External homing (in drives)?

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3 years 9 months ago #263273 by spumco
Replied by spumco on topic External homing (in drives)?
Rod -

The Allen Bradley Ultra 3000 is a (recently) obsolete servo drive.  They're pretty bulletproof, and are one of the most 'agnostic' drives out there for use with just about any servo/encoder combination.  Analog or digital inputs, secondary feedback input, etc.  There are even models that go up to 3kw continuous on single-phase 240v.

They came in three flavors: no networking, sercos, or DeviceNet.  Some models have built-in indexing features, and all of them can be controlled via rs232/485 serial ports.  They are not, however, ethercat drives; way too old for that.

I think what Danny's done in his comp is use the digital IO on the drive to do what I've been pondering... tell LCNC to just shut up and let the drives get on with it.  But his plan appears to be much more elegant than what I was considering.

But I haven't digested his comp yet.

-R
The following user(s) said Thank You: rodw

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3 years 9 months ago #263295 by rodw
Replied by rodw on topic External homing (in drives)?

I think what Danny's done in his comp is use the digital IO on the drive to do what I've been pondering... tell LCNC to just shut up and let the drives get on with it.  But his plan appears to be much more elegant than what I was considering.
-R
 
Thanks for the context. With an Ethercat CIA402 drive, you may need an external component like Dominic's to extract the homing pins but ideally it should be done in the homecomp (which might be possible). I have a couple of other jobs to do before I tackle this. The Ethercat Working Group is coming to Brisbane, Australia where i live on 10 Feb so I hope to be there.

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3 years 7 months ago #267237 by Sviper
Replied by Sviper on topic External homing (in drives)?

I made a custom homing component for homing Ultra 3000 drive based on the example provided in linuxcnc.I bench tested it with my drive (2098-DSD-010-SE) and using "To Sensor/Back to Marker" and it's working fine.Linuxcnc wait for the drive to finish homing before moving to the next drive.
Hello DanyD,

i woud like to compile the comp but it doesent work:
Code:
steffen@lcnc:~/linuxcnc/linuxcnc-dev$ source ./scripts/rip-environment This script only needs to be run once per shell session. steffen@lcnc:~/linuxcnc/linuxcnc-dev$ nano ./src/hal/components/u3000homecomp.comp steffen@lcnc:~/linuxcnc/linuxcnc-dev$ halcompile --install ./src/hal/components/u3000homecomp.comp ./src/hal/components/u3000homecomp.comp:1:0: Trying to find one of "component" Traceback (most recent call last):   File "/usr/lib/python3/dist-packages/yapps/runtime.py", line 438, in wrap_error_reporter     return getattr(parser, rule)(*args,**kw)   File "/home/steffen/linuxcnc/linuxcnc-dev/bin/halcompile", line 80, in File     ComponentDeclaration = self.ComponentDeclaration(_context)   File "/home/steffen/linuxcnc/linuxcnc-dev/bin/halcompile", line 88, in ComponentDeclaration     self._scan('"component"', context=_context)   File "/usr/lib/python3/dist-packages/yapps/runtime.py", line 376, in _scan     return self._scanner.scan(type, **kw)   File "/usr/lib/python3/dist-packages/yapps/runtime.py", line 344, in scan     tok = self.token([type],context)   File "/usr/lib/python3/dist-packages/yapps/runtime.py", line 297, in token     raise SyntaxError(self.get_pos(), msg, context=context) yapps.runtime.SyntaxError: SyntaxError@('./src/hal/components/u3000homecomp.comp', 1, 0)(Trying to find one of "component") During handling of the above exception, another exception occurred: Traceback (most recent call last):   File "/home/steffen/linuxcnc/linuxcnc-dev/bin/halcompile", line 1542, in <module>     main()   File "/home/steffen/linuxcnc/linuxcnc-dev/bin/halcompile", line 1512, in main     process(f, mode, outfile)   File "/home/steffen/linuxcnc/linuxcnc-dev/bin/halcompile", line 1363, in process     a, b = parse(filename)   File "/home/steffen/linuxcnc/linuxcnc-dev/bin/halcompile", line 442, in parse     p = _parse('File', a + "\n\n", filename)   File "/home/steffen/linuxcnc/linuxcnc-dev/bin/halcompile", line 430, in _parse     return runtime.wrap_error_reporter(P, rule)   File "/usr/lib/python3/dist-packages/yapps/runtime.py", line 440, in wrap_error_reporter     print_error(e, parser._scanner)   File "/usr/lib/python3/dist-packages/yapps/runtime.py", line 420, in print_error     scanner.print_line_with_pointer(pos)   File "/usr/lib/python3/dist-packages/yapps/runtime.py", line 230, in print_line_with_pointer     print >>out, '> ',text TypeError: unsupported operand type(s) for >>: 'builtin_function_or_method' and '_io.TextIOWrapper'. Did you mean "print(<message>, file=<output_stream>)"? steffen@lcnc:~/linuxcnc/linuxcnc-dev$ 
can you help me?

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3 years 7 months ago #267243 by JPL
Replied by JPL on topic External homing (in drives)?
Not DanyD here but I can see that your attached file 0homecomp.comp is wrong. Looks like you removed some lines in the beginning.... Try with the original unmodified file.  If you are unsure of the 'synthax' you may also have a look at this as an example of comp file here: github.com/LinuxCNC/linuxcnc/blob/master...onents/homecomp.comp
 

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3 years 7 months ago - 3 years 7 months ago #267274 by Sviper
Replied by Sviper on topic External homing (in drives)?
Thank you.
I copied the text out of the thread. But I forget the frist Line. 
OK I will try again today.

THX
Last edit: 3 years 7 months ago by Sviper.

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