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26 Mar 2024 22:52
Hardware Recommendation was created by LCR

Hardware Recommendation

Category: General LinuxCNC Questions

Hi Everyone,

I have looked for recommended hardware and have not found much. If I have missed a big section, please let me know

I need to build a 3 axis mill as some parts I want to build won't fit on what I have. I have a fair bit of experience with this sort of thing, just not LinuxCNC. I could go to a friend, but I would like this capability.
I would like to know what the recommended control hardware is for low risk/headaches. 
I would like to use EtherCat. I have never used EtherCat. Is this a bad idea? What should I watch out for in a Chinese EtherCat servo, any recommendations? I see the RaspberryPI 5 is not ready for EtherCat. Is the RaspberryPI4 OK? Should I just use a PC? What should I watch out for on an Intel PC motherboard?
If not EtherCat, what? I do not want to depend on the PC for the real-time pulse generation. I do want home switches, and a few relays.
The USB pendant I see the most documentation on is the WHB04B-6 CNC wireless handwheel. I want something USB, as I would like to avoid all the wiring from a traditional pendant. Is this pendant well supported? The most supported USB pendant? Is there a cabled version? 

Any recommendations appreciated.
25 Mar 2024 16:13 - 25 Mar 2024 21:39
Replied by nicnucan on topic Remora - ethernet NVEM cnc board

Remora - ethernet NVEM cnc board

Category: Computers and Hardware

Hi, i have a new EC500 board (see attached picture from chip) and trying to use it with linuxcnc and remora.

After some troubles to flash it with a converted ST-Link-V2, it seems to be that i successfully flashed it to remora with the raspberry pico under windows. See output below: (Under Linux (standard LinuxCNC build), I cannot establish a connection with the Pico CMSIS-DAP und linux.

PS C:\Users\...\Desktop> pyocd flash ./remora-rt1052-3.1.2.bin --target mimxrt1050_quadspi -v
0000693 I Target type is mimxrt1050_quadspi [board]
0000726 I DP IDR = 0x0bd11477 (v1 MINDP rev0) [dap]
0000749 I AHB-AP#0 IDR = 0x04770041 (AHB-AP var4 rev0) [discovery]
0000760 I AHB-AP#0 Class 0x1 ROM table #0 @ 0xe00fd000 (designer=00e:NXP part=88c) [rom_table]
0000766 I [0]<e00fe000:ROM class=1 designer=43b:Arm part=4c8> [rom_table]
0000766 I   AHB-AP#0 Class 0x1 ROM table #1 @ 0xe00fe000 (designer=43b:Arm part=4c8) [rom_table]
0000771 I   [0]<e00ff000:ROM class=1 designer=43b:Arm part=4c7> [rom_table]
0000772 I     AHB-AP#0 Class 0x1 ROM table #2 @ 0xe00ff000 (designer=43b:Arm part=4c7) [rom_table]
0000780 I     [0]<e000e000:SCS v7-M class=14 designer=43b:Arm part=00c> [rom_table]
0000784 I     [1]<e0001000:DWT v7-M class=14 designer=43b:Arm part=002> [rom_table]
0000787 I     [2]<e0002000:FPB v7-M class=14 designer=43b:Arm part=00e> [rom_table]
0000790 I     [3]<e0000000:ITM v7-M class=14 designer=43b:Arm part=001> [rom_table]
0000794 I   [1]<e0041000:ETM M7 class=9 designer=43b:Arm part=975 devtype=13 archid=4a13 devid=0:0:0> [rom_table]
0000801 I   [2]<e0042000:CTI CS-400 class=9 designer=43b:Arm part=906 devtype=14 archid=0000 devid=40800:0:0> [rom_table]
0000805 I [1]<e0040000:TPIU M7 class=9 designer=43b:Arm part=9a9 devtype=11 archid=0000 devid=ca1:0:0> [rom_table]
0000807 I [2]<e0043000:TSGEN class=15 designer=43b:Arm part=101> [rom_table]
0000811 I IMXRT Boot Mode: Internal Boot [target_imxrt]
0000818 I CPU core #0: Cortex-M7 r1p1, v7.0-M architecture [cortex_m]
0000819 I   Extensions: [DSP, FPU, FPU_DP, FPU_V5, MPU] [cortex_m]
0000819 I   FPU present: FPv5-D16-M [cortex_m]
0000827 I 4 hardware watchpoints [dwt]
0000831 I 8 hardware breakpoints, 1 literal comparators [fpb]
0000846 I Loading C:\Users\...\Desktop\remora-rt1052-3.1.2.bin [load_cmd]
0000982 I IMXRT Boot Mode: Internal Boot [target_imxrt]
0001028 I IMXRT Boot Device: 0 [target_imxrt]
100%
0031426 I IMXRT Boot Mode: Internal Boot [target_imxrt]
0031428 I IMXRT Boot Device: 0 [target_imxrt]
0031545 I Erased 196608 bytes (3 sectors), programmed 147968 bytes (578 pages), skipped 0 bytes (0 pages) at 4.72 kB/s [loader]
PS C:\Users\...\Desktop>
My problem is that although it looks like the flashing worked, I can't establish a connection over the network. Ping 10.10.10.10, no response. I have already tried different ways to configure the manual IP on the linuxCNC pc.Can you please help me? What else can I do? Thank you in advance.    
24 Mar 2024 21:53
[solved] Need help with RV901T as MESA 7i90: SPI isn't working was created by ago_tm

