LitexCNC: firmware and driver for 5A-75B and 5A-75E
08 Feb 2024 16:09 #292855
by TOLP2
I've tested up to 4 axes indeed. Will add a bug report to LitexCNC and will investigate ASAP.
Replied by TOLP2 on topic LitexCNC: firmware and driver for 5A-75B and 5A-75E
Hello,
have the JOSON examples on the instructions page ever been fully tested?
I have compiled and flashed the example V8.0 12/14 on my 5A-75B V8.2 FPGA board with my Raspberry pi4 according to the described instructions. I have a small gantry milling machine with 2 Y-axes and an additional rotary axis (XYYZA).
To test my Linuxcnc configuration, I made a small test setup with 5 stepper motors.
The first 4 stepper motor outputs on the FPGA board
stepgen.00.... j7:0 with j7:1
stepgen.01.... j7:2 with j7:4
stepgen.02.... j7:5 with j7:6
stepgen.03.... j8:0 with j8:1
work perfectly. The home movement also works without any problems.
The last two stepper motor outputs:
stepgen.04.... j8:2 with j8:4
stepgen.05.... j8:5 with j8:6
show a strange behavior. As soon as a movement (e.g. home movement) is initiated,
the connected stepper motor starts to turn in a certain direction and can only be stopped,
the FPGA board is disconnected from the power supply.
The stepper motor continues to rotate even when the Raspberry is no longer connected to the board.
It doesn't matter which axis I assign this output to in Linuxcnc.
The stepper motor connected to these outputs shows this behavior.
Has anyone ever tested a 5A-75B V8.x with more than 4 axes?
Best regards
Uwe
I've tested up to 4 axes indeed. Will add a bug report to LitexCNC and will investigate ASAP.
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08 Feb 2024 19:22 #292873
by uba100
Replied by uba100 on topic LitexCNC: firmware and driver for 5A-75B and 5A-75E
I don't know if this is helpful.
I tried a few different mappings in the JSON file and flashed them to the FPGA.
If I output the last two step generators on the J6 tub connector, they also have the error on these pins.
However, if I define two more step generators (and of course two PWM generators less), then only the last two step generators (stepgen.06... and stepgen.07..) have the error described. I can now use the two step generators stepgen.04.... and stepgen.05....
I can now perform an error-free home run and also jog the axes without Linuxcnc displaying an error message.
They just seem to run a little unevenly.
I tried a few different mappings in the JSON file and flashed them to the FPGA.
If I output the last two step generators on the J6 tub connector, they also have the error on these pins.
However, if I define two more step generators (and of course two PWM generators less), then only the last two step generators (stepgen.06... and stepgen.07..) have the error described. I can now use the two step generators stepgen.04.... and stepgen.05....
I can now perform an error-free home run and also jog the axes without Linuxcnc displaying an error message.
They just seem to run a little unevenly.
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08 Feb 2024 19:33 #292874
by TOLP2
On the example with 6 stepgens, can you just remove two PWMs from the board and try to run it?
I think I've a hunch what is going on. When using Ethernet, there is a maximum size of the data-packet which can be received by the card. Because there are so many functions on the card, it might be the case that the two last stepgens are outside the memory allocated for the buffer. By removing two PWM, you save in total 4 bytes in the data package. And guess: two additional steppers cost also 4 bytes. So the behavior you described totally fits this.
When starting the connection, the driver will show the allocated buffers for configuration, reading and writing. Can you share this information here as well?
Replied by TOLP2 on topic LitexCNC: firmware and driver for 5A-75B and 5A-75E
Could you help me out a little bit more?I don't know if this is helpful.
I tried a few different mappings in the JSON file and flashed them to the FPGA.
If I output the last two step generators on the J6 tub connector, they also have the error on these pins.
However, if I define two more step generators (and of course two PWM generators less), then only the last two step generators (stepgen.06... and stepgen.07..) have the error described. I can now use the two step generators stepgen.04.... and stepgen.05....
I can now perform an error-free home run and also jog the axes without Linuxcnc displaying an error message.
They just seem to run a little unevenly.
On the example with 6 stepgens, can you just remove two PWMs from the board and try to run it?
I think I've a hunch what is going on. When using Ethernet, there is a maximum size of the data-packet which can be received by the card. Because there are so many functions on the card, it might be the case that the two last stepgens are outside the memory allocated for the buffer. By removing two PWM, you save in total 4 bytes in the data package. And guess: two additional steppers cost also 4 bytes. So the behavior you described totally fits this.
When starting the connection, the driver will show the allocated buffers for configuration, reading and writing. Can you share this information here as well?
