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Hello, I have a few questions.I am building a complete computer with fpga and all other boards, and I have some questions:
1. What firmware should I choose, mesa, remora or, write my own?
2. I want a universal solution, so what input/output boards should I design?
3. Should I design my own case or choose a ready-made one?
Here is one of the prototypes 
   
32 outputs 24v 0.5A, 32 inputs 24V, four boards4 analog servo -10V.. 10V outputs, 4 encoders input.Fpga 96 IO board with buffers.Firmware - ported and modified mesa for SPI interface, software driver - modified hm2 driver from source code.3d printed caseComputer Raspberry pi 5 aluminum caseall works fine and stable 

Ihr habt natürlich recht! 
Der Stift war doch wackeliger eingespannt als gedacht.
Eine Fräsung in einem Reststück ergibt ein schönes Ergebnis - damit bin ich zufrieden!

 

Die Mesa-Karte ist immer noch am Weg, damit spiele ich mich vermutlich im Winter mal.

Ich bin jetzt noch am überlegen ob ich die Ansteuerung der Spindel-Drehzahl auch über LinuxCNC machen möchte, einfach um unabhängig von der eingebauten Platine zu sein.

Laut dem Blog von Entropia brauche ich die folgende Ansteuerung:
Über SPI auf den Pins 14,16 und 17 wird die Drehzahl eingestellt.
Die Datenrate ist 30 kHz; die Daten werden in 16bit-Worten (Big Endian) übertragen.
Bei einem ATMega328p mit 128 kHz Clock haben die folgenden SPI-Settings funktioniert:
SPCR = _BV(SPE) | _BV(MSTR) | _BV(SPR0) ;
SPSR = 1 << SPI2X;

Die gesendeten Werte sind linear Interpoliert zwischen:
14000 RPM in Editasc -> 2866
20000 RPM in Editasc -> 4094 (0x0FFE -- erster Nibbel soll stets 0 sein!)

man kann die Spindelgeschwindigkeit auch mit 64kHz (= 8MHz F_CPU / Divider 128) senden.

Wäre das eurer Meinung nach eher ein Fall für einen externen Arduino, oder kann das der Raspberry ebenfalls erzeugen und ausgeben?

I maintained series cabling, switch is just between rpi and first ECT60. Only purpose for switch was isolate Ethernet disconnect to side or other. After adding switch i cant see ethernet disconnect messages in rpi kernel logs any more. I am having RTT60V202 versions.

 

I haven’t run my ect60 drive for more than 30 minutes, so I haven’t seen this problem.

I appreciate all your documentation however. I’m also running a pi4b.

When you installed the Ethernet switch, did you maintain the series cabling for all the drives? Put another way, do you have just the pi and the first ect60 connected to the switch?

I wonder if a loop configuration using the Ethernet port on the pi, plus one more usb dongle Ethernet port would also solve the problem.

unknown wrote:

I'm not too sure if this may help
github.com/MichaIng/DietPi/issues/6577

The power saving feature shouldn't be kicking whilst there is traffic, but stranger things do happen. And I know the RPi is on a later kernel.
Actually that reminds me I'll have to talk to Rod about Ethercat repos for the new image.

Hmm, that puts the kybosh on the kernel.org docs saying EEE is disabled by default. Always disable it!

I'm not too sure if this may help
github.com/MichaIng/DietPi/issues/6577

The power saving feature shouldn't be kicking whilst there is traffic, but stranger things do happen. And I know the RPi is on a later kernel.
Actually that reminds me I'll have to talk to Rod about Ethercat repos for the new image.

That one i have already tried but it did not help

Well, I don't have a pi with linuxcnc and only googled a bit.
forums.raspberrypi.com/viewtopic.php?t=362866#p2229969 worth a try I guess if you haven't done so.
 

May be I have found least workaround and some glue what's wrong. I tested adding ethernet switch between my Raspberry Pi 5 and ETC60 Ethercat stepper controller. After adding this switch i have not got any synchronization errors or got Raspberry ethernet link up/down causing that error.

Because i have got same error between multiple tested Raspbelly Pi 4 and 5 boards and least three controller boxes having Rtlligent ETC60it cant be just a faulty unit but more common compatibility issue. Least adding switch is workaround fix.

