mesa·card.

119	.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.	119	.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.

Offset 251, 15 lines modified		Offset 251, 15 lines modified
251	7.2·GNU·Free·Documentation·License	251	7.2·GNU·Free·Documentation·License

252	.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.	252	.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.

253	31	253	31
254	31	254	31

255	\xcGetting·Started·V2.9.1,·04·Nov·2023	255	\xcGetting·Started·V2.9.1,·06·Nov·2023

256	iv	256	iv

257	The·LinuxCNC·Team	257	The·LinuxCNC·Team

258	This·handbook·is·a·work·in·progress.·If·you·are·able·to·help·with·writing,·editing,·or·graphic·preparation·please·contact·any·member·of·the·writing·team·or·join·and·send·an·email·to·emc-users@lists.sourceforge	258	This·handbook·is·a·work·in·progress.·If·you·are·able·to·help·with·writing,·editing,·or·graphic·preparation·please·contact·any·member·of·the·writing·team·or·join·and·send·an·email·to·emc-users@lists.sourceforge
259	Copyright·©·2000-2020·LinuxCNC.org	259	Copyright·©·2000-2020·LinuxCNC.org
Offset 277, 15 lines modified		Offset 277, 15 lines modified
277	trademark·Linux®·is·used·pursuant·to·a·sublicense·from·LMI,·the·exclusive·licensee·of·Linus·Torvalds,	277	trademark·Linux®·is·used·pursuant·to·a·sublicense·from·LMI,·the·exclusive·licensee·of·Linus·Torvalds,
278	owner·of·the·mark·on·a·world-wide·basis.	278	owner·of·the·mark·on·a·world-wide·basis.
279	The·LinuxCNC·project·is·not·affiliated·with·Debian®.·Debian·is·a·registered·trademark·owned·by	279	The·LinuxCNC·project·is·not·affiliated·with·Debian®.·Debian·is·a·registered·trademark·owned·by
280	Software·in·the·Public·Interest,·Inc.	280	Software·in·the·Public·Interest,·Inc.
281	The·LinuxCNC·project·is·not·affiliated·with·UBUNTU®.·UBUNTU·is·a·registered·trademark·owned	281	The·LinuxCNC·project·is·not·affiliated·with·UBUNTU®.·UBUNTU·is·a·registered·trademark·owned
282	by·Canonical·Limited.	282	by·Canonical·Limited.

283	\xcGetting·Started·V2.9.1,·04·Nov·2023	283	\xcGetting·Started·V2.9.1,·06·Nov·2023

284	1·/·35	284	1·/·35

285	Chapter·1	285	Chapter·1

286	About·LinuxCNC	286	About·LinuxCNC
287	1.1·The·Software	287	1.1·The·Software
Offset 312, 15 lines modified		Offset 312, 15 lines modified
312	•·It·can·simultaneously·move·up·to·9·axes·and·supports·a·variety·of·interfaces.	312	•·It·can·simultaneously·move·up·to·9·axes·and·supports·a·variety·of·interfaces.
313	•·The·control·can·operate·true·servos·(analog·or·PWM)·with·the·feedback·loop·closed·by·the·LinuxCNC	313	•·The·control·can·operate·true·servos·(analog·or·PWM)·with·the·feedback·loop·closed·by·the·LinuxCNC
314	software·at·the·computer,·or·open·loop·with·step-servos·or·stepper·motors.	314	software·at·the·computer,·or·open·loop·with·step-servos·or·stepper·motors.
315	•·Motion·control·features·include:·cutter·radius·and·length·compensation,·path·deviation·limited·to	315	•·Motion·control·features·include:·cutter·radius·and·length·compensation,·path·deviation·limited·to
316	a·specified·tolerance,·lathe·threading,·synchronized·axis·motion,·adaptive·feedrate,·operator·feed	316	a·specified·tolerance,·lathe·threading,·synchronized·axis·motion,·adaptive·feedrate,·operator·feed
317	override,·and·constant·velocity·control.	317	override,·and·constant·velocity·control.

318	\xcGetting·Started·V2.9.1,·04·Nov·2023	318	\xcGetting·Started·V2.9.1,·06·Nov·2023

319	2·/·35	319	2·/·35

320	•·Support·for·non-Cartesian·motion·systems·is·provided·via·custom·kinematics·modules.·Available	320	•·Support·for·non-Cartesian·motion·systems·is·provided·via·custom·kinematics·modules.·Available
321	architectures·include·hexapods·(Stewart·platforms·and·similar·concepts)·and·systems·with·rotary	321	architectures·include·hexapods·(Stewart·platforms·and·similar·concepts)·and·systems·with·rotary
322	joints·to·provide·motion·such·as·PUMA·or·SCARA·robots.	322	joints·to·provide·motion·such·as·PUMA·or·SCARA·robots.
323	•·LinuxCNC·runs·on·Linux·using·real·time·extensions.	323	•·LinuxCNC·runs·on·Linux·using·real·time·extensions.
Offset 353, 15 lines modified		Offset 353, 15 lines modified
353	1.3.2·Mailing·List	353	1.3.2·Mailing·List
354	An·Internet·Mailing·List·is·a·way·to·put·questions·out·for·everyone·on·that·list·to·see·and·answer·at	354	An·Internet·Mailing·List·is·a·way·to·put·questions·out·for·everyone·on·that·list·to·see·and·answer·at
355	their·convenience.·You·get·better·exposure·to·your·questions·on·a·mailing·list·than·on·the·IRC·but	355	their·convenience.·You·get·better·exposure·to·your·questions·on·a·mailing·list·than·on·the·IRC·but
356	answers·take·longer.·In·a·nutshell·you·e-mail·a·message·to·the·list·and·either·get·daily·digests·or	356	answers·take·longer.·In·a·nutshell·you·e-mail·a·message·to·the·list·and·either·get·daily·digests·or
357	individual·replies·back·depending·on·how·you·set·up·your·account.	357	individual·replies·back·depending·on·how·you·set·up·your·account.
358	You·can·subscribe·to·the·emc-users·mailing·list·at:·https://lists.sourceforge.net/lists/listinfo/emc-users	358	You·can·subscribe·to·the·emc-users·mailing·list·at:·https://lists.sourceforge.net/lists/listinfo/emc-users

359	\xcGetting·Started·V2.9.1,·04·Nov·2023	359	\xcGetting·Started·V2.9.1,·06·Nov·2023

360	3·/·35	360	3·/·35

361	1.3.3·Web·Forum	361	1.3.3·Web·Forum
362	A·web·forum·can·be·found·at·https://forum.linuxcnc.org·or·by·following·the·link·at·the·top·of·the	362	A·web·forum·can·be·found·at·https://forum.linuxcnc.org·or·by·following·the·link·at·the·top·of·the
363	linuxcnc.org·home·page.	363	linuxcnc.org·home·page.
364	This·is·quite·active·but·the·demographic·is·more·user-biased·than·the·mailing·list.·If·you·want·to·be	364	This·is·quite·active·but·the·demographic·is·more·user-biased·than·the·mailing·list.·If·you·want·to·be
Offset 371, 15 lines modified		Offset 371, 15 lines modified
371	A·Wiki·site·is·a·user·maintained·web·site·that·anyone·can·add·to·or·edit.	371	A·Wiki·site·is·a·user·maintained·web·site·that·anyone·can·add·to·or·edit.

372	The·user·maintained·LinuxCNC·Wiki·site·contains·a·wealth·of·information·and·tips·at:·https://wiki.linuxcnc.or	372	The·user·maintained·LinuxCNC·Wiki·site·contains·a·wealth·of·information·and·tips·at:·https://wiki.linuxcnc.or

373	1.3.5·Bug·Reports	373	1.3.5·Bug·Reports
374	Report·bugs·to·the·LinuxCNC·github·bug·tracker.	374	Report·bugs·to·the·LinuxCNC·github·bug·tracker.

375	\xcGetting·Started·V2.9.1,·04·Nov·2023	375	\xcGetting·Started·V2.9.1,·06·Nov·2023

376	4·/·35	376	4·/·35

377	Chapter·2	377	Chapter·2

378	System·Requirements	378	System·Requirements
379	2.1·Minimum·Requirements	379	2.1·Minimum·Requirements
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407	LinuxCNC·requires·a·kernel·modified·for·realtime·use·to·control·real·machine·hardware.·It·can,	407	LinuxCNC·requires·a·kernel·modified·for·realtime·use·to·control·real·machine·hardware.·It·can,
408	however·run·on·a·standard·kernel·in·simulation·mode·for·purposes·such·as·checking·G-code,·testing	408	however·run·on·a·standard·kernel·in·simulation·mode·for·purposes·such·as·checking·G-code,·testing
409	config·files·and·learning·the·system.·To·work·with·these·kernel·versions·there·are·two·versions·of	409	config·files·and·learning·the·system.·To·work·with·these·kernel·versions·there·are·two·versions·of
410	LinuxCNC·distributed.·The·package·names·are·”linuxcnc”·and·”linuxcnc-uspace”.	410	LinuxCNC·distributed.·The·package·names·are·”linuxcnc”·and·”linuxcnc-uspace”.
411	The·realtime·kernel·options·are·preempt-rt,·RTAI·and·Xenomai.	411	The·realtime·kernel·options·are·preempt-rt,·RTAI·and·Xenomai.
412	You·can·discover·the·kernel·version·of·your·system·with·the·command:	412	You·can·discover·the·kernel·version·of·your·system·with·the·command:

413	\xcGetting·Started·V2.9.1,·04·Nov·2023	413	\xcGetting·Started·V2.9.1,·06·Nov·2023

414	5·/·35	414	5·/·35

415	uname·-a	415	uname·-a

416	If·you·see·(as·above)·-rt-·in·the·kernel·name·then·you·are·running·the·preempt-rt·kernel·and·should	416	If·you·see·(as·above)·-rt-·in·the·kernel·name·then·you·are·running·the·preempt-rt·kernel·and·should
417	install·the·”uspace”·version·of·LinuxCNC.·You·should·also·install·uspace·for·”sim”·configs·on·nonrealtime·kernels	417	install·the·”uspace”·version·of·LinuxCNC.·You·should·also·install·uspace·for·”sim”·configs·on·nonrealtime·kernels
Offset 451, 15 lines modified		Offset 451, 15 lines modified
451	an·extended·time·will·give·you·the·info·you·need·to·determine·suitability.	451	an·extended·time·will·give·you·the·info·you·need·to·determine·suitability.