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08 Feb 2024 20:39 #292880
by uba100
Replied by uba100 on topic LitexCNC: firmware and driver for 5A-75B and 5A-75E
Here is the current output of Linuxcnc at startup:
LINUXCNC - 2.9.2
Machine configuration directory is '/home/cnc/linuxcnc/configs/test1'
Machine configuration file is 'test1.ini'
Starting LinuxCNC...
linuxcnc TPMOD=tpmod HOMEMOD=homemod EMCMOT=motmod
Note: Using POSIX realtime
Found file(REL): ./test1.hal
identityKinematicsSetup: coordinates:XYYZA
Joint 0 ==> Axis X
Joint 1 ==> Axis Y
Joint 2 ==> Axis Y
Joint 3 ==> Axis Z
Joint 4 ==> Axis A
litexcnc: Loading Litex CNC driver version 1.1.0
litexcnc: Loading and registering default modules:
litexcnc: Registered module gpio
litexcnc: Registered module pwm
litexcnc: Registered module encoder
litexcnc: Registered module step
litexcnc: Setting up board drivers:
litexcnc: Registered driver eth
LitexCNC-eth: connected to board on '10.0.0.10:1234'
litexcnc: Setting up modules...
litexcnc: Reading 36 bytes
litexcnc: - Watchdog
litexcnc: - Wallclock
litexcnc: - gpio ... done!
litexcnc: - pwm ... done!
litexcnc: - encoder ... done!
litexcnc: - step ... done!
litexcnc: Creating read and write buffers...
litexcnc: Base addresses: init: 00000000, reset: 00000044, config: 00000048, write: 0000004C, read: 000000B8
litexcnc: - Write buffer: 108 bytes
litexcnc: - Read buffer: 120 bytes
litexcnc: Exporting functions...
Found file(REL): ./custom.hal
litexcnc/5A-75B:V8.0: Watchdog timeout (3000000 ns) is dangerously short compared to litexcnc_write() period (2400000 ns)
Warning: Missing required specifier (has angular joint or axis):
[DISPLAY]MAX_ANGULAR_VELOCITY
or [TRAJ]MAX_ANGULAR_VELOCITY
See the 'INI Configuration' documents
note: MAXV max: 25.000 units/sec 1500.000 units/min
note: LJOG max: 25.000 units/sec 1500.000 units/min
note: LJOG default: 2.500 units/sec 150.000 units/min
note: AJOG max: 1.000 units/sec 60.000 units/min
note: AJOG default: 1.000 units/sec 60.000 units/min
Warning: Forward kinematics must handle duplicate coordinate letters:yy
note: jog_order='XYZA'
note: jog_invert=set()
LINUXCNC - 2.9.2
Machine configuration directory is '/home/cnc/linuxcnc/configs/test1'
Machine configuration file is 'test1.ini'
Starting LinuxCNC...
linuxcnc TPMOD=tpmod HOMEMOD=homemod EMCMOT=motmod
Note: Using POSIX realtime
Found file(REL): ./test1.hal
identityKinematicsSetup: coordinates:XYYZA
Joint 0 ==> Axis X
Joint 1 ==> Axis Y
Joint 2 ==> Axis Y
Joint 3 ==> Axis Z
Joint 4 ==> Axis A
litexcnc: Loading Litex CNC driver version 1.1.0
litexcnc: Loading and registering default modules:
litexcnc: Registered module gpio
litexcnc: Registered module pwm
litexcnc: Registered module encoder
litexcnc: Registered module step
litexcnc: Setting up board drivers:
litexcnc: Registered driver eth
LitexCNC-eth: connected to board on '10.0.0.10:1234'
litexcnc: Setting up modules...
litexcnc: Reading 36 bytes
litexcnc: - Watchdog
litexcnc: - Wallclock
litexcnc: - gpio ... done!
litexcnc: - pwm ... done!
litexcnc: - encoder ... done!
litexcnc: - step ... done!
litexcnc: Creating read and write buffers...
litexcnc: Base addresses: init: 00000000, reset: 00000044, config: 00000048, write: 0000004C, read: 000000B8
litexcnc: - Write buffer: 108 bytes
litexcnc: - Read buffer: 120 bytes
litexcnc: Exporting functions...
Found file(REL): ./custom.hal
litexcnc/5A-75B:V8.0: Watchdog timeout (3000000 ns) is dangerously short compared to litexcnc_write() period (2400000 ns)
Warning: Missing required specifier (has angular joint or axis):
[DISPLAY]MAX_ANGULAR_VELOCITY
or [TRAJ]MAX_ANGULAR_VELOCITY
See the 'INI Configuration' documents
note: MAXV max: 25.000 units/sec 1500.000 units/min
note: LJOG max: 25.000 units/sec 1500.000 units/min
note: LJOG default: 2.500 units/sec 150.000 units/min
note: AJOG max: 1.000 units/sec 60.000 units/min
note: AJOG default: 1.000 units/sec 60.000 units/min
Warning: Forward kinematics must handle duplicate coordinate letters:yy
note: jog_order='XYZA'
note: jog_invert=set()
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08 Feb 2024 20:57 #292881
by TOLP2
Replied by TOLP2 on topic LitexCNC: firmware and driver for 5A-75B and 5A-75E
Could you also try with two less PWMs to see whether this resolves the issue with the stepgen:
Still have to find out why 120 bytes gives a n error on FPGA. The buffer depth is 255 bytes (including 16 bytes header), so it should have some leeway there...