My general experience from Linuxcnc / Ethercat / ECT60 is very positive. First I replaced always failing PC hardware with Raspberry Pi and PIO controlled steppers but I wanted better and Ethercat felt best choice. In beginning i needed to build everything from sources. This joint x motion error / synhcronization error was only unresolved issue and it took long time to find out that it was not caused by other factors like insufficient real time performance.Now when everything works and there is easy installation package i think that it will be my number one option. Next I will try Lichuan Ethercat servo and lets see is do I need switch between Lichuan ethervcat controller or not

here is the result of running sudo dmesg


[ 4.057274] Bluetooth: HCI UART protocol Broadcom registered
[ 4.083683] brcmfmac: F1 signature read @0x18000000=0x15264345
[ 4.087327] brcmfmac: brcmf_fw_alloc_request: using brcm/brcmfmac43455-sdio for chip BCM4345/6
[ 4.087734] usbcore: registered new interface driver brcmfmac
[ 4.291603] brcmfmac: brcmf_c_process_txcap_blob: no txcap_blob available (err=-2)
[ 4.291861] brcmfmac: brcmf_c_preinit_dcmds: Firmware: BCM4345/6 wl0: Apr 15 2021 03:03:20 version 7.45.234 (4ca95bb CY) FWID 01-996384e2
[ 4.393502] Bluetooth: hci0: BCM: chip id 107
[ 4.393719] Bluetooth: hci0: BCM: features 0x2f
[ 4.394870] Bluetooth: hci0: BCM4345C0
[ 4.394873] Bluetooth: hci0: BCM4345C0 (003.001.025) build 0000
[ 4.426812] Bluetooth: hci0: BCM4345C0 'brcm/BCM4345C0.hcd' Patch
[ 4.462459] macb 1f00100000.ethernet eth0: PHY [1f00100000.ethernet-ffffffff:01] driver [Broadcom BCM54213PE] (irq=POLL)
[ 4.462471] macb 1f00100000.ethernet eth0: configuring for phy/rgmii-id link mode
[ 4.469213] pps pps0: new PPS source ptp0
[ 4.469263] macb 1f00100000.ethernet: gem-ptp-timer ptp clock registered.
[ 4.470153] warning: `iwconfig' uses wireless extensions which will stop working for Wi-Fi 7 hardware; use nl80211
[ 4.470300] ec_master: loading out-of-tree module taints kernel.
[ 4.470306] ec_master: module verification failed: signature and/or required key missing - tainting kernel
[ 4.475936] EtherCAT: Master driver 1.6.8 1.6.8.g2543cc5-1+27.1
[ 4.476617] EtherCAT: 1 master waiting for devices.
[ 4.490862] zram: Added device: zram0
[ 4.628070] ec_generic: EtherCAT master generic Ethernet device module 1.6.8 1.6.8.g2543cc5-1+27.1
[ 4.628086] EtherCAT: Accepting 2C:CF:67:24:E6:CD as main device for master 0.
[ 4.628096] ec_generic: Binding socket to interface 2 (eth0).
[ 4.645137] EtherCAT 0: Starting EtherCAT-IDLE thread.
[ 4.747291] Bluetooth: BNEP (Ethernet Emulation) ver 1.3
[ 4.747296] Bluetooth: BNEP filters: protocol multicast
[ 4.747300] Bluetooth: BNEP socket layer initialized
[ 4.752789] brcmfmac: brcmf_cfg80211_set_power_mgmt: power save enabled
[ 5.129671] Bluetooth: hci0: BCM: features 0x2f
[ 5.131033] Bluetooth: hci0: BCM43455 37.4MHz Raspberry Pi 3+
[ 5.131037] Bluetooth: hci0: BCM4345C0 (003.001.025) build 0342
[ 5.131328] Bluetooth: hci0: BCM: Using default device address (43:45:c0:00:1f:ac)
[ 5.150144] Bluetooth: MGMT ver 1.23
[ 5.155700] NET: Registered PF_ALG protocol family
[ 6.530993] macb 1f00100000.ethernet eth0: Link is Up - 100Mbps/Full - flow control off
[ 6.537016] EtherCAT 0: Link state of ecm0 changed to UP.
[ 6.545022] EtherCAT 0: 4 slave(s) responding on main device. Re-scanning on next possibility.
[ 6.545024] EtherCAT 0: Slave states on main device: PREOP.
[ 6.545025] EtherCAT 0: Re-scanning now.
[ 6.545194] EtherCAT 0: Scanning bus.
[ 7.356283] EtherCAT 0: Bus scanning completed in 808 ms.
[ 7.356289] EtherCAT 0: Using slave 0 as DC reference clock.