452	2.3.2·Video·Cards	452	2.3.2·Video·Cards
453	If·your·installation·pops·up·with·800·x·600·screen·resolution·then·most·likely·Debian·does·not·recognize	453	If·your·installation·pops·up·with·800·x·600·screen·resolution·then·most·likely·Debian·does·not·recognize
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2	\xcIntegrator·Information·V2.9.1,·04·Nov·2023	2	\xcIntegrator·Information·V2.9.1,·06·Nov·2023

3	ii	3	ii

4	Contents	4	Contents
5	1·Stepper·Information	5	1·Stepper·Information

6	1	6	1
Offset 125, 15 lines modified		Offset 125, 15 lines modified

125	18	125	18

126	3.12.3Wiring·Identification·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.	126	3.12.3Wiring·Identification·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.

127	18	127	18

128	\xcIntegrator·Information·V2.9.1,·04·Nov·2023	128	\xcIntegrator·Information·V2.9.1,·06·Nov·2023

129	1·/·18	129	1·/·18

130	Chapter·1	130	Chapter·1

131	Stepper·Information	131	Stepper·Information
132	1.1·Stepper·Motor·Operation	132	1.1·Stepper·Motor·Operation
Offset 152, 15 lines modified		Offset 152, 15 lines modified
152	the·time·that·each·coil·can·exert·its·full·magnetic·attraction·on·the·rotor·reduces,·thereby·reducing	152	the·time·that·each·coil·can·exert·its·full·magnetic·attraction·on·the·rotor·reduces,·thereby·reducing
153	the·overall·torque.·This·relationship·between·speed·and·torque·is·largely·inversely·proportional.	153	the·overall·torque.·This·relationship·between·speed·and·torque·is·largely·inversely·proportional.
154	In·the·below·example,·the·charging·time·for·three·coils·is·shown·when·the·applied·voltage·is·stepped	154	In·the·below·example,·the·charging·time·for·three·coils·is·shown·when·the·applied·voltage·is·stepped
155	from·0·V·to·40·V.·While·all·three·coils·can·easily·reach·the·full·current·limit·of·5·amps·(A),·the·time	155	from·0·V·to·40·V.·While·all·three·coils·can·easily·reach·the·full·current·limit·of·5·amps·(A),·the·time
156	taken·varies·for·each·coil.·The·4·milli-Henry·(mH)·coil·(blue·trace)·takes·twice·as·long·to·reach·full	156	taken·varies·for·each·coil.·The·4·milli-Henry·(mH)·coil·(blue·trace)·takes·twice·as·long·to·reach·full
157	current·than·the·2·mH·coil·(green·trace),·and·the·8·mH·(red·trace)·coil·takes·twice·as·long·again:	157	current·than·the·2·mH·coil·(green·trace),·and·the·8·mH·(red·trace)·coil·takes·twice·as·long·again:

158	\xcIntegrator·Information·V2.9.1,·04·Nov·2023	158	\xcIntegrator·Information·V2.9.1,·06·Nov·2023

159	2·/·18	159	2·/·18

160	If·the·rate·at·which·step·changes·are·applied·to·the·coils·is·significantly·shorter·than·the·rise·time,	160	If·the·rate·at·which·step·changes·are·applied·to·the·coils·is·significantly·shorter·than·the·rise·time,
161	it’s·easy·to·see·that·the·winding·has·less·time·to·attain·full·magnetic·attraction·on·the·rotor,·and·thus	161	it’s·easy·to·see·that·the·winding·has·less·time·to·attain·full·magnetic·attraction·on·the·rotor,·and·thus
162	maximum·torque·is·curtailed.·In·the·below·example·the·2·mH·coil·can·achieve·the·full·5·A·limit·before	162	maximum·torque·is·curtailed.·In·the·below·example·the·2·mH·coil·can·achieve·the·full·5·A·limit·before
163	the·step·voltage·is·removed,·but·the·4·mH·and·8·mH·coils·cannot:	163	the·step·voltage·is·removed,·but·the·4·mH·and·8·mH·coils·cannot:
Offset 179, 15 lines modified		Offset 179, 15 lines modified
179	In·most·stepper-based·CNC·systems·the·voltage·of·the·supply·feeding·the·stepper·driver·is·several	179	In·most·stepper-based·CNC·systems·the·voltage·of·the·supply·feeding·the·stepper·driver·is·several
180	orders·of·magnitude·greater·than·the·voltage·of·the·motor·itself.·A·typical·NEMA23·stepper·motor	180	orders·of·magnitude·greater·than·the·voltage·of·the·motor·itself.·A·typical·NEMA23·stepper·motor
181	may·have·a·rating·of·only·a·handful·of·volts,·yet·the·power·supply·and·driver·could·be·operating·at	181	may·have·a·rating·of·only·a·handful·of·volts,·yet·the·power·supply·and·driver·could·be·operating·at
182	48·VDC·or·more.	182	48·VDC·or·more.
183	Nearly·all·modern·stepper·motor·drivers·on·the·market·today·are·constant-current·types.·That·is,	183	Nearly·all·modern·stepper·motor·drivers·on·the·market·today·are·constant-current·types.·That·is,
184	the·current·being·applied·to·each·winding·is·fixed·irrespective·of·how·much·voltage·is·being·applied.	184	the·current·being·applied·to·each·winding·is·fixed·irrespective·of·how·much·voltage·is·being·applied.

185	\xcIntegrator·Information·V2.9.1,·04·Nov·2023	185	\xcIntegrator·Information·V2.9.1,·06·Nov·2023

186	3·/·18	186	3·/·18

187	Most·drivers·accomplish·this·by·monitoring·the·current·being·drawn·through·the·motor·windings·and	187	Most·drivers·accomplish·this·by·monitoring·the·current·being·drawn·through·the·motor·windings·and
188	rapidly·switching·the·outputs·on·and·off·at·a·very·high·frequency·to·maintain·this·current.·Depending	188	rapidly·switching·the·outputs·on·and·off·at·a·very·high·frequency·to·maintain·this·current.·Depending
189	on·the·drivers·being·used,·it·may·even·be·possible·to·hear·this·high·frequency·whistling·in·the·motors	189	on·the·drivers·being·used,·it·may·even·be·possible·to·hear·this·high·frequency·whistling·in·the·motors
190	themselves·when·stationary.·Because·the·voltage·is·rapidly·switched·on·and·off·to·maintain·the·winding	190	themselves·when·stationary.·Because·the·voltage·is·rapidly·switched·on·and·off·to·maintain·the·winding
Offset 232, 15 lines modified		Offset 232, 15 lines modified
232	introduced.	232	introduced.
233	Several·methods·exist·to·help·control·the·effects·of·resonance,·all·with·varying·degrees·of·complexity,	233	Several·methods·exist·to·help·control·the·effects·of·resonance,·all·with·varying·degrees·of·complexity,
234	effectiveness·and·side·effects:	234	effectiveness·and·side·effects:
235	•·Microstepping·can·help·reduce·resonance·by·using·smaller·step·changes·in·current·between·each	235	•·Microstepping·can·help·reduce·resonance·by·using·smaller·step·changes·in·current·between·each
236	step.·These·smaller·step·changes·cause·less·ringing·in·the·motor·and·windings·and·thus·cause·less	236	step.·These·smaller·step·changes·cause·less·ringing·in·the·motor·and·windings·and·thus·cause·less
237	excitation·at·the·point·of·resonance.	237	excitation·at·the·point·of·resonance.

238	\xcIntegrator·Information·V2.9.1,·04·Nov·2023	238	\xcIntegrator·Information·V2.9.1,·06·Nov·2023

239	4·/·18	239	4·/·18

240	•·Ensuring·the·motor·is·never·operated·at·a·particular·frequency·for·a·sustained·period·is·a·very·basic	240	•·Ensuring·the·motor·is·never·operated·at·a·particular·frequency·for·a·sustained·period·is·a·very·basic
241	method·of·reducing·resonance,·always·accelerating·or·decelerating·through·the·resonant·peak.	241	method·of·reducing·resonance,·always·accelerating·or·decelerating·through·the·resonant·peak.
242	•·Increasing·inertial·load·will·damp·unwanted·resonances·at·the·expense·of·some·torque·and·potentially·some·accuracy.·Elastomeric·motor·mounts,·shaft·couplings·or·bearing·mounts·can·be	242	•·Increasing·inertial·load·will·damp·unwanted·resonances·at·the·expense·of·some·torque·and·potentially·some·accuracy.·Elastomeric·motor·mounts,·shaft·couplings·or·bearing·mounts·can·be
243	employed.	243	employed.
Offset 279, 15 lines modified		Offset 279, 15 lines modified
279	in·leadscrews,·flex·in·gantries,·runout·in·the·spindle·and·cutting·tool,·static·friction·in·the·stepper	279	in·leadscrews,·flex·in·gantries,·runout·in·the·spindle·and·cutting·tool,·static·friction·in·the·stepper
280	motor·itself,·stepper·detent·error·,·etc.)·that·will·render·such·small·amounts·of·resolution·completely	280	motor·itself,·stepper·detent·error·,·etc.)·that·will·render·such·small·amounts·of·resolution·completely
281	meaningless.·In·practice,·microstepping·at·rates·in·excess·of·4x·or·8x·on·a·CNC·machine·fitted·with	281	meaningless.·In·practice,·microstepping·at·rates·in·excess·of·4x·or·8x·on·a·CNC·machine·fitted·with
282	leadscrews·serves·little·purpose.·In·some·cases·it·may·even·be·more·beneficial·to·run·at·lower·degrees	282	leadscrews·serves·little·purpose.·In·some·cases·it·may·even·be·more·beneficial·to·run·at·lower·degrees
283	of·microstepping·or·even·full·steps,·and·operate·the·stepper·motor·through·a·gear·reduction·to·obtain	283	of·microstepping·or·even·full·steps,·and·operate·the·stepper·motor·through·a·gear·reduction·to·obtain
284	the·necessary·resolution·and·torque·gains.	284	the·necessary·resolution·and·torque·gains.