[solved] Need help with RV901T as MESA 7i90: SPI isn't working

Category: Driver Boards

Hello,

I prepared the bitstream under Xilinx ISE 14.7 according to the changes described in github.com/q3k/chubby75/issues/85#issuecomment-1105762488. Here are the changes compared to basic hostmot2 for 7i90 from MESA site: github.com/golyakoff/hostmot2-rv901t-7i9...abf87a09ed5a3145c7d2.
I could flash the RV901 directly via JTAG from ISE iMPACT with the generic 72 GPIO bitstream.

But I could not connect to the device from Raspberry using SPI0:

Raspberry PI with Debian 12 from linuxcnc:
Linux pi-cnc 6.1.77-rt24-v8-ago #1 SMP PREEMPT_RT Sat Mar 16 18:05:52 MSK 2024 aarch64 GNU/Linux

In boot/broadcom/config.txt I enabled SPI0 with custom CE/CS pin:
dtparam=spi=on
dtoverlay=spi0-1cs,cs0_pin=22

When running the command
ago@pi-cnc:~$ sudo mesaflash --device 7i90 --spi --addr /dev/spidev0.0 --readhmid

Is see:
unable to set bpw32, fallback to bpw8
Unexpected cookie at 0100..0110:
00000000 00000000 00000000

On the logic analyzer I see the following error:
The initial (idle) state of the CLK line does not match the settings (see attachments)

I used the short enough SPI cable (~50-70mm)

Could you please advise?
21 Mar 2024 14:11
Replied by routerman22 on topic EtherCAT on Raspberry Pi 5

EtherCAT on Raspberry Pi 5

Category: EtherCAT

Perhaps ask on the rpi forum?
18 Mar 2024 15:20
Replied by cornholio on topic Communication solution on my own CNC Machine

Communication solution on my own CNC Machine

Category: General LinuxCNC Questions

Nah the Raspberry Pi can be used, quite successfully. Pretty sure that Ol Gene has been using a RPi3 successfully for years on his lathe, think he uses a 7i90 via SPI.
The 5 is a little rocket, shame it’s lacking an SPI driver.
As for the OP proposal, I’m skeptical. I also think he’s a little naive on what’s involved in “rolling you own” motion controller from scratch.

Did I get it right he’s also going to build his own servo motors as well ? That sounds like a serious engineering challenge, if he gets that done I’ll give him a right decent tip of my hat.
18 Mar 2024 00:44
Replied by cornholio on topic userid / password for live

userid / password for live

Category: Installing LinuxCNC

The live session just boots straight to the desktop, no login is required.
If you went through the installation process you created the user, you chose the username and you chose the password.
It’s only the raspberry pi images that require a password and user name.