 
I have an issue, after running LinuxCNC Raspberry Pi Ethercat with  Rtelligent ECT60 closed loop stepper controller i will gat about roughly half of hour or sometimes less  EtherCAT ERROR 0-0: AL status message 0x001A: "Synchronization error".  I have narrowed down problem that it occurs when raspberry pi ethernet goes down for a moment and then back up.Then the narrowing down part, I have tried with Raspberry Pi5 and couple of Raspberry Pi 4, I have used own build Rt-preempt kernel and all Linuxcnc/Ethercat from sources and now I have downloaded ready made LinuxCNC 2.9.4 Raspberry Pi image for rpi4 and rpi5. I have followed installation instructions from "Ethercat installation from repositories - how to step by step". I have tried with two separate controller boxes that are having Rtelligent ECT60 boards with two CNC machines and test configuration with just raspberry pi, controller and stepper motors. I have used multiple brand new ethernet cables, tried multiple Raspberry Pi power supplies including original one.  I have tried to disable all other possible services like ntpd NetworknaMager touching interface. I can say that I have changed every component in system. Ethercat is direct cable connection from Raspberry Pi to ETC60.

Good ideas what to try next or even workaround ideas.  When searching "macb 1f00100000.ethernet eth0: Link is Down" for rpi5 or similar for rpi4 i got lot of matching posts from raspberry pi forums. Just not help, there is similar theories about reason, bad ethernet cable, bad power supply, bad ethernet switch. I have tried with multiple cables , mutiple power supplies and I don't have switch but direct ethercat.

I least assume that issue is not in Ethercat configuration or Rpi RT-Preempt kernel because all of these are now standard from repo.
 ​​​​​​​

cnc@raspberrypi:~$ % halrun
halcmd: loadrt cia402pv names=cia402pv.Spindle
Note: Using POSIX realtime
halcmd: show all
bash: fg: %: no such job
bash: halcmd:: command not found
bash: Note:: command not found
bash: halcmd:: command not found
cnc@raspberrypi:~$ halrun
halcmd: loadrt cia402pv names=cia402pv.Spindle
Note: Using POSIX realtime
halcmd: show all
Loaded HAL Components:
ID Type Name PID State
4 RT cia402pv ready
2 User halcmd2602 2602 ready

Component Pins:
Owner Type Dir Value Name
4 float IN 0 cia402pv.Spindle.acceleration
4 u32 OUT 0x00000000 cia402pv.Spindle.controlword
4 float IN 0 cia402pv.Spindle.deceleration
4 s32 OUT 0 cia402pv.Spindle.drv-acceleration
4 s32 IN 0 cia402pv.Spindle.drv-actual-position
4 s32 IN 0 cia402pv.Spindle.drv-actual-velocity
4 s32 OUT 0 cia402pv.Spindle.drv-deceleration
4 bit OUT FALSE cia402pv.Spindle.drv-fault
4 s32 OUT 0 cia402pv.Spindle.drv-quickstop-deceleration
4 s32 OUT 0 cia402pv.Spindle.drv-target-position
4 s32 OUT 0 cia402pv.Spindle.drv-target-velocity
4 bit IN FALSE cia402pv.Spindle.enable
4 bit IN FALSE cia402pv.Spindle.fault-reset
4 bit I/O FALSE cia402pv.Spindle.home
4 s32 OUT 0 cia402pv.Spindle.opmode
4 bit OUT FALSE cia402pv.Spindle.opmode-cyclic-position
4 bit OUT FALSE cia402pv.Spindle.opmode-cyclic-velocity
4 s32 IN 0 cia402pv.Spindle.opmode-display
4 bit OUT FALSE cia402pv.Spindle.opmode-homing
4 bit OUT FALSE cia402pv.Spindle.opmode-no-mode
4 bit OUT FALSE cia402pv.Spindle.opmode-profile-velocity
4 float IN 0 cia402pv.Spindle.pos-cmd
4 float OUT 0 cia402pv.Spindle.pos-fb
4 float IN 0 cia402pv.Spindle.quickstop-acceleration
4 s32 OUT 0 cia402pv.Spindle.read-all.time
4 bit IN FALSE cia402pv.Spindle.run
4 bit OUT FALSE cia402pv.Spindle.stat-at-speed
4 bit OUT FALSE cia402pv.Spindle.stat-fault
4 bit OUT FALSE cia402pv.Spindle.stat-homed
4 bit OUT FALSE cia402pv.Spindle.stat-homing
4 bit OUT FALSE cia402pv.Spindle.stat-op-enabled
4 bit OUT FALSE cia402pv.Spindle.stat-quick-stop
4 bit OUT FALSE cia402pv.Spindle.stat-quick-stop-valid
4 bit OUT FALSE cia402pv.Spindle.stat-remote
4 bit OUT FALSE cia402pv.Spindle.stat-switched-on
4 bit OUT FALSE cia402pv.Spindle.stat-switchon-disabled
4 bit OUT FALSE cia402pv.Spindle.stat-switchon-ready
4 bit OUT FALSE cia402pv.Spindle.stat-target-reached
4 bit OUT FALSE cia402pv.Spindle.stat-voltage-enabled
4 bit OUT FALSE cia402pv.Spindle.stat-warning
4 bit OUT FALSE cia402pv.Spindle.stat-zero-speed
4 u32 IN 0x00000000 cia402pv.Spindle.statusword
4 float IN 0 cia402pv.Spindle.velocity-cmd
4 float OUT 0 cia402pv.Spindle.velocity-fb
4 s32 OUT 0 cia402pv.Spindle.write-all.time