285	\xcIntegrator·Information·V2.9.1,·04·Nov·2023	285	\xcIntegrator·Information·V2.9.1,·06·Nov·2023

286	5·/·18	286	5·/·18

287	1.5·Open·and·Closed·Loop	287	1.5·Open·and·Closed·Loop
288	In·the·simplest·CNC·systems·employing·stepper·motors,·the·host·computer·and/or·stepper·driver	288	In·the·simplest·CNC·systems·employing·stepper·motors,·the·host·computer·and/or·stepper·driver
289	receives·no·feedback·from·the·motor·that·it·has·achieved·the·desired·outcome·when·commanded·to	289	receives·no·feedback·from·the·motor·that·it·has·achieved·the·desired·outcome·when·commanded·to
290	begin·stepping.·The·assumption·by·the·software,·driver·and·end·user·is·that·the·motor·operated	290	begin·stepping.·The·assumption·by·the·software,·driver·and·end·user·is·that·the·motor·operated
Offset 307, 15 lines modified		Offset 307, 15 lines modified
307	to·the·downstream·driver·as·it·would·normally·when·running·in·open·loop.·In·these·situations·the	307	to·the·downstream·driver·as·it·would·normally·when·running·in·open·loop.·In·these·situations·the
308	drivers·usually·include·an·alarm·output·which·signals·the·software·to·halt·when·the·load·placed·on	308	drivers·usually·include·an·alarm·output·which·signals·the·software·to·halt·when·the·load·placed·on
309	the·stepper·becomes·too·great·for·the·driver·to·compensate·without·losing·steps.	309	the·stepper·becomes·too·great·for·the·driver·to·compensate·without·losing·steps.
310	More·advanced·implementations·of·closed·loop·operation·bring·the·encoder·signal·all·the·way·back	310	More·advanced·implementations·of·closed·loop·operation·bring·the·encoder·signal·all·the·way·back
311	to·the·host·computer,·but·require·that·a·much·higher·hardware·and·software·overhead·be·installed·to	311	to·the·host·computer,·but·require·that·a·much·higher·hardware·and·software·overhead·be·installed·to
312	manage·the·encoder·feedback·and·calculation·and·delivery·of·drive·compensation.	312	manage·the·encoder·feedback·and·calculation·and·delivery·of·drive·compensation.

313	\xcIntegrator·Information·V2.9.1,·04·Nov·2023	313	\xcIntegrator·Information·V2.9.1,·06·Nov·2023

314	6·/·18	314	6·/·18

315	Chapter·2	315	Chapter·2

316	Stepper·Timing	316	Stepper·Timing
317	This·page·is·for·step·and·direction·timing·of·stepper·drives.	317	This·page·is·for·step·and·direction·timing·of·stepper·drives.
Offset 378, 15 lines modified		Offset 378, 15 lines modified
378	support/motorcontrolmanuals/stepperdrives/g201rev16.html	378	support/motorcontrolmanuals/stepperdrives/g201rev16.html

379	1000	379	1000

380	Falling	380	Falling
381	Edge	381	Edge

382	\xcIntegrator·Information·V2.9.1,·04·Nov·2023	382	\xcIntegrator·Information·V2.9.1,·06·Nov·2023

383	Manufacturer	383	Manufacturer
384	Model	384	Model

385	7·/·18	385	7·/·18

386	Gecko	386	Gecko
Offset 479, 15 lines modified		Offset 479, 15 lines modified
479	http://www.geckodrive.com	479	http://www.geckodrive.com
480	support/motorcontrolmanuals/stepperdrives/g201rev16.html	480	support/motorcontrolmanuals/stepperdrives/g201rev16.html
481	http://www.geckodrive.com	481	http://www.geckodrive.com
482	support/motorcontrolmanuals/stepperdrives/g212rev15.html	482	support/motorcontrolmanuals/stepperdrives/g212rev15.html
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Offset 1, 14 lines modified		Offset 1, 14 lines modified
1	··Streams:···········1	1	··Streams:···········1
2	··Blocks:············2	2	··Blocks:············2
3	··Compressed·size:···25.0·MiB·(2622~~1560~~·B)	3	··Compressed·size:···25.0·MiB·(26220908·B)
4	··Uncompressed·size:·26.3·MiB·(27596800·B)	4	··Uncompressed·size:·26.3·MiB·(27596800·B)
5	··Ratio:·············0.950	5	··Ratio:·············0.950
6	··Check:·············CRC64	6	··Check:·············CRC64
7	··Stream·Padding:····0·B	7	··Stream·Padding:····0·B
8	··Streams:	8	··Streams:
9	····Stream····Blocks······CompOffset····UncompOffset········CompSize······UncompSize··Ratio··Check······Padding	9	····Stream····Blocks······CompOffset····UncompOffset········CompSize······UncompSize··Ratio··Check······Padding
10	·········1·········2···············0···············0········2622~~1560~~········27596800··0.950··CRC64············0	10	·········1·········2···············0···············0········26220908········27596800··0.950··CRC64············0
11	··Blocks:	11	··Blocks:
12	····Stream·····Block······CompOffset····UncompOffset·······TotalSize······UncompSize··Ratio··Check	12	····Stream·····Block······CompOffset····UncompOffset·······TotalSize······UncompSize··Ratio··Check
13	·········1·········1··············12···············0········2394~~3820~~········25165824··0.951··CRC64	13	·········1·········1··············12···············0········23944044········25165824··0.951··CRC64
14	·········1·········2········2394~~3832~~········25165824·········227~~7692~~·········2430976··0.937··CRC64	14	·········1·········2········23944056········25165824·········2276816·········2430976··0.937··CRC64


Offset 1, 13 lines modified		Offset 1, 13 lines modified
1	Package:·linuxcnc-doc-en	1	Package:·linuxcnc-doc-en
2	Source:·linuxcnc	2	Source:·linuxcnc
3	Version:·2.9.1-2	3	Version:·2.9.1-2
4	Architecture:·all	4	Architecture:·all
5	Maintainer:·LinuxCNC·Developers·<emc-developers@lists.sourceforge.net>	5	Maintainer:·LinuxCNC·Developers·<emc-developers@lists.sourceforge.net>
6	Installed-Size:·28033	6	Installed-Size:·28032
7	Recommends:·xdg-utils	7	Recommends:·xdg-utils
8	Suggests:·pdf-viewer	8	Suggests:·pdf-viewer
9	Breaks:·linuxcnc-uspace·(<=·2.9.0~pre0+git20220402.2500863908-4)	9	Breaks:·linuxcnc-uspace·(<=·2.9.0~pre0+git20220402.2500863908-4)
10	Replaces:·linuxcnc-uspace·(<=·2.9.0~pre0+git20220402.2500863908-4)	10	Replaces:·linuxcnc-uspace·(<=·2.9.0~pre0+git20220402.2500863908-4)
11	Provides:·linuxcnc-doc	11	Provides:·linuxcnc-doc
12	Section:·misc	12	Section:·misc
13	Priority:·optional	13	Priority:·optional