{
"board_name": "5A-75B:V8.0",
"board_type": "5A-75B v8.0",
"clock_frequency": 40000000,
"connection": {
"connection_type": "etherbone",
"tx_delay": 0,
"ip_address": "10.0.0.10",
"mac_address": "0x10e2d5000000"
},
"watchdog": {
"pin":"j1:8"
},
"modules": [
{
"module_type": "gpio",
"instances": [
{"direction": "out", "pin":"j1:9", "name":"j1:10"},
{"direction": "out", "pin":"j1:10", "name":"j1:11"},
{"direction": "out", "pin":"j1:11", "name":"j1:12"},
{"direction": "out", "pin":"j1:12", "name":"j1:13"},
{"direction": "out", "pin":"j1:13", "name":"j1:14"},
{"direction": "out", "pin":"j1:14", "name":"j1:15"},
{"direction": "in", "pin":"j1:0", "name":"j1:1" },
{"direction": "in", "pin":"j1:1", "name":"j1:2" },
{"direction": "in", "pin":"j1:2", "name":"j1:3" },
{"direction": "in", "pin":"j1:4", "name":"j1:5" },
{"direction": "in", "pin":"j1:5", "name":"j1:6" },
{"direction": "in", "pin":"j1:6", "name":"j1:7" },
{"direction": "in", "pin":"j2:0", "name":"j2:1" },
{"direction": "in", "pin":"j2:1", "name":"j2:2" },
{"direction": "in", "pin":"j2:2", "name":"j2:3" },
{"direction": "in", "pin":"j2:4", "name":"j2:5" },
{"direction": "in", "pin":"j2:5", "name":"j2:6" },
{"direction": "in", "pin":"j2:6", "name":"j2:7" },
{"direction": "out", "pin":"j5:0", "name":"j5:1" },
{"direction": "out", "pin":"j5:1", "name":"j5:2" },
{"direction": "out", "pin":"j5:2", "name":"j5:3" },
{"direction": "out", "pin":"j5:4", "name":"j5:5" },
{"direction": "out", "pin":"j5:5", "name":"j5:6" },
{"direction": "out", "pin":"j5:6", "name":"j5:7" }
]
}, {
"module_type": "pwm",
"instances": [
{"pin":"j6:0", "name":"j6:1"},
{"pin":"j6:1", "name":"j6:2"},
{"pin":"j6:2", "name":"j6:3"},
{"pin":"j6:4", "name":"j6:5"}
]
}, {
"module_type": "encoder",
"instances": [
{"pin_A":"j3:0", "pin_B":"j3:1"},
{"pin_A":"j3:2", "pin_B":"j3:4"},
{"pin_A":"j3:5", "pin_B":"j3:6"},
{"pin_A":"j4:0", "pin_B":"j4:1"},
{"pin_A":"j4:2", "pin_B":"j4:4"},
{"pin_A":"j4:5", "pin_B":"j4:6"}
]
}, {
"module_type": "stepgen",
"instances": [
{
"pins" : {
"stepgen_type": "step_dir",
"step_pin": "j7:0",
"dir_pin": "j7:1"
},
"soft_stop": true
},
{
"pins" : {
"stepgen_type": "step_dir",
"step_pin": "j7:2",
"dir_pin": "j7:4"
},
"soft_stop": true
},
{
"pins" : {
"stepgen_type": "step_dir",
"step_pin": "j7:5",
"dir_pin": "j7:6"
},
"soft_stop": true
},
{
"pins" : {
"stepgen_type": "step_dir",
"step_pin": "j8:0",
"dir_pin": "j8:1"
},
"soft_stop": true
},
{
"pins" : {
"stepgen_type": "step_dir",
"step_pin": "j8:2",
"dir_pin": "j8:4"
},
"soft_stop": true
},
{
"pins" : {
"stepgen_type": "step_dir",
"step_pin": "j8:5",
"dir_pin": "j8:6"
},
"soft_stop": true
}
]
}
]
}Still have to find out why 120 bytes gives a n error on FPGA. The buffer depth is 255 bytes (including 16 bytes header), so it should have some leeway there...
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08 Feb 2024 21:44 #292885
by uba100
Replied by uba100 on topic LitexCNC: firmware and driver for 5A-75B and 5A-75E
Unfortunately, this attempt was unsuccessful. I even removed 4 PWM generators, but the error is unchanged.
Here is the current issue of Linuxcnc:
cnc@raspberrypi:~$ linuxcnc
LINUXCNC - 2.9.2
Machine configuration directory is '/home/cnc/linuxcnc/configs/test1'
Machine configuration file is 'test1.ini'
Starting LinuxCNC...
linuxcnc TPMOD=tpmod HOMEMOD=homemod EMCMOT=motmod
Note: Using POSIX realtime
Found file(REL): ./test1.hal
identityKinematicsSetup: coordinates:XYYZA
Joint 0 ==> Axis X
Joint 1 ==> Axis Y
Joint 2 ==> Axis Y
Joint 3 ==> Axis Z
Joint 4 ==> Axis A
litexcnc: Loading Litex CNC driver version 1.1.0
litexcnc: Loading and registering default modules:
litexcnc: Registered module gpio
litexcnc: Registered module pwm
litexcnc: Registered module encoder
litexcnc: Registered module step
litexcnc: Setting up board drivers:
litexcnc: Registered driver eth
LitexCNC-eth: connected to board on '10.0.0.10:1234'
litexcnc: Setting up modules...
litexcnc: Reading 36 bytes
litexcnc: - Watchdog
litexcnc: - Wallclock
litexcnc: - gpio ... done!
litexcnc: - pwm ... done!
litexcnc: - encoder ... done!
litexcnc: - step ... done!
litexcnc: Creating read and write buffers...
litexcnc: Base addresses: init: 00000000, reset: 00000044, config: 00000048, write: 0000004C, read: 000000A8
litexcnc: - Write buffer: 92 bytes
litexcnc: - Read buffer: 96 bytes
litexcnc: Exporting functions...