With the iso you followed the instructions from the documentation for 2.9.2 ?
If not I suggest reading the docs.
17 Mar 2024 22:17 - 17 Mar 2024 22:26
Communication solution on my own CNC Machine was created by srknyxl

Communication solution on my own CNC Machine

Category: General LinuxCNC Questions

This is my first post and first topic in this forum (the first forum I've joined other than my native language). Thanks to you, I learned a lot about linuxcnc and different topics. Finally, I registered to gather my thoughts and open a topic. Since I used translation while writing the article, there may be some problems. Please excuse me :)

I have been doing research on making a CNC machine for a long time. I have met many alternatives on the software side. Driving stepper motors with simple grbl software, slightly more advanced NC solvers such as fluidnc, ready-made control units, windows-based mach and finally linuxcnc.

Mechanically speaking, I have the following design in mind:
A router with a fixed bridge and a processing area of 60x40cm. This machine should be able to cut aluminum very easily. I am thinking of using epoxy granite casting and aluminum sheets for the body material.

Where I work now, there is a large machining center, lathe, 4kw fiber laser and twisting machine. These are all CNC and I know how to use them. I have the opportunity to use all of them for the weekends. Using these opportunities, I want to make permanent magnet ac servo motors myself, in addition to the body parts. Even though the power density in terms of volume is not as much as industrial servos, I think it can be a good start. I will laser cut the thin transformer sheets and bring them together to form the stator. Then I will do the copper winding. I will machine the rotor and body with CNC lathe and milling machine and place the magnets. There are many mechanical details.

I want to use odrive as Servo Motor driver. I will design the voltage and current of the motor I will build in accordance with this driver.

The Odrive project is a closed loop servo controller in itself. Although servo examples are generally made with low-power drone motors, it has a power potential much higher than what I need, such as 56v-70a 4kw. It is used in many applications for location applications. I can't see any physical impediment to it not being used on a medium sized CNC project.

Now it's time for the questions that come to my mind.

Odrive manages the motor and encoder connections itself. Since the pid cycle ends within the odirve itself, would it be enough to just give it pulse and direction commands? In this scenario, linuxcnc will know the current location from the signals it sends. If there is no error signal from the driver, where it thinks it is will be correct. I don't think I need the "mesa" card for this setup.

Can I use Raspberry Pi's own IO outputs without a MESA card? Or is it possible to use a current PC without a parallel output as a Linuxcnc PC and send commands to a Raspberry Pi via ethernet? Raspberry Pi will drive the io pins with commands from Ethernet. Just like a mesa with an ethernet interface. Is this possible? If we can send packets to an IP address from "linuxcnc" using the ethernet port, there is no reason not to make our own ethernet "mesa" card. For this purpose, cheap alternatives can be used instead of expensive raspberry.
www.crocuspi.com/zero_en.html

The software running on these cards connected to the Ethernet network will only convert incoming data packets into orders to be sent to the io pins. The Linux card with 64MB RAM in the link can do this job very quickly.

If it is possible to communicate with the TCP protocol over Ethernet, I would like to get one of these cheap cards and start working on this subject.
16 Mar 2024 14:36
Replied by PCW on topic EtherCAT on Raspberry Pi 5

EtherCAT on Raspberry Pi 5

Category: EtherCAT

Note that a 35 usec servo thread is no different than a 35 usec
base thread as far as the latency tests go, since the latency
test doesn't actually do anything, it really just tests dispatch latency.
16 Mar 2024 11:17
Replied by cornholio on topic EtherCAT on Raspberry Pi 5

EtherCAT on Raspberry Pi 5

Category: EtherCAT

I think someone tested one with a 35us (yes 35) (yes us) servo thread.

forum.linuxcnc.org/9-installing-linuxcnc...i-5?start=170#295779
16 Mar 2024 10:26
Replied by andypugh on topic EtherCAT on Raspberry Pi 5

EtherCAT on Raspberry Pi 5

Category: EtherCAT

Does the Pi5 have good enough latency for an 8kHz servo thread? I haven't looked recently.
14 Mar 2024 23:53
Replied by zmrdko on topic LinuxCNC on Raspberry Pi 5

LinuxCNC on Raspberry Pi 5

Category: Installing LinuxCNC

Nice latency test elovalvo.
Just to rise awareness, isn't here anybody able and willing to modify rpi5 macb driver for EtherCAT?