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8	-rw-r--r--···0·root·········(0)·root·········(0)······358·2023-10-08·12:02:22.000000·./usr/share/applications/linuxcnc-integratorinfo.desktop	8	-rw-r--r--···0·root·········(0)·root·········(0)······358·2023-10-08·12:02:22.000000·./usr/share/applications/linuxcnc-integratorinfo.desktop
9	-rw-r--r--···0·root·········(0)·root·········(0)······332·2023-10-08·12:02:22.000000·./usr/share/applications/linuxcnc-manualpages.desktop	9	-rw-r--r--···0·root·········(0)·root·········(0)······332·2023-10-08·12:02:22.000000·./usr/share/applications/linuxcnc-manualpages.desktop
10	drwxr-xr-x···0·root·········(0)·root·········(0)········0·2023-11-05·11:59:16.000000·./usr/share/doc/	10	drwxr-xr-x···0·root·········(0)·root·········(0)········0·2023-11-05·11:59:16.000000·./usr/share/doc/
11	drwxr-xr-x···0·root·········(0)·root·········(0)········0·2023-11-05·11:59:16.000000·./usr/share/doc/linuxcnc/	11	drwxr-xr-x···0·root·········(0)·root·········(0)········0·2023-11-05·11:59:16.000000·./usr/share/doc/linuxcnc/
12	-rw-r--r--···0·root·········(0)·root·········(0)·····1081·2023-11-05·11:59:16.000000·./usr/share/doc/linuxcnc/AUTHORS	12	-rw-r--r--···0·root·········(0)·root·········(0)·····1081·2023-11-05·11:59:16.000000·./usr/share/doc/linuxcnc/AUTHORS
13	-rw-r--r--···0·root·········(0)·root·········(0)·····1884·2023-11-05·11:59:16.000000·./usr/share/doc/linuxcnc/INSTALL.adoc.gz	13	-rw-r--r--···0·root·········(0)·root·········(0)·····1884·2023-11-05·11:59:16.000000·./usr/share/doc/linuxcnc/INSTALL.adoc.gz
14	-rw-r--r--···0·root·········(0)·root·········(0)···823280·2023-11-05·11:59:16.000000·./usr/share/doc/linuxcnc/LinuxCNC_Developer.pdf	14	-rw-r--r--···0·root·········(0)·root·········(0)···823224·2023-11-05·11:59:16.000000·./usr/share/doc/linuxcnc/LinuxCNC_Developer.pdf
15	-rw-r--r--···0·root·········(0)·root·········(0)·26132~~801~~·2023-11-05·11:59:16.000000·./usr/share/doc/linuxcnc/LinuxCNC_Documentation.pdf	15	-rw-r--r--···0·root·········(0)·root·········(0)·26132050·2023-11-05·11:59:16.000000·./usr/share/doc/linuxcnc/LinuxCNC_Documentation.pdf
16	-rw-r--r--···0·root·········(0)·root·········(0)···404716·2023-11-05·11:59:16.000000·./usr/share/doc/linuxcnc/LinuxCNC_Getting_Started.pdf	16	-rw-r--r--···0·root·········(0)·root·········(0)···404716·2023-11-05·11:59:16.000000·./usr/share/doc/linuxcnc/LinuxCNC_Getting_Started.pdf
17	-rw-r--r--···0·root·········(0)·root·········(0)···150052·2023-11-05·11:59:16.000000·./usr/share/doc/linuxcnc/LinuxCNC_Integrator.pdf	17	-rw-r--r--···0·root·········(0)·root·········(0)···150033·2023-11-05·11:59:16.000000·./usr/share/doc/linuxcnc/LinuxCNC_Integrator.pdf
18	-rw-r--r--···0·root·········(0)·root·········(0)··1085135·2023-11-05·11:59:16.000000·./usr/share/doc/linuxcnc/LinuxCNC_Manual_Pages.pdf	18	-rw-r--r--···0·root·········(0)·root·········(0)··1085133·2023-11-05·11:59:16.000000·./usr/share/doc/linuxcnc/LinuxCNC_Manual_Pages.pdf
19	-rw-r--r--···0·root·········(0)·root·········(0)·····3761·2023-11-05·11:59:16.000000·./usr/share/doc/linuxcnc/README.adoc.gz	19	-rw-r--r--···0·root·········(0)·root·········(0)·····3761·2023-11-05·11:59:16.000000·./usr/share/doc/linuxcnc/README.adoc.gz
20	-rw-r--r--···0·root·········(0)·root·········(0)·····1529·2023-11-05·11:59:16.000000·./usr/share/doc/linuxcnc/README.axis	20	-rw-r--r--···0·root·········(0)·root·········(0)·····1529·2023-11-05·11:59:16.000000·./usr/share/doc/linuxcnc/README.axis
21	-rw-r--r--···0·root·········(0)·root·········(0)······506·2023-11-05·11:59:16.000000·./usr/share/doc/linuxcnc/axis_light_background	21	-rw-r--r--···0·root·········(0)·root·········(0)······506·2023-11-05·11:59:16.000000·./usr/share/doc/linuxcnc/axis_light_background
22	-rw-r--r--···0·root·········(0)·root·········(0)····14664·2023-10-07·15:20:24.000000·./usr/share/doc/linuxcnc/gcode.html	22	-rw-r--r--···0·root·········(0)·root·········(0)····14664·2023-10-07·15:20:24.000000·./usr/share/doc/linuxcnc/gcode.html
23	-rw-r--r--···0·root·········(0)·root·········(0)·····1868·2023-11-05·11:59:16.000000·./usr/share/doc/linuxcnc/rtfaults.adoc	23	-rw-r--r--···0·root·········(0)·root·········(0)·····1868·2023-11-05·11:59:16.000000·./usr/share/doc/linuxcnc/rtfaults.adoc
24	-rw-r--r--···0·root·········(0)·root·········(0)·····5504·2023-11-05·11:59:16.000000·./usr/share/doc/linuxcnc/tklinuxcnc.adoc.gz	24	-rw-r--r--···0·root·········(0)·root·········(0)·····5504·2023-11-05·11:59:16.000000·./usr/share/doc/linuxcnc/tklinuxcnc.adoc.gz
25	drwxr-xr-x···0·root·········(0)·root·········(0)········0·2023-11-05·11:59:16.000000·./usr/share/doc/linuxcnc-doc-en/	25	drwxr-xr-x···0·root·········(0)·root·········(0)········0·2023-11-05·11:59:16.000000·./usr/share/doc/linuxcnc-doc-en/


Offset 5687, 15 lines modified		Offset 5687, 15 lines modified
5687	Modbus·slave·address	5687	Modbus·slave·address

5688	LICENSE	5688	LICENSE
5689	GPLv2·or·greater	5689	GPLv2·or·greater

5690	LinuxCNC·Documentation	5690	LinuxCNC·Documentation

5691	2025-06-19	5691	2024-05-18

5692	119	5692	119

5693	\xcpmx485-test(1)	5693	\xcpmx485-test(1)

5694	LinuxCNC·Documentation	5694	LinuxCNC·Documentation

Offset 7311, 15 lines modified		Offset 7311, 15 lines modified
7311	Computed·resistance·of·the·thermistor.	7311	Computed·resistance·of·the·thermistor.

7312	LICENSE	7312	LICENSE
7313	GPL	7313	GPL

7314	158	7314	158

7315	2025-06-19	7315	2024-05-18

7316	LinuxCNC·Documentation	7316	LinuxCNC·Documentation

7317	\xcTOOLEDIT·(1)	7317	\xcTOOLEDIT·(1)

7318	The·Enhanced·Machine·Controller	7318	The·Enhanced·Machine·Controller

Offset 7856, 15 lines modified		Offset 7856, 15 lines modified
7856	Modbus·slave·address	7856	Modbus·slave·address

7857	LICENSE	7857	LICENSE
7858	GPLv2·or·greater	7858	GPLv2·or·greater

7859	LinuxCNC·Documentation	7859	LinuxCNC·Documentation

7860	2025-06-19	7860	2024-05-18

7861	169	7861	169

7862	\xcXHC-HB04-ACCELS(1)	7862	\xcXHC-HB04-ACCELS(1)

7863	The·Enhanced·Machine·Controller	7863	The·Enhanced·Machine·Controller

Offset 12167, 15 lines modified		Offset 12167, 15 lines modified
12167	John·Kasunich	12167	John·Kasunich

12168	LICENSE	12168	LICENSE
12169	GPL	12169	GPL

12170	262	12170	262

12171	2025-06-19	12171	2024-05-18

12172	LinuxCNC·Documentation	12172	LinuxCNC·Documentation

12173	\xcABS_S32(9)	12173	\xcABS_S32(9)

12174	HAL·Component	12174	HAL·Component

Offset 12206, 15 lines modified		Offset 12206, 15 lines modified
12206	Sebastian·Kuzminsky	12206	Sebastian·Kuzminsky

12207	LICENSE	12207	LICENSE
12208	GPL	12208	GPL

12209	LinuxCNC·Documentation	12209	LinuxCNC·Documentation

12210	2025-06-19	12210	2024-05-18

12211	263	12211	263

12212	\xcHAL·Component	12212	\xcHAL·Component

12213	AND2(9)	12213	AND2(9)

Offset 12246, 15 lines modified		Offset 12246, 15 lines modified
12246	Jeff·Epler	12246	Jeff·Epler

12247	LICENSE	12247	LICENSE
12248	GPL	12248	GPL

12249	264	12249	264

12250	2025-06-19	12250	2024-05-18

12251	LinuxCNC·Documentation	12251	LinuxCNC·Documentation

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12300	anglejog.N.max-accel·float·in	12300	anglejog.N.max-accel·float·in
12301	vector·max·acceleration·magnitude	12301	vector·max·acceleration·magnitude

12302	LinuxCNC·Documentation	12302	LinuxCNC·Documentation

12303	2025-06-19	12303	2024-05-18

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12342	LICENSE	12342	LICENSE
12343	GPL	12343	GPL

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12346	LinuxCNC·Documentation	12346	LinuxCNC·Documentation

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8	-rw-r--r--···0·root·········(0)·root·········(0)······361·2023-10-08·12:02:22.000000·./usr/share/applications/linuxcnc-integratorinfo_es.desktop	8	-rw-r--r--···0·root·········(0)·root·········(0)······361·2023-10-08·12:02:22.000000·./usr/share/applications/linuxcnc-integratorinfo_es.desktop
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21	drwxr-xr-x···0·root·········(0)·root·········(0)········0·2023-11-05·11:59:16.000000·./usr/share/doc-base/	21	drwxr-xr-x···0·root·········(0)·root·········(0)········0·2023-11-05·11:59:16.000000·./usr/share/doc-base/