Pin Aliases:
Alias Original Name

Signals:
Type Value Name (linked to)

Parameters:
Owner Type Dir Value Name
4 bit RW TRUE cia402pv.Spindle.auto-fault-reset
4 bit RW TRUE cia402pv.Spindle.csp-mode
4 float RW 1 cia402pv.Spindle.pos-scale
4 bit RW FALSE cia402pv.Spindle.pv-mode
4 s32 RW 0 cia402pv.Spindle.read-all.tmax
4 bit RO FALSE cia402pv.Spindle.read-all.tmax-increased
4 float RW 1 cia402pv.Spindle.velo-scale
4 s32 RW 0 cia402pv.Spindle.write-all.tmax
4 bit RO FALSE cia402pv.Spindle.write-all.tmax-increased

Parameter Aliases:
Alias Original Name

Exported Functions:
Owner CodeAddr Arg FP Users Name
00004 7fff005c2a20 7fff005f0120 YES 0 cia402pv.Spindle.read-all
00004 7fff005c1e04 7fff005f0120 YES 0 cia402pv.Spindle.write-all

Realtime Threads:
Period FP Name ( Time, Max-Time )

halcmd: Note: Using POSIX realtime
cnc@raspberrypi:~$

1. No 7I96S step/dir pin should ever be wired to 5V or ground.
This directly shorts out the drivers and if done for more
than a short time will damage the driver chips.

2. Not sure what you mean by this:
I wired them to Raspberry Pi GPIO using external 10k pull-ups.

3. Are the pins you have trouble with encoder pins (TB2 pins)
or isolated input pins?

P1 pinout is standard header pinout
pin one is marked with the Square

1 2
3 4
5 6
7 8
 etc

Note that mesaflash show equivalent DB25 pins
(if you use the latest mesaflash you can show HDR26 pins
with the --dbname hdr26 option)

Hello everyone
I am encountering an issue that appears to be EMI-related despite applying the usual mitigation steps.
EMI / System Setup:
VFD in steel enclosure
Input EMI filter
Ferrite rings on VFD output and all related cables
Shielded spindle/motor cables (grounded both ends)
AC/VFD cabling physically separated from DC lines
High-current DC cables are shielded and routed separately
Control Setup:
I am using the 7i96S encoder pins for MPG inputs (I have no motor or spindle encoders).
I do not have any unused OUT pins and only 4 available IN pins.
To get X, Y, Z, X1, X10, and X100 signals, I wired them to Raspberry Pi GPIO using external 10k pull-ups.
Issue
After wiring the MPG inputs, some of the pins intermittently remain latched HIGH or LOW, making jog selection unreliable. This problem has occurred twice, and both times it started after spindle-speed testing.
Earlier in setup, I believe I damaged one of the 7i96S step/dir channels. After that, instead of wiring STEP- and DIR- to GND and STEP+ / DIR+ to the respective inputs, I reversed them — STEP+ and DIR+ to +5V and STEP- / DIR- to the Mesa pins.I have since added additional ferrites and shielding, Ferrites on servo lines, data cables, and MPG cable
Steel mesh added to enclosure ventilation fans but the issue persists.
I am now planning to use the P1 pins on the 7i96S for X/Y/Z and X1/X10/X100 inputs instead.
W6 jumper is OFF.
Questions

1. The MPG has extra wires that appear intended to power LEDs or similar features. Can these be safely powered from the 5V rail, or is that risky for the inputs?
2. Where exactly are pin 1 and pin 2 physically located on the P1 expansion header?
3. Which P1 pins are appropriate to use for these MPG signals?
4. May I safely use 5V for the MPG input power in this configuration?
5. Any recommendations to avoid EMI issues when using these inputs on the 7i96S?
   
   Thank you for your help.
   
   
   

sudo halcompile --install cia402pv.comp

cnc@raspberrypi:~$ sudo halcompile --install cia402pv.comp
Traceback (most recent call last):
File "/usr/bin/halcompile", line 1553, in <module>
main()
File "/usr/bin/halcompile", line 1523, in main
process(f, mode, outfile)
File "/usr/bin/halcompile", line 1363, in process
a, b = parse(filename)
^^^^^^^^^^^^^^^
File "/usr/bin/halcompile", line 434, in parse
f = open(filename).read()
^^^^^^^^^^^^^^
FileNotFoundError: [Errno 2] No such file or directory: 'cia402pv.comp'