forum.linuxcnc.org/ethercat/52032-ethercat-on-raspberry-pi-5
14 Mar 2024 20:11
Replied by rodw on topic LinuxCNC on Raspberry Pi 5

LinuxCNC on Raspberry Pi 5

Category: Installing LinuxCNC

It was worth a try.
Often, where multiple kernel versions are in play, I have used 
sudo apt install linux-image-$(uname -r)-rt-arm64 linux-headers-$(uname -r)-rt-arm64
Not sure if Debian knows about your kernel.
14 Mar 2024 14:34
Replied by elovalvo on topic LinuxCNC on Raspberry Pi 5

LinuxCNC on Raspberry Pi 5

Category: Installing LinuxCNC

Looks good. It would be interesting to retry using the debian kernel rather than your compied one and compare latency results. I suspect what you have will be better.sudo apt-install -y linux-image-rt-arm64 linux-headers-rt-arm64

I tried the procedure you suggested but, in addition to the fact that version 6.1.0-18-rt-arm64 is currently available (and therefore not aligned with version 6.6.20+rpt-rpi-2712), the installation reports that these versions of initramfs and kernel are unsupported.
pi@raspberrypi5:~ $ uname -a
Linux raspberrypi5 6.6.20+rpt-rpi-2712 #1 SMP PREEMPT Debian 1:6.6.20-1+rpt1 (2024-03-07) aarch64 GNU/Linux
pi@raspberrypi5:~ $ sudo apt update
Hit:1 http://deb.debian.org/debian bookworm InRelease
Hit:2 http://deb.debian.org/debian-security bookworm-security InRelease
Hit:3 http://deb.debian.org/debian bookworm-updates InRelease
Hit:4 http://archive.raspberrypi.com/debian bookworm InRelease
Reading package lists... Done
Building dependency tree... Done
Reading state information... Done
All packages are up to date.
pi@raspberrypi5:~ $ sudo apt upgrade
Reading package lists... Done
Building dependency tree... Done
Reading state information... Done
Calculating upgrade... Done
0 upgraded, 0 newly installed, 0 to remove and 0 not upgraded.
pi@raspberrypi5:~ $
pi@raspberrypi5:~ $ sudo apt install -y linux-image-rt-arm64 linux-headers-rt-arm64
Reading package lists... Done
Building dependency tree... Done
Reading state information... Done
The following additional packages will be installed:
  linux-headers-6.1.0-18-common-rt linux-headers-6.1.0-18-rt-arm64 linux-image-6.1.0-18-rt-arm64
  linux-kbuild-6.1
Suggested packages:
  linux-doc-6.1 debian-kernel-handbook
The following NEW packages will be installed:
  linux-headers-6.1.0-18-common-rt linux-headers-6.1.0-18-rt-arm64 linux-headers-rt-arm64
  linux-image-6.1.0-18-rt-arm64 linux-image-rt-arm64 linux-kbuild-6.1
0 upgraded, 6 newly installed, 0 to remove and 0 not upgraded.
Need to get 67.8 MB of archives.
After this operation, 405 MB of additional disk space will be used.
Get:1 http://deb.debian.org/debian bookworm/main arm64 linux-headers-6.1.0-18-common-rt all 6.1.76-1 [8,308 kB]
Get:2 http://archive.raspberrypi.com/debian bookworm/main arm64 linux-kbuild-6.1 arm64 1:6.1.73-1+rpt1 [913 kB]
Get:3 http://deb.debian.org/debian bookworm/main arm64 linux-headers-6.1.0-18-rt-arm64 arm64 6.1.76-1 [1,306 kB]
Get:4 http://deb.debian.org/debian bookworm/main arm64 linux-headers-rt-arm64 arm64 6.1.76-1 [1,408 B]
Get:5 http://deb.debian.org/debian bookworm/main arm64 linux-image-6.1.0-18-rt-arm64 arm64 6.1.76-1 [57.2 MB]
Get:6 http://deb.debian.org/debian bookworm/main arm64 linux-image-rt-arm64 arm64 6.1.76-1 [1,444 B]
Fetched 67.8 MB in 4s (18.5 MB/s)
Selecting previously unselected package linux-headers-6.1.0-18-common-rt.
(Reading database ... 125884 files and directories currently installed.)
Preparing to unpack .../0-linux-headers-6.1.0-18-common-rt_6.1.76-1_all.deb ...
Unpacking linux-headers-6.1.0-18-common-rt (6.1.76-1) ...
Selecting previously unselected package linux-kbuild-6.1.
Preparing to unpack .../1-linux-kbuild-6.1_1%3a6.1.73-1+rpt1_arm64.deb ...
Unpacking linux-kbuild-6.1 (1:6.1.73-1+rpt1) ...
Selecting previously unselected package linux-headers-6.1.0-18-rt-arm64.
Preparing to unpack .../2-linux-headers-6.1.0-18-rt-arm64_6.1.76-1_arm64.deb ...
Unpacking linux-headers-6.1.0-18-rt-arm64 (6.1.76-1) ...
Selecting previously unselected package linux-headers-rt-arm64.
Preparing to unpack .../3-linux-headers-rt-arm64_6.1.76-1_arm64.deb ...
Unpacking linux-headers-rt-arm64 (6.1.76-1) ...
Selecting previously unselected package linux-image-6.1.0-18-rt-arm64.
Preparing to unpack .../4-linux-image-6.1.0-18-rt-arm64_6.1.76-1_arm64.deb ...
Unpacking linux-image-6.1.0-18-rt-arm64 (6.1.76-1) ...
Selecting previously unselected package linux-image-rt-arm64.
Preparing to unpack .../5-linux-image-rt-arm64_6.1.76-1_arm64.deb ...
Unpacking linux-image-rt-arm64 (6.1.76-1) ...
Setting up linux-image-6.1.0-18-rt-arm64 (6.1.76-1) ...
/etc/kernel/postinst.d/initramfs-tools:
update-initramfs: Generating /boot/initrd.img-6.1.0-18-rt-arm64
ERROR: Unsupported initramfs version (6.1.0-18-rt-arm64)
/etc/kernel/postinst.d/z50-raspi-firmware:
ERROR: Unsupported kernel version (6.1.0-18-rt-arm64)
Setting up linux-headers-6.1.0-18-common-rt (6.1.76-1) ...
Setting up linux-image-rt-arm64 (6.1.76-1) ...
Setting up linux-kbuild-6.1 (1:6.1.73-1+rpt1) ...
Setting up linux-headers-6.1.0-18-rt-arm64 (6.1.76-1) ...
Setting up linux-headers-rt-arm64 (6.1.76-1) ...
pi@raspberrypi5:~ $
14 Mar 2024 08:51
EtherCAT on Raspberry Pi 5 was created by zmrdko