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1	Package:·linuxcnc-doc-es	1	Package:·linuxcnc-doc-es
2	Source:·linuxcnc	2	Source:·linuxcnc
3	Version:·2.9.1-2	3	Version:·2.9.1-2
4	Architecture:·all	4	Architecture:·all
5	Maintainer:·LinuxCNC·Developers·<emc-developers@lists.sourceforge.net>	5	Maintainer:·LinuxCNC·Developers·<emc-developers@lists.sourceforge.net>
6	Installed-Size:·26995	6	Installed-Size:·26994
7	Recommends:·xdg-utils	7	Recommends:·xdg-utils
8	Suggests:·pdf-viewer	8	Suggests:·pdf-viewer
9	Breaks:·linuxcnc-uspace·(<=·2.9.0~pre0+git20220402.2500863908-4)	9	Breaks:·linuxcnc-uspace·(<=·2.9.0~pre0+git20220402.2500863908-4)
10	Replaces:·linuxcnc-uspace·(<=·2.9.0~pre0+git20220402.2500863908-4)	10	Replaces:·linuxcnc-uspace·(<=·2.9.0~pre0+git20220402.2500863908-4)
11	Provides:·linuxcnc-doc	11	Provides:·linuxcnc-doc
12	Section:·misc	12	Section:·misc
13	Priority:·optional	13	Priority:·optional


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1	Manuel·du·développeur·V2.9.1,·04·Nov	1	Manuel·du·développeur·V2.9.1,·06·Nov
2	2023	2	2023

3	\xcManuel·du·développeur·V2.9.1,·04·Nov·2023	3	\xcManuel·du·développeur·V2.9.1,·06·Nov·2023

4	ii	4	ii

5	Table·des·matières	5	Table·des·matières
6	1·Introduction	6	1·Introduction

7	1	7	1
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119	3.8.3.1·Requirements·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.	119	3.8.3.1·Requirements·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.

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122	iii	122	iii

123	3.8.3.2·Results·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.	123	3.8.3.2·Results·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.

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283	3.8.16.1Requirements·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.	283	3.8.16.1Requirements·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.

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287	3.8.16.2Results·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.	287	3.8.16.2Results·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.

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450	3.21.3Process·line	450	3.21.3Process·line

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454	v	454	v

455	3.21.4Configuration·Comments·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.	455	3.21.4Configuration·Comments·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.

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625	4.14Others·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.	625	4.14Others·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.

626	40	626	40

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628	vi	628	vi

629	5·Coding·Style	629	5·Coding·Style

630	41	630	41

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778	53	778	53

779	8.4.1·Repo·Git·officiel·de·LinuxCNC·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.	779	8.4.1·Repo·Git·officiel·de·LinuxCNC·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.

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782	vii	782	vii

783	8.4.2·Use·of·Git·in·the·LinuxCNC·project·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.	783	8.4.2·Use·of·Git·in·the·LinuxCNC·project·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.

784	54	784	54

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873	10.2GNU·Free·Documentation·License	873	10.2GNU·Free·Documentation·License

874	.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.	874	.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.

875	63	875	63
876	63	876	63

877	\xcManuel·du·développeur·V2.9.1,·04·Nov·2023	877	\xcManuel·du·développeur·V2.9.1,·06·Nov·2023

878	1·/·67	878	1·/·67

879	Chapitre·1	879	Chapitre·1

880	Introduction	880	Introduction

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901	trademark·Linux®·is·used·pursuant·to·a·sublicense·from·LMI,·the·exclusive·licensee·of·Linus·Torvalds,	901	trademark·Linux®·is·used·pursuant·to·a·sublicense·from·LMI,·the·exclusive·licensee·of·Linus·Torvalds,
902	owner·of·the·mark·on·a·world-wide·basis.	902	owner·of·the·mark·on·a·world-wide·basis.
903	The·LinuxCNC·project·is·not·affiliated·with·Debian®.·Debian·is·a·registered·trademark·owned·by	903	The·LinuxCNC·project·is·not·affiliated·with·Debian®.·Debian·is·a·registered·trademark·owned·by
904	Software·in·the·Public·Interest,·Inc.	904	Software·in·the·Public·Interest,·Inc.
905	The·LinuxCNC·project·is·not·affiliated·with·UBUNTU®.·UBUNTU·is·a·registered·trademark·owned	905	The·LinuxCNC·project·is·not·affiliated·with·UBUNTU®.·UBUNTU·is·a·registered·trademark·owned
906	by·Canonical·Limited.	906	by·Canonical·Limited.

907	\xcManuel·du·développeur·V2.9.1,·04·Nov·2023	907	\xcManuel·du·développeur·V2.9.1,·06·Nov·2023

908	2·/·67	908	2·/·67

909	Chapitre·2	909	Chapitre·2

910	HAL·General·Reference	910	HAL·General·Reference
911	2.1·HAL·Entity·Names	911	2.1·HAL·Entity·Names
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939	This·results·in·a·structure·that·resembles·a·directory·tree.·Even·though·halcmd·doesn’t·recognize·the	939	This·results·in·a·structure·that·resembles·a·directory·tree.·Even·though·halcmd·doesn’t·recognize·the
940	tree·structure,·proper·choice·of·naming·conventions·will·let·it·group·related·items·together·(since·it	940	tree·structure,·proper·choice·of·naming·conventions·will·let·it·group·related·items·together·(since·it
941	sorts·the·names).·In·addition,·higher·level·tools·can·be·designed·to·recognize·such·structure,·if·the	941	sorts·the·names).·In·addition,·higher·level·tools·can·be·designed·to·recognize·such·structure,·if·the
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2	\xcGuide·de·démarrage·V2.9.1,·04·Nov·2023	2	\xcGuide·de·démarrage·V2.9.1,·06·Nov·2023

3	ii	3	ii

4	Table·des·matières	4	Table·des·matières
5	1·About·LinuxCNC	5	1·About·LinuxCNC

6	1	6	1
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113	10	113	10

114	3.7·Review·Latency·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.	114	3.7·Review·Latency·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.

115	10	115	10

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117	iii	117	iii

118	3.8·Set·fixed·ip·address·-·only·for·mesa·card.	118	3.8·Set·fixed·ip·address·-·only·for·mesa·card.

119	.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.	119	.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.

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251	7.2·GNU·Free·Documentation·License	251	7.2·GNU·Free·Documentation·License

252	.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.	252	.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.

253	29	253	29
254	29	254	29

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256	iv	256	iv

257	L’équipe·LinuxCNC	257	L’équipe·LinuxCNC

258	This·handbook·is·a·work·in·progress.·If·you·are·able·to·help·with·writing,·editing,·or·graphic·preparation·please·contact·any·member·of·the·writing·team·or·join·and·send·an·email·to·emc-users@lists.sourceforge	258	This·handbook·is·a·work·in·progress.·If·you·are·able·to·help·with·writing,·editing,·or·graphic·preparation·please·contact·any·member·of·the·writing·team·or·join·and·send·an·email·to·emc-users@lists.sourceforge
259	Copyright·©·2000-2020·LinuxCNC.org	259	Copyright·©·2000-2020·LinuxCNC.org
Offset 277, 15 lines modified		Offset 277, 15 lines modified
277	trademark·Linux®·is·used·pursuant·to·a·sublicense·from·LMI,·the·exclusive·licensee·of·Linus·Torvalds,	277	trademark·Linux®·is·used·pursuant·to·a·sublicense·from·LMI,·the·exclusive·licensee·of·Linus·Torvalds,
278	owner·of·the·mark·on·a·world-wide·basis.	278	owner·of·the·mark·on·a·world-wide·basis.
279	The·LinuxCNC·project·is·not·affiliated·with·Debian®.·Debian·is·a·registered·trademark·owned·by	279	The·LinuxCNC·project·is·not·affiliated·with·Debian®.·Debian·is·a·registered·trademark·owned·by
280	Software·in·the·Public·Interest,·Inc.	280	Software·in·the·Public·Interest,·Inc.
281	The·LinuxCNC·project·is·not·affiliated·with·UBUNTU®.·UBUNTU·is·a·registered·trademark·owned	281	The·LinuxCNC·project·is·not·affiliated·with·UBUNTU®.·UBUNTU·is·a·registered·trademark·owned
282	by·Canonical·Limited.	282	by·Canonical·Limited.

283	\xcGuide·de·démarrage·V2.9.1,·04·Nov·2023	283	\xcGuide·de·démarrage·V2.9.1,·06·Nov·2023

284	1·/·33	284	1·/·33

285	Chapitre·1	285	Chapitre·1

286	About·LinuxCNC	286	About·LinuxCNC
287	1.1·The·Software	287	1.1·The·Software
Offset 316, 15 lines modified		Offset 316, 15 lines modified
316	a·specified·tolerance,·lathe·threading,·synchronized·axis·motion,·adaptive·feedrate,·operator·feed	316	a·specified·tolerance,·lathe·threading,·synchronized·axis·motion,·adaptive·feedrate,·operator·feed
317	override,·and·constant·velocity·control.	317	override,·and·constant·velocity·control.
318	—·Support·for·non-Cartesian·motion·systems·is·provided·via·custom·kinematics·modules.·Available	318	—·Support·for·non-Cartesian·motion·systems·is·provided·via·custom·kinematics·modules.·Available
319	architectures·include·hexapods·(Stewart·platforms·and·similar·concepts)·and·systems·with·rotary	319	architectures·include·hexapods·(Stewart·platforms·and·similar·concepts)·and·systems·with·rotary
320	joints·to·provide·motion·such·as·PUMA·or·SCARA·robots.	320	joints·to·provide·motion·such·as·PUMA·or·SCARA·robots.
321	—·LinuxCNC·runs·on·Linux·using·real·time·extensions.	321	—·LinuxCNC·runs·on·Linux·using·real·time·extensions.