Found file(REL): ./custom.hal
litexcnc/5A-75B:V8.0: Watchdog timeout (3000000 ns) is dangerously short compared to litexcnc_write() period (2400000 ns)
Warning: Missing required specifier (has angular joint or axis):
[DISPLAY]MAX_ANGULAR_VELOCITY
or [TRAJ]MAX_ANGULAR_VELOCITY
See the 'INI Configuration' documents
note: MAXV max: 25.000 units/sec 1500.000 units/min
note: LJOG max: 25.000 units/sec 1500.000 units/min
note: LJOG default: 2.500 units/sec 150.000 units/min
note: AJOG max: 1.000 units/sec 60.000 units/min
note: AJOG default: 1.000 units/sec 60.000 units/min
Warning: Forward kinematics must handle duplicate coordinate letters:yy
note: jog_order='XYZA'
note: jog_invert=set()
task: main loop took 0.144871 seconds
joint 4 following error
emc/task/taskintf.cc 976: Error on joint 4, command number 137
joint 4 following error
emc/task/taskintf.cc 976: Error on joint 4, command number 179
task: main loop took 0.191013 seconds
task: main loop took 0.165731 seconds
Here is the current issue of Linuxcnc:
cnc@raspberrypi:~$ linuxcnc
LINUXCNC - 2.9.2
Machine configuration directory is '/home/cnc/linuxcnc/configs/test1'
Machine configuration file is 'test1.ini'
Starting LinuxCNC...
linuxcnc TPMOD=tpmod HOMEMOD=homemod EMCMOT=motmod
Note: Using POSIX realtime
Found file(REL): ./test1.hal
identityKinematicsSetup: coordinates:XYYZA
Joint 0 ==> Axis X
Joint 1 ==> Axis Y
Joint 2 ==> Axis Y
Joint 3 ==> Axis Z
Joint 4 ==> Axis A
litexcnc: Loading Litex CNC driver version 1.1.0
litexcnc: Loading and registering default modules:
litexcnc: Registered module gpio
litexcnc: Registered module pwm
litexcnc: Registered module encoder
litexcnc: Registered module step
litexcnc: Setting up board drivers:
litexcnc: Registered driver eth
LitexCNC-eth: connected to board on '10.0.0.10:1234'
litexcnc: Setting up modules...
litexcnc: Reading 36 bytes
litexcnc: - Watchdog
litexcnc: - Wallclock
litexcnc: - gpio ... done!
litexcnc: - pwm ... done!
litexcnc: - encoder ... done!
litexcnc: - step ... done!
litexcnc: Creating read and write buffers...
litexcnc: Base addresses: init: 00000000, reset: 00000044, config: 00000048, write: 0000004C, read: 000000A8
litexcnc: - Write buffer: 92 bytes
litexcnc: - Read buffer: 96 bytes
litexcnc: Exporting functions...
Found file(REL): ./custom.hal
litexcnc/5A-75B:V8.0: Watchdog timeout (3000000 ns) is dangerously short compared to litexcnc_write() period (2400000 ns)
Warning: Missing required specifier (has angular joint or axis):
[DISPLAY]MAX_ANGULAR_VELOCITY
or [TRAJ]MAX_ANGULAR_VELOCITY
See the 'INI Configuration' documents
note: MAXV max: 25.000 units/sec 1500.000 units/min
note: LJOG max: 25.000 units/sec 1500.000 units/min
note: LJOG default: 2.500 units/sec 150.000 units/min
note: AJOG max: 1.000 units/sec 60.000 units/min
note: AJOG default: 1.000 units/sec 60.000 units/min
Warning: Forward kinematics must handle duplicate coordinate letters:yy
note: jog_order='XYZA'
note: jog_invert=set()
task: main loop took 0.144871 seconds
joint 4 following error
emc/task/taskintf.cc 976: Error on joint 4, command number 137
joint 4 following error
emc/task/taskintf.cc 976: Error on joint 4, command number 179
task: main loop took 0.191013 seconds
task: main loop took 0.165731 seconds
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08 Feb 2024 23:18 #292893
by tommylight
If this is a tandem Y machine, the kinematics and axis should be set as "XYYZ" and "XYZ" respectively, not as XYZA.
Replied by tommylight on topic LitexCNC: firmware and driver for 5A-75B and 5A-75E
This points to errors in configuration files, it seems there are entries for setting double Y joints, but also stuff for an angular A axis.Warning: Missing required specifier (has angular joint or axis):
[DISPLAY]MAX_ANGULAR_VELOCITY
or [TRAJ]MAX_ANGULAR_VELOCITY
See the 'INI Configuration' documents
Warning: Forward kinematics must handle duplicate coordinate letters:yy
note: jog_order='XYZA'
joint 4 following error
emc/task/taskintf.cc 976: Error on joint 4, command number 137
If this is a tandem Y machine, the kinematics and axis should be set as "XYYZ" and "XYZ" respectively, not as XYZA.