EtherCAT on Raspberry Pi 5

Category: EtherCAT

Hi,

few weeks ago, I have gotten myself new rpi5, since I liked promised performance leap and preliminary latency tests looked awesome. I wanted to run 8kHz servo thread to match my Delta ASD-B3-E cycle time. Even though the ethernet chips on rpi4 and rpi5 are the same, rpi5 uses different driver - macb.
This means, that for now, you can only use generic ethercat driver, which is only able to run at 1kHz.
To run ethercat on rpi5 at higher rates, we need macb driver ported to ethercat.

So we are looking for someone, who is able and willing to do this. I compared source files for some drivers, which have been already ported with original drivers, and there are not many differences. Mostly some repeating IFs…

Thread link with more details on this issue:
Gitlab
14 Mar 2024 01:50
Replied by cornholio on topic LinuxCNC on Raspberry Pi 5

LinuxCNC on Raspberry Pi 5

Category: Installing LinuxCNC

Always wonder why you use such a low servo thread, which isn't a real world scenario, and don't show a 1ms servo thread and a base thread.

It would be interesting to see a 1ms servo thread without isolating any cpus. And the aforementioned 1ms servo thread & base thread isolating the required cpus to get a real life scenario. Some users can judge whether it would suit a real life setup without having to go through buying a RPi5, installing Linuxcnc and running the latency tests. Something that would give them confidence in a particular setup.
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