322	\xcGuide·de·démarrage·V2.9.1,·04·Nov·2023	322	\xcGuide·de·démarrage·V2.9.1,·06·Nov·2023

323	2·/·33	323	2·/·33

324	1.2·The·Operating·System	324	1.2·The·Operating·System
325	LinuxCNC·is·available·as·ready-to-use·packages·for·the·Ubuntu·and·Debian·distributions.	325	LinuxCNC·is·available·as·ready-to-use·packages·for·the·Ubuntu·and·Debian·distributions.

326	1.3·Getting·Help	326	1.3·Getting·Help
Offset 363, 22 lines modified		Offset 363, 22 lines modified
363	sure·that·your·message·is·seen·by·the·developers·then·the·mailing·list·is·to·be·preferred.	363	sure·that·your·message·is·seen·by·the·developers·then·the·mailing·list·is·to·be·preferred.

364	1.3.4·LinuxCNC·Wiki	364	1.3.4·LinuxCNC·Wiki
365	A·Wiki·site·is·a·user·maintained·web·site·that·anyone·can·add·to·or·edit.	365	A·Wiki·site·is·a·user·maintained·web·site·that·anyone·can·add·to·or·edit.

366	The·user·maintained·LinuxCNC·Wiki·site·contains·a·wealth·of·information·and·tips·at:·https://wiki.linuxcnc.or	366	The·user·maintained·LinuxCNC·Wiki·site·contains·a·wealth·of·information·and·tips·at:·https://wiki.linuxcnc.or

367	\xcGuide·de·démarrage·V2.9.1,·04·Nov·2023	367	\xcGuide·de·démarrage·V2.9.1,·06·Nov·2023

368	1.3.5·Bug·Reports	368	1.3.5·Bug·Reports
369	Report·bugs·to·the·LinuxCNC·github·bug·tracker.	369	Report·bugs·to·the·LinuxCNC·github·bug·tracker.

370	3·/·33	370	3·/·33

371	\xcGuide·de·démarrage·V2.9.1,·04·Nov·2023	371	\xcGuide·de·démarrage·V2.9.1,·06·Nov·2023

372	4·/·33	372	4·/·33

373	Chapitre·2	373	Chapitre·2

374	System·Requirements	374	System·Requirements
375	2.1·Minimum·Requirements	375	2.1·Minimum·Requirements
Offset 406, 15 lines modified		Offset 406, 15 lines modified
406	LinuxCNC·requires·a·kernel·modified·for·realtime·use·to·control·real·machine·hardware.·It·can,·however·run·on·a·standard·kernel·in·simulation·mode·for·purposes·such·as·checking·G-code,·testing·config	406	LinuxCNC·requires·a·kernel·modified·for·realtime·use·to·control·real·machine·hardware.·It·can,·however·run·on·a·standard·kernel·in·simulation·mode·for·purposes·such·as·checking·G-code,·testing·config
407	files·and·learning·the·system.·To·work·with·these·kernel·versions·there·are·two·versions·of·LinuxCNC	407	files·and·learning·the·system.·To·work·with·these·kernel·versions·there·are·two·versions·of·LinuxCNC
408	distributed.·The·package·names·are·”linuxcnc”·and·”linuxcnc-uspace”.	408	distributed.·The·package·names·are·”linuxcnc”·and·”linuxcnc-uspace”.
409	The·realtime·kernel·options·are·preempt-rt,·RTAI·and·Xenomai.	409	The·realtime·kernel·options·are·preempt-rt,·RTAI·and·Xenomai.
410	You·can·discover·the·kernel·version·of·your·system·with·the·command:	410	You·can·discover·the·kernel·version·of·your·system·with·the·command:
411	uname·-a	411	uname·-a

412	\xcGuide·de·démarrage·V2.9.1,·04·Nov·2023	412	\xcGuide·de·démarrage·V2.9.1,·06·Nov·2023

413	5·/·33	413	5·/·33

414	If·you·see·(as·above)·-rt-·in·the·kernel·name·then·you·are·running·the·preempt-rt·kernel·and·should	414	If·you·see·(as·above)·-rt-·in·the·kernel·name·then·you·are·running·the·preempt-rt·kernel·and·should
415	install·the·”uspace”·version·of·LinuxCNC.·You·should·also·install·uspace·for·”sim”·configs·on·nonrealtime·kernels	415	install·the·”uspace”·version·of·LinuxCNC.·You·should·also·install·uspace·for·”sim”·configs·on·nonrealtime·kernels
416	If·you·see·-rtai-·in·the·kernel·name·then·you·are·running·RTAI·realtime.·See·below·for·the·LinuxCNC	416	If·you·see·-rtai-·in·the·kernel·name·then·you·are·running·RTAI·realtime.·See·below·for·the·LinuxCNC
417	version·to·install.	417	version·to·install.
Offset 448, 15 lines modified		Offset 448, 15 lines modified
448	an·extended·time·will·give·you·the·info·you·need·to·determine·suitability.	448	an·extended·time·will·give·you·the·info·you·need·to·determine·suitability.

449	2.3.2·Video·Cards	449	2.3.2·Video·Cards
450	If·your·installation·pops·up·with·800·x·600·screen·resolution·then·most·likely·Debian·does·not·recognize	450	If·your·installation·pops·up·with·800·x·600·screen·resolution·then·most·likely·Debian·does·not·recognize
451	your·video·card·or·monitor.·This·can·sometimes·be·worked-around·by·installing·drivers·or·creating·/	451	your·video·card·or·monitor.·This·can·sometimes·be·worked-around·by·installing·drivers·or·creating·/
452	editing·Xorg.conf·files.	452	editing·Xorg.conf·files.

453	\xcGuide·de·démarrage·V2.9.1,·04·Nov·2023	453	\xcGuide·de·démarrage·V2.9.1,·06·Nov·2023

454	6·/·33	454	6·/·33

455	Chapitre·3	455	Chapitre·3

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Offset 1, 11 lines modified		Offset 1, 11 lines modified
1	Manuel·de·l’intégrateur·V2.9.1,·04·Nov	1	Manuel·de·l’intégrateur·V2.9.1,·06·Nov
2	2023	2	2023

3	\xcManuel·de·l’intégrateur·V2.9.1,·04·Nov·2023	3	\xcManuel·de·l’intégrateur·V2.9.1,·06·Nov·2023

4	ii	4	ii

5	Table·des·matières	5	Table·des·matières
6	1·Stepper·Information	6	1·Stepper·Information

7	1	7	1
Offset 126, 15 lines modified		Offset 126, 15 lines modified

126	18	126	18

127	3.12.3Wiring·Identification·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.	127	3.12.3Wiring·Identification·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.·.

128	18	128	18

129	\xcManuel·de·l’intégrateur·V2.9.1,·04·Nov·2023	129	\xcManuel·de·l’intégrateur·V2.9.1,·06·Nov·2023

130	1·/·18	130	1·/·18

131	Chapitre·1	131	Chapitre·1

132	Stepper·Information	132	Stepper·Information
133	1.1·Stepper·Motor·Operation	133	1.1·Stepper·Motor·Operation
Offset 153, 15 lines modified		Offset 153, 15 lines modified
153	time·that·each·coil·can·exert·its·full·magnetic·attraction·on·the·rotor·reduces,·thereby·reducing·the	153	time·that·each·coil·can·exert·its·full·magnetic·attraction·on·the·rotor·reduces,·thereby·reducing·the
154	overall·torque.·This·relationship·between·speed·and·torque·is·largely·inversely·proportional.	154	overall·torque.·This·relationship·between·speed·and·torque·is·largely·inversely·proportional.
155	In·the·below·example,·the·charging·time·for·three·coils·is·shown·when·the·applied·voltage·is·stepped	155	In·the·below·example,·the·charging·time·for·three·coils·is·shown·when·the·applied·voltage·is·stepped
156	from·0·V·to·40·V.·While·all·three·coils·can·easily·reach·the·full·current·limit·of·5·amps·(A),·the·time	156	from·0·V·to·40·V.·While·all·three·coils·can·easily·reach·the·full·current·limit·of·5·amps·(A),·the·time
157	taken·varies·for·each·coil.·The·4·milli-Henry·(mH)·coil·(blue·trace)·takes·twice·as·long·to·reach·full	157	taken·varies·for·each·coil.·The·4·milli-Henry·(mH)·coil·(blue·trace)·takes·twice·as·long·to·reach·full
158	current·than·the·2·mH·coil·(green·trace),·and·the·8·mH·(red·trace)·coil·takes·twice·as·long·again:	158	current·than·the·2·mH·coil·(green·trace),·and·the·8·mH·(red·trace)·coil·takes·twice·as·long·again:

159	\xcManuel·de·l’intégrateur·V2.9.1,·04·Nov·2023	159	\xcManuel·de·l’intégrateur·V2.9.1,·06·Nov·2023