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09 Feb 2024 05:54 #292913
by uba100
Replied by uba100 on topic LitexCNC: firmware and driver for 5A-75B and 5A-75E
I am still not sure why I am getting this error message. I have entered XYYZA for both [KINS] and [TRAJ].
[EMC]
MACHINE = test1
DEBUG = 0
VERSION = 1.1
[DISPLAY]
DISPLAY = axis
EDITOR = geany
POSITION_OFFSET = RELATIVE
POSITION_FEEDBACK = ACTUAL
ARCDIVISION = 64
GRIDS = 10mm 20mm 50mm 100mm 1in 2in 5in 10in
MAX_FEED_OVERRIDE = 1.2
MIN_SPINDLE_OVERRIDE = 0.5
MAX_SPINDLE_OVERRIDE = 3.2
DEFAULT_LINEAR_VELOCITY = 2.50
MIN_LINEAR_VELOCITY = 0
MAX_LINEAR_VELOCITY = 25.00
CYCLE_TIME = 0.100
INTRO_GRAPHIC = linuxcnc.gif
INTRO_TIME = 5
PROGRAM_PREFIX = /home/cnc/linuxcnc/nc_files
INCREMENTS = 5mm 1mm .5mm .1mm .05mm .01mm .005mm
PYVCP = custompanel.xml
[KINS]
JOINTS = 5
KINEMATICS = trivkins coordinates=XYYZA kinstype=BOTH
[FILTER]
PROGRAM_EXTENSION = .png,.gif,.jpg Greyscale Depth Image
PROGRAM_EXTENSION = .py Python Script
PROGRAM_EXTENSION = .nc,.tap G-Code File
png = image-to-gcode
gif = image-to-gcode
jpg = image-to-gcode
py = python
[TASK]
TASK = milltask
CYCLE_TIME = 0.010
[RS274NGC]
PARAMETER_FILE = linuxcnc.var
[EMCMOT]
EMCMOT = motmod
COMM_TIMEOUT = 1.0
BASE_PERIOD = 800000
SERVO_PERIOD = 2000000
[HAL]
HALFILE = test1.hal
HALFILE = custom.hal
POSTGUI_HALFILE = postgui_call_list.hal
[TRAJ]
COORDINATES = XYYZA
LINEAR_UNITS = mm
ANGULAR_UNITS = degree
DEFAULT_LINEAR_VELOCITY = 2.50
MAX_LINEAR_VELOCITY = 25.00
MAX_ANGULAR_VELOCITY = 25
[EMCIO]
EMCIO = io
CYCLE_TIME = 0.100
TOOL_TABLE = tool.tbl
[AXIS_X]
MAX_VELOCITY = 20.0
MAX_ACCELERATION = 750.0
MIN_LIMIT = -483
MAX_LIMIT = 1
[JOINT_0]
TYPE = LINEAR
HOME = 0.0
MAX_VELOCITY = 20.0
MAX_ACCELERATION = 200.0
STEPGEN_MAXACCEL = 250.0
SCALE = 200.005
FERROR = 1
MIN_FERROR = .25
MIN_LIMIT = -483.0
MAX_LIMIT = 1.0
HOME_OFFSET = 0.0
HOME_SEARCH_VEL =30
HOME_LATCH_VEL = -5
HOME_FINAL_VEL = 20
HOME_SEQUENCE = 1
[AXIS_Y]
MAX_VELOCITY = 25.0
MAX_ACCELERATION = 750.0
MIN_LIMIT = -700
MAX_LIMIT = 2
[JOINT_1]
TYPE = LINEAR
HOME = 0.0
MIN_LIMIT = -700
MAX_LIMIT = 2
MAX_VELOCITY = 25.0
MAX_ACCELERATION = 750.0
STEPGEN_MAXACCEL = 937.5
SCALE = 80.0
FERROR = 1
MIN_FERROR = .25
HOME_OFFSET = 0.0
HOME_SEARCH_VEL = 30
HOME_LATCH_VEL = -5
HOME_FINAL_VEL = 20
HOME_SEQUENCE = 0
[JOINT_2]
TYPE = LINEAR
HOME = 0.0
MIN_LIMIT = -700
MAX_LIMIT = 2
MAX_VELOCITY = 25.0
MAX_ACCELERATION = 750.0
STEPGEN_MAXACCEL = 937.5
SCALE = 80.0
FERROR = 1
MIN_FERROR = .25
HOME_OFFSET = 0.0
HOME_SEARCH_VEL =30
HOME_LATCH_VEL = -5
HOME_FINAL_VEL = 20
HOME_SEQUENCE = 0
[AXIS_Z]
MAX_VELOCITY = 25.0
MAX_ACCELERATION = 750.0
MIN_LIMIT = -290.0
MAX_LIMIT = 1.0
[JOINT_3]
TYPE = LINEAR
HOME = 0.0
MIN_LIMIT = -290.0
MAX_LIMIT = 1.0
MAX_VELOCITY = 25.0
MAX_ACCELERATION = 750.0
STEPGEN_MAXACCEL = 937.5
SCALE = 80.0
FERROR = 1
MIN_FERROR = 0.25
HOME_OFFSET = 0.0
HOME_SEARCH_VEL =30
HOME_LATCH_VEL = -5
HOME_FINAL_VEL = 20
HOME_SEQUENCE = 2
#******************************************
[AXIS_A]
MAX_VELOCITY = 25.0
MAX_ACCELERATION = 750.0
MIN_LIMIT = -400
MAX_LIMIT = 400