160	2·/·18	160	2·/·18

161	If·the·rate·at·which·step·changes·are·applied·to·the·coils·is·significantly·shorter·than·the·rise·time,	161	If·the·rate·at·which·step·changes·are·applied·to·the·coils·is·significantly·shorter·than·the·rise·time,
162	it’s·easy·to·see·that·the·winding·has·less·time·to·attain·full·magnetic·attraction·on·the·rotor,·and·thus	162	it’s·easy·to·see·that·the·winding·has·less·time·to·attain·full·magnetic·attraction·on·the·rotor,·and·thus
163	maximum·torque·is·curtailed.·In·the·below·example·the·2·mH·coil·can·achieve·the·full·5·A·limit·before	163	maximum·torque·is·curtailed.·In·the·below·example·the·2·mH·coil·can·achieve·the·full·5·A·limit·before
164	the·step·voltage·is·removed,·but·the·4·mH·and·8·mH·coils·cannot:	164	the·step·voltage·is·removed,·but·the·4·mH·and·8·mH·coils·cannot:
Offset 180, 15 lines modified		Offset 180, 15 lines modified
180	In·most·stepper-based·CNC·systems·the·voltage·of·the·supply·feeding·the·stepper·driver·is·several	180	In·most·stepper-based·CNC·systems·the·voltage·of·the·supply·feeding·the·stepper·driver·is·several
181	orders·of·magnitude·greater·than·the·voltage·of·the·motor·itself.·A·typical·NEMA23·stepper·motor	181	orders·of·magnitude·greater·than·the·voltage·of·the·motor·itself.·A·typical·NEMA23·stepper·motor
182	may·have·a·rating·of·only·a·handful·of·volts,·yet·the·power·supply·and·driver·could·be·operating·at	182	may·have·a·rating·of·only·a·handful·of·volts,·yet·the·power·supply·and·driver·could·be·operating·at
183	48·VDC·or·more.	183	48·VDC·or·more.
184	Nearly·all·modern·stepper·motor·drivers·on·the·market·today·are·constant-current·types.·That·is,	184	Nearly·all·modern·stepper·motor·drivers·on·the·market·today·are·constant-current·types.·That·is,
185	the·current·being·applied·to·each·winding·is·fixed·irrespective·of·how·much·voltage·is·being·applied.	185	the·current·being·applied·to·each·winding·is·fixed·irrespective·of·how·much·voltage·is·being·applied.

186	\xcManuel·de·l’intégrateur·V2.9.1,·04·Nov·2023	186	\xcManuel·de·l’intégrateur·V2.9.1,·06·Nov·2023

187	3·/·18	187	3·/·18

188	Most·drivers·accomplish·this·by·monitoring·the·current·being·drawn·through·the·motor·windings·and	188	Most·drivers·accomplish·this·by·monitoring·the·current·being·drawn·through·the·motor·windings·and
189	rapidly·switching·the·outputs·on·and·off·at·a·very·high·frequency·to·maintain·this·current.·Depending	189	rapidly·switching·the·outputs·on·and·off·at·a·very·high·frequency·to·maintain·this·current.·Depending
190	on·the·drivers·being·used,·it·may·even·be·possible·to·hear·this·high·frequency·whistling·in·the·motors	190	on·the·drivers·being·used,·it·may·even·be·possible·to·hear·this·high·frequency·whistling·in·the·motors
191	themselves·when·stationary.·Because·the·voltage·is·rapidly·switched·on·and·off·to·maintain·the·winding	191	themselves·when·stationary.·Because·the·voltage·is·rapidly·switched·on·and·off·to·maintain·the·winding
Offset 233, 15 lines modified		Offset 233, 15 lines modified
233	introduced.	233	introduced.
234	Several·methods·exist·to·help·control·the·effects·of·resonance,·all·with·varying·degrees·of·complexity,	234	Several·methods·exist·to·help·control·the·effects·of·resonance,·all·with·varying·degrees·of·complexity,
235	effectiveness·and·side·effects:	235	effectiveness·and·side·effects:
236	—·Microstepping·can·help·reduce·resonance·by·using·smaller·step·changes·in·current·between·each	236	—·Microstepping·can·help·reduce·resonance·by·using·smaller·step·changes·in·current·between·each
237	step.·These·smaller·step·changes·cause·less·ringing·in·the·motor·and·windings·and·thus·cause·less	237	step.·These·smaller·step·changes·cause·less·ringing·in·the·motor·and·windings·and·thus·cause·less
238	excitation·at·the·point·of·resonance.	238	excitation·at·the·point·of·resonance.

239	\xcManuel·de·l’intégrateur·V2.9.1,·04·Nov·2023	239	\xcManuel·de·l’intégrateur·V2.9.1,·06·Nov·2023

240	4·/·18	240	4·/·18

241	—·Ensuring·the·motor·is·never·operated·at·a·particular·frequency·for·a·sustained·period·is·a·very·basic	241	—·Ensuring·the·motor·is·never·operated·at·a·particular·frequency·for·a·sustained·period·is·a·very·basic
242	method·of·reducing·resonance,·always·accelerating·or·decelerating·through·the·resonant·peak.	242	method·of·reducing·resonance,·always·accelerating·or·decelerating·through·the·resonant·peak.
243	—·Increasing·inertial·load·will·damp·unwanted·resonances·at·the·expense·of·some·torque·and·potentially·some·accuracy.·Elastomeric·motor·mounts,·shaft·couplings·or·bearing·mounts·can·be	243	—·Increasing·inertial·load·will·damp·unwanted·resonances·at·the·expense·of·some·torque·and·potentially·some·accuracy.·Elastomeric·motor·mounts,·shaft·couplings·or·bearing·mounts·can·be
244	employed.	244	employed.
Offset 283, 15 lines modified		Offset 283, 15 lines modified
283	of·microstepping·or·even·full·steps,·and·operate·the·stepper·motor·through·a·gear·reduction·to·obtain	283	of·microstepping·or·even·full·steps,·and·operate·the·stepper·motor·through·a·gear·reduction·to·obtain
284	the·necessary·resolution·and·torque·gains.	284	the·necessary·resolution·and·torque·gains.

285	1.5·Open·and·Closed·Loop	285	1.5·Open·and·Closed·Loop
286	In·the·simplest·CNC·systems·employing·stepper·motors,·the·host·computer·and/or·stepper·driver	286	In·the·simplest·CNC·systems·employing·stepper·motors,·the·host·computer·and/or·stepper·driver
287	receives·no·feedback·from·the·motor·that·it·has·achieved·the·desired·outcome·when·commanded	287	receives·no·feedback·from·the·motor·that·it·has·achieved·the·desired·outcome·when·commanded

288	\xcManuel·de·l’intégrateur·V2.9.1,·04·Nov·2023	288	\xcManuel·de·l’intégrateur·V2.9.1,·06·Nov·2023

289	5·/·18	289	5·/·18

290	to·begin·stepping.·The·assumption·by·the·software,·driver·and·end·user·is·that·the·motor·operated	290	to·begin·stepping.·The·assumption·by·the·software,·driver·and·end·user·is·that·the·motor·operated
291	correctly·and·the·axis·has·moved·to·the·expected·new·position.·A·system·operating·in·this·fashion·is	291	correctly·and·the·axis·has·moved·to·the·expected·new·position.·A·system·operating·in·this·fashion·is
292	said·to·be·running·in·open·loop,·where·the·device·at·the·end·of·the·signal·chain·(the·stepper·motor)	292	said·to·be·running·in·open·loop,·where·the·device·at·the·end·of·the·signal·chain·(the·stepper·motor)
293	does·not·provide·any·indication·to·the·device·at·the·start·of·the·chain·(the·computer)·that·the·target	293	does·not·provide·any·indication·to·the·device·at·the·start·of·the·chain·(the·computer)·that·the·target
Offset 308, 15 lines modified		Offset 308, 15 lines modified
308	to·the·downstream·driver·as·it·would·normally·when·running·in·open·loop.·In·these·situations·the	308	to·the·downstream·driver·as·it·would·normally·when·running·in·open·loop.·In·these·situations·the
309	drivers·usually·include·an·alarm·output·which·signals·the·software·to·halt·when·the·load·placed·on	309	drivers·usually·include·an·alarm·output·which·signals·the·software·to·halt·when·the·load·placed·on
310	the·stepper·becomes·too·great·for·the·driver·to·compensate·without·losing·steps.	310	the·stepper·becomes·too·great·for·the·driver·to·compensate·without·losing·steps.
311	More·advanced·implementations·of·closed·loop·operation·bring·the·encoder·signal·all·the·way·back	311	More·advanced·implementations·of·closed·loop·operation·bring·the·encoder·signal·all·the·way·back
312	to·the·host·computer,·but·require·that·a·much·higher·hardware·and·software·overhead·be·installed·to	312	to·the·host·computer,·but·require·that·a·much·higher·hardware·and·software·overhead·be·installed·to
313	manage·the·encoder·feedback·and·calculation·and·delivery·of·drive·compensation.	313	manage·the·encoder·feedback·and·calculation·and·delivery·of·drive·compensation.

314	\xcManuel·de·l’intégrateur·V2.9.1,·04·Nov·2023	314	\xcManuel·de·l’intégrateur·V2.9.1,·06·Nov·2023

315	6·/·18	315	6·/·18

316	Chapitre·2	316	Chapitre·2

317	Stepper·Timing	317	Stepper·Timing
318	This·page·is·for·step·and·direction·timing·of·stepper·drives.	318	This·page·is·for·step·and·direction·timing·of·stepper·drives.
Offset 379, 15 lines modified		Offset 379, 15 lines modified
379	support/motorcontrolmanuals/stepperdrives/g201rev16.html	379	support/motorcontrolmanuals/stepperdrives/g201rev16.html

380	1000	380	1000

381	Falling	381	Falling
382	Edge	382	Edge

383	\xcManuel·de·l’intégrateur·V2.9.1,·04·Nov·2023	383	\xcManuel·de·l’intégrateur·V2.9.1,·06·Nov·2023

384	Manufacturer	384	Manufacturer
385	Model	385	Model

386	7·/·18	386	7·/·18

387	Gecko	387	Gecko
Offset 480, 15 lines modified		Offset 480, 15 lines modified
480	http://www.geckodrive.com	480	http://www.geckodrive.com
481	support/motorcontrolmanuals/stepperdrives/g201rev16.html	481	support/motorcontrolmanuals/stepperdrives/g201rev16.html
482	http://www.geckodrive.com	482	http://www.geckodrive.com
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Offset 1, 13 lines modified		Offset 1, 13 lines modified
1	Package:·linuxcnc-doc-zh-cn	1	Package:·linuxcnc-doc-zh-cn
2	Source:·linuxcnc	2	Source:·linuxcnc
3	Version:·2.9.1-2	3	Version:·2.9.1-2
4	Architecture:·all	4	Architecture:·all
5	Maintainer:·LinuxCNC·Developers·<emc-developers@lists.sourceforge.net>	5	Maintainer:·LinuxCNC·Developers·<emc-developers@lists.sourceforge.net>
6	Installed-Size:·26950	6	Installed-Size:·26949
7	Recommends:·xdg-utils	7	Recommends:·xdg-utils
8	Suggests:·pdf-viewer	8	Suggests:·pdf-viewer
9	Conflicts:·linuxcnc-doc-cn	9	Conflicts:·linuxcnc-doc-cn
10	Replaces:·linuxcnc-doc-cn	10	Replaces:·linuxcnc-doc-cn
11	Provides:·linuxcnc-doc	11	Provides:·linuxcnc-doc
12	Section:·misc	12	Section:·misc
13	Priority:·optional	13	Priority:·optional


Offset 1, 11 lines modified		Offset 1, 11 lines modified
1	#·DO·NOT·EDIT·THIS·FILE·!	1	#·DO·NOT·EDIT·THIS·FILE·!
2	#	2	#
3	#·../scripts/rtapi.conf.··Generated·from·rtapi.conf.in·by·configure.·	3	#·../scripts/rtapi.conf.··Generated·from·rtapi.conf.in·by·configure.·
4	#·on·~~Thu~~·~~Jun~~·19·06:12:52·-12·2025	4	#·on·Sat·May·18·03:11:38·+14·2024
5	#	5	#

6	#·A·few·parameters·from·emc2/Makefile.inc	6	#·A·few·parameters·from·emc2/Makefile.inc
7	EMC2_HOME=/usr	7	EMC2_HOME=/usr
8	KERNELDIR=	8	KERNELDIR=
9	RTLIB_DIR=/usr/lib/linuxcnc/modules	9	RTLIB_DIR=/usr/lib/linuxcnc/modules
10	MODULE_EXT=.so	10	MODULE_EXT=.so


Offset 10, 15 lines modified		Offset 10, 15 lines modified
10	#··removed·when·the·job·has·ended·and·is·used·throughout·the·LinuxCNC	10	#··removed·when·the·job·has·ended·and·is·used·throughout·the·LinuxCNC
11	#··infrastructure.·The·script·has·no·effect·for·the·PREEMPT·realtime·kernel.	11	#··infrastructure.·The·script·has·no·effect·for·the·PREEMPT·realtime·kernel.
12	#··The·script·is·not·meant·to·be·started·a·boot·time·-·it·could·be,·though.	12	#··The·script·is·not·meant·to·be·started·a·boot·time·-·it·could·be,·though.
13	#·X-Interactive:·····false	13	#·X-Interactive:·····false
14	###·END·INIT·INFO	14	###·END·INIT·INFO
15	#	15	#
16	#·../scripts/realtime.··Generated·from·realtime.in·by·configure.·	16	#·../scripts/realtime.··Generated·from·realtime.in·by·configure.·
17	#·on·~~Thu~~·~~Jun~~·19·06:12:52·-12·2025	17	#·on·Sat·May·18·03:11:38·+14·2024
18	#	18	#

19	export·LANG=C	19	export·LANG=C

20	GREP=/usr/bin/grep	20	GREP=/usr/bin/grep
21	PS=/usr/bin/ps	21	PS=/usr/bin/ps


Offset 2, 15 lines modified		Offset 2, 15 lines modified
2	.\"*******************************************************************	2	.\"*******************************************************************
3	.\"	3	.\"
4	.\"·This·file·was·extracted·from·hal/user_comps/pi500_vfd/pi500_vfd.comp·using·halcompile.g.	4	.\"·This·file·was·extracted·from·hal/user_comps/pi500_vfd/pi500_vfd.comp·using·halcompile.g.
5	.\"·Modify·the·source·file.	5	.\"·Modify·the·source·file.
6	.\"	6	.\"
7	.\"*******************************************************************	7	.\"*******************************************************************

8	.TH·PI500_VFD·"1"·"2025-06-19"·"LinuxCNC·Documentation"·"HAL·Component"	8	.TH·PI500_VFD·"1"·"2024-05-18"·"LinuxCNC·Documentation"·"HAL·Component"
9	.SH·NAME	9	.SH·NAME

10	pi500_vfd·\-·Powtran·PI500·Modbus·driver	10	pi500_vfd·\-·Powtran·PI500·Modbus·driver
11	.SH·SYNOPSIS	11	.SH·SYNOPSIS
12	.B·pi500_vfd	12	.B·pi500_vfd
13	.SH·PINS	13	.SH·PINS
14	.TP	14	.TP


Offset 1, 12 lines modified		Offset 1, 12 lines modified
1	.\"*******************************************************************·.\"·.\"	1	.\"*******************************************************************·.\"·.\"
2	This·file·was·extracted·from·hal/components/lut5.comp·using·halcompile.g.·.\"	2	This·file·was·extracted·from·hal/components/lut5.comp·using·halcompile.g.·.\"
3	Modify·the·source·file.·.\"	3	Modify·the·source·file.·.\"
4	.\"*******************************************************************·.TH·LUT5	4	.\"*******************************************************************·.TH·LUT5
5	"9"·"2025-06-19"·"LinuxCNC·Documentation"·"HAL·Component"·.SH·NAME·lut5·\-	5	"9"·"2024-05-18"·"LinuxCNC·Documentation"·"HAL·Component"·.SH·NAME·lut5·\-
6	Arbitrary·5-input·logic·function·based·on·a·look-up·table·.SH·SYNOPSIS·.HP·.B	6	Arbitrary·5-input·logic·function·based·on·a·look-up·table·.SH·SYNOPSIS·.HP·.B
7	loadrt·lut5·[count=\fIN\fB\|names=\fIname1\fB[,\fIname2...\fB]]·.SH·DESCRIPTION	7	loadrt·lut5·[count=\fIN\fB\|names=\fIname1\fB[,\fIname2...\fB]]·.SH·DESCRIPTION
8	.B·lut5·constructs·a·logic·function·with·up·to·5·inputs·using·a·\fBl\fRook-	8	.B·lut5·constructs·a·logic·function·with·up·to·5·inputs·using·a·\fBl\fRook-
9	\fBu\fRp·\fBt\fRable.·The·value·for·\fBfunction\fR·can·be·determined·by·writing	9	\fBu\fRp·\fBt\fRable.·The·value·for·\fBfunction\fR·can·be·determined·by·writing
10	the·truth·table,·and·computing·the·sum·of·\fBall\fR·the·\fBweights\fR·for·which	10	the·truth·table,·and·computing·the·sum·of·\fBall\fR·the·\fBweights\fR·for·which
11	the·output·value·would·be·\fRTRUE\fR.·The·weights·are·hexadecimal·not·decimal	11	the·output·value·would·be·\fRTRUE\fR.·The·weights·are·hexadecimal·not·decimal
12	so·hexadecimal·math·must·be·used·to·sum·the·weights.·A·wiki·page·has·a	12	so·hexadecimal·math·must·be·used·to·sum·the·weights.·A·wiki·page·has·a


Offset 1, 16 lines modified		Offset 1, 16 lines modified
1	··Streams:···········1	1	··Streams:···········1
2	··Blocks:············4	2	··Blocks:············4
3	··Compressed·size:···25.6·MiB·(26859092·B)	3	··Compressed·size:···25.6·MiB·(26855196·B)
4	··Uncompressed·size:·91.1·MiB·(95508480·B)	4	··Uncompressed·size:·91.1·MiB·(95508480·B)
5	··Ratio:·············0.281	5	··Ratio:·············0.281
6	··Check:·············CRC64	6	··Check:·············CRC64
7	··Stream·Padding:····0·B	7	··Stream·Padding:····0·B
8	··Streams:	8	··Streams:
9	····Stream····Blocks······CompOffset····UncompOffset········CompSize······UncompSize··Ratio··Check······Padding	9	····Stream····Blocks······CompOffset····UncompOffset········CompSize······UncompSize··Ratio··Check······Padding
10	·········1·········4···············0···············0········26859092········95508480··0.281··CRC64············0	10	·········1·········4···············0···············0········26855196········95508480··0.281··CRC64············0
11	··Blocks:	11	··Blocks:
12	····Stream·····Block······CompOffset····UncompOffset·······TotalSize······UncompSize··Ratio··Check	12	····Stream·····Block······CompOffset····UncompOffset·······TotalSize······UncompSize··Ratio··Check
13	·········1·········1··············12···············0·········3876600········25165824··0.154··CRC64	13	·········1·········1··············12···············0·········3873656········25165824··0.154··CRC64
14	·········1·········2·········3876612········25165824·········8617664········25165824··0.342··CRC64	14	·········1·········2·········3873668········25165824·········8617664········25165824··0.342··CRC64
15	·········1·········3········1249~~4276~~········50331648·········60~~70664~~········25165824··0.241··CRC64	15	·········1·········3········12491332········50331648·········6069848········25165824··0.241··CRC64
16	·········1·········4········1856~~494~~0········75497472·········829~~4100~~········20011008··0.414··CRC64	16	·········1·········4········18561180········75497472·········8293964········20011008··0.414··CRC64