[JOINT_4]
TYPE = ANGULAR
UNITS = ANGULAR_UNITS
HOME = 0.0
MIN_LIMIT = -400
MAX_LIMIT = 400
MAX_VELOCITY = 25.0
MAX_ACCELERATION = 750.0
STEPGEN_MAXACCEL = 937.5
SCALE = 80.0
FERROR = 1
MIN_FERROR = 0.25
HOME_OFFSET = 0.0
HOME_SEARCH_VEL =-30
HOME_LATCH_VEL = 30
HOME_FINAL_VEL = -20
HOME_SEQUENCE = 3
[EMC]
MACHINE = test1
DEBUG = 0
VERSION = 1.1
[DISPLAY]
DISPLAY = axis
EDITOR = geany
POSITION_OFFSET = RELATIVE
POSITION_FEEDBACK = ACTUAL
ARCDIVISION = 64
GRIDS = 10mm 20mm 50mm 100mm 1in 2in 5in 10in
MAX_FEED_OVERRIDE = 1.2
MIN_SPINDLE_OVERRIDE = 0.5
MAX_SPINDLE_OVERRIDE = 3.2
DEFAULT_LINEAR_VELOCITY = 2.50
MIN_LINEAR_VELOCITY = 0
MAX_LINEAR_VELOCITY = 25.00
CYCLE_TIME = 0.100
INTRO_GRAPHIC = linuxcnc.gif
INTRO_TIME = 5
PROGRAM_PREFIX = /home/cnc/linuxcnc/nc_files
INCREMENTS = 5mm 1mm .5mm .1mm .05mm .01mm .005mm
PYVCP = custompanel.xml
[KINS]
JOINTS = 5
KINEMATICS = trivkins coordinates=XYYZA kinstype=BOTH
[FILTER]
PROGRAM_EXTENSION = .png,.gif,.jpg Greyscale Depth Image
PROGRAM_EXTENSION = .py Python Script
PROGRAM_EXTENSION = .nc,.tap G-Code File
png = image-to-gcode
gif = image-to-gcode
jpg = image-to-gcode
py = python
[TASK]
TASK = milltask
CYCLE_TIME = 0.010
[RS274NGC]
PARAMETER_FILE = linuxcnc.var
[EMCMOT]
EMCMOT = motmod
COMM_TIMEOUT = 1.0
BASE_PERIOD = 800000
SERVO_PERIOD = 2000000
[HAL]
HALFILE = test1.hal
HALFILE = custom.hal
POSTGUI_HALFILE = postgui_call_list.hal
[TRAJ]
COORDINATES = XYYZA
LINEAR_UNITS = mm
ANGULAR_UNITS = degree
DEFAULT_LINEAR_VELOCITY = 2.50
MAX_LINEAR_VELOCITY = 25.00
MAX_ANGULAR_VELOCITY = 25
[EMCIO]
EMCIO = io
CYCLE_TIME = 0.100
TOOL_TABLE = tool.tbl
[AXIS_X]
MAX_VELOCITY = 20.0
MAX_ACCELERATION = 750.0
MIN_LIMIT = -483
MAX_LIMIT = 1
[JOINT_0]
TYPE = LINEAR
HOME = 0.0
MAX_VELOCITY = 20.0
MAX_ACCELERATION = 200.0
STEPGEN_MAXACCEL = 250.0
SCALE = 200.005
FERROR = 1
MIN_FERROR = .25
MIN_LIMIT = -483.0
MAX_LIMIT = 1.0
HOME_OFFSET = 0.0
HOME_SEARCH_VEL =30
HOME_LATCH_VEL = -5
HOME_FINAL_VEL = 20
HOME_SEQUENCE = 1
[AXIS_Y]
MAX_VELOCITY = 25.0
MAX_ACCELERATION = 750.0
MIN_LIMIT = -700
MAX_LIMIT = 2
[JOINT_1]
TYPE = LINEAR
HOME = 0.0
MIN_LIMIT = -700
MAX_LIMIT = 2
MAX_VELOCITY = 25.0
MAX_ACCELERATION = 750.0
STEPGEN_MAXACCEL = 937.5
SCALE = 80.0
FERROR = 1
MIN_FERROR = .25
HOME_OFFSET = 0.0
HOME_SEARCH_VEL = 30
HOME_LATCH_VEL = -5
HOME_FINAL_VEL = 20
HOME_SEQUENCE = 0
[JOINT_2]
TYPE = LINEAR
HOME = 0.0
MIN_LIMIT = -700
MAX_LIMIT = 2
MAX_VELOCITY = 25.0
MAX_ACCELERATION = 750.0
STEPGEN_MAXACCEL = 937.5
SCALE = 80.0
FERROR = 1
MIN_FERROR = .25
HOME_OFFSET = 0.0
HOME_SEARCH_VEL =30
HOME_LATCH_VEL = -5
HOME_FINAL_VEL = 20
HOME_SEQUENCE = 0
[AXIS_Z]
MAX_VELOCITY = 25.0
MAX_ACCELERATION = 750.0
MIN_LIMIT = -290.0
MAX_LIMIT = 1.0
[JOINT_3]
TYPE = LINEAR
HOME = 0.0
MIN_LIMIT = -290.0
MAX_LIMIT = 1.0
MAX_VELOCITY = 25.0
MAX_ACCELERATION = 750.0
STEPGEN_MAXACCEL = 937.5
SCALE = 80.0
FERROR = 1
MIN_FERROR = 0.25
HOME_OFFSET = 0.0
HOME_SEARCH_VEL =30
HOME_LATCH_VEL = -5
HOME_FINAL_VEL = 20
HOME_SEQUENCE = 2
#******************************************
[AXIS_A]
MAX_VELOCITY = 25.0
MAX_ACCELERATION = 750.0
MIN_LIMIT = -400
MAX_LIMIT = 400
[JOINT_4]
TYPE = ANGULAR
UNITS = ANGULAR_UNITS
HOME = 0.0
MIN_LIMIT = -400
MAX_LIMIT = 400
MAX_VELOCITY = 25.0
MAX_ACCELERATION = 750.0
STEPGEN_MAXACCEL = 937.5
SCALE = 80.0
FERROR = 1
MIN_FERROR = 0.25
HOME_OFFSET = 0.0
HOME_SEARCH_VEL =-30
HOME_LATCH_VEL = 30
HOME_FINAL_VEL = -20
HOME_SEQUENCE = 3
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09 Feb 2024 06:00 #292914
by uba100
Replied by uba100 on topic LitexCNC: firmware and driver for 5A-75B and 5A-75E
My current hal:
#loadrt trivkins
loadrt [KINS]KINEMATICS
loadrt litexcnc connections="eth:10.0.0.10"
loadrt [EMCMOT]EMCMOT base_period_nsec=[EMCMOT]BASE_PERIOD servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS
loadrt estop_latch
loadrt stepgen step_type=0,0,0,0,0
loadrt pwmgen output_type=1
addf estop-latch.0 servo-thread
addf 5A-75B:V8.0.read servo-thread
# Funktionen für Schrittmotoren
addf motion-command-handler servo-thread
addf motion-controller servo-thread
addf 5A-75B:V8.0.write servo-thread
# Spindel
########################################################
# Verbinden der Spindel mit dem PWM-Generator
net spindle-speed-cmd spindle.0.speed-out => 5A-75B:V8.0.pwm.00.value
# net spindle-on spindle.0.on => 5A-75B:V8.0.pwm.00.enable
setp 5A-75B:V8.0.pwm.00.enable 1
# Frequenz von 50Hz einstellen f. Servosignal Regler (1ms bis 2ms)
setp 5A-75B:V8.0.pwm.00.pwm_freq 50
setp 5A-75B:V8.0.pwm.00.min_dc 0.05
setp 5A-75B:V8.0.pwm.00.max_dc 0.1
setp 5A-75B:V8.0.pwm.00.offset 0.05
# maximale Drehzahl
setp 5A-75B:V8.0.pwm.00.scale 140000
# Drehrichtungspins
net spindle-fwd spindle.0.forward => 5A-75B:V8.0.gpio.22.out
net spindle-rev spindle.0.reverse => 5A-75B:V8.0.gpio.23.out
# Eingänge
##############################################################
net home_schalter_all 5A-75B:V8.0.gpio.06.in => joint.0.home-sw-in joint.1.home-sw-in joint.2.home-sw-in joint.3.home-sw-in joint.4.home-sw-in
#net home_schalter_y1 5A-75B:V8.0.gpio.06.in => joint.1.home-sw-in
#net home_schalter_y2 5A-75B:V8.0.gpio.06.in => joint.2.home-sw-in
#net home_schalter_z 5A-75B:V8.0.gpio.06.in => joint.3.home-sw-in
# STEPGEN - X-AXIS
##############################################################
setp 5A-75B:V8.0.stepgen.00.position-scale [JOINT_0]SCALE
setp 5A-75B:V8.0.stepgen.00.steplen 5000
setp 5A-75B:V8.0.stepgen.00.stepspace 5000
setp 5A-75B:V8.0.stepgen.00.dir-hold-time 10000
setp 5A-75B:V8.0.stepgen.00.dir-setup-time 10000
setp 5A-75B:V8.0.stepgen.00.max-velocity [JOINT_0]MAX_VELOCITY
setp 5A-75B:V8.0.stepgen.00.max-acceleration [JOINT_0]STEPGEN_MAXACCEL
# setp 5A-75B:V8.0.stepgen.00.debug true
# - Connect velocity command
net xpos_cmd joint.0.motor-pos-cmd => 5A-75B:V8.0.stepgen.00.position-cmd
net xpos_fb joint.0.motor-pos-fb <= 5A-75B:V8.0.stepgen.00.position-feedback
# - enable the drive
net xenable joint.0.amp-enable-out => 5A-75B:V8.0.stepgen.00.enable
# STEPGEN - Y1-AXIS
##############################################################
setp 5A-75B:V8.0.stepgen.01.position-scale [JOINT_1]SCALE
setp 5A-75B:V8.0.stepgen.01.steplen 5000
setp 5A-75B:V8.0.stepgen.01.stepspace 5000
setp 5A-75B:V8.0.stepgen.01.dir-hold-time 10000
setp 5A-75B:V8.0.stepgen.01.dir-setup-time 10000
setp 5A-75B:V8.0.stepgen.01.max-velocity [JOINT_1]MAX_VELOCITY
setp 5A-75B:V8.0.stepgen.01.max-acceleration [JOINT_1]STEPGEN_MAXACCEL
# setp 5A-75B:V8.0.stepgen.01.debug true
# - Connect velocity command
net y1pos_cmd joint.1.motor-pos-cmd => 5A-75B:V8.0.stepgen.01.position-cmd
net y1pos_fb joint.1.motor-pos-fb <= 5A-75B:V8.0.stepgen.01.position-feedback
# - enable the drive
net y1enable joint.1.amp-enable-out => 5A-75B:V8.0.stepgen.01.enable
# STEPGEN - Y2-AXIS
##############################################################
setp 5A-75B:V8.0.stepgen.02.position-scale [JOINT_2]SCALE
setp 5A-75B:V8.0.stepgen.02.steplen 5000
setp 5A-75B:V8.0.stepgen.02.stepspace 5000
setp 5A-75B:V8.0.stepgen.02.dir-hold-time 10000
setp 5A-75B:V8.0.stepgen.02.dir-setup-time 10000
setp 5A-75B:V8.0.stepgen.02.max-velocity [JOINT_2]MAX_VELOCITY
setp 5A-75B:V8.0.stepgen.02.max-acceleration [JOINT_2]STEPGEN_MAXACCEL
# setp 5A-75B:V8.0.stepgen.02.debug true
# - Connect velocity command
net y2pos_cmd joint.2.motor-pos-cmd => 5A-75B:V8.0.stepgen.02.position-cmd
net y2pos_fb joint.2.motor-pos-fb <= 5A-75B:V8.0.stepgen.02.position-feedback
# - enable the drive
net y2enable joint.2.amp-enable-out => 5A-75B:V8.0.stepgen.02.enable
# STEPGEN - Z-AXIS
##############################################################
setp 5A-75B:V8.0.stepgen.03.position-scale [JOINT_3]SCALE
setp 5A-75B:V8.0.stepgen.03.steplen 5000
setp 5A-75B:V8.0.stepgen.03.stepspace 5000
setp 5A-75B:V8.0.stepgen.03.dir-hold-time 10000
setp 5A-75B:V8.0.stepgen.03.dir-setup-time 10000
setp 5A-75B:V8.0.stepgen.03.max-velocity [JOINT_3]MAX_VELOCITY
setp 5A-75B:V8.0.stepgen.03.max-acceleration [JOINT_3]STEPGEN_MAXACCEL
# setp 5A-75B:V8.0.stepgen.03.debug true
# - Connect velocity command
net zpos_cmd joint.3.motor-pos-cmd => 5A-75B:V8.0.stepgen.03.position-cmd
net zpos_fb joint.3.motor-pos-fb <= 5A-75B:V8.0.stepgen.03.position-feedback
# - enable the drive
net zenable joint.3.amp-enable-out => 5A-75B:V8.0.stepgen.03.enable
# STEPGEN - A-AXIS
##############################################################
setp 5A-75B:V8.0.stepgen.04.position-scale [JOINT_4]SCALE
setp 5A-75B:V8.0.stepgen.04.steplen 5000
setp 5A-75B:V8.0.stepgen.04.stepspace 5000
setp 5A-75B:V8.0.stepgen.04.dir-hold-time 10000
setp 5A-75B:V8.0.stepgen.04.dir-setup-time 10000
setp 5A-75B:V8.0.stepgen.04.max-velocity [JOINT_4]MAX_VELOCITY
setp 5A-75B:V8.0.stepgen.04.max-acceleration [JOINT_4]STEPGEN_MAXACCEL
# setp 5A-75B:V8.0.stepgen.04.debug true
# - Connect velocity command
net cpos_cmd joint.4.motor-pos-cmd => 5A-75B:V8.0.stepgen.04.position-cmd
net cpos_fb joint.4.motor-pos-fb <= 5A-75B:V8.0.stepgen.04.position-feedback
# - enable the drive
net cenable joint.4.amp-enable-out => 5A-75B:V8.0.stepgen.04.enable
loadusr -W hal_manualtoolchange
net tool-change iocontrol.0.tool-change => hal_manualtoolchange.change
net tool-changed iocontrol.0.tool-changed <= hal_manualtoolchange.changed
net tool-number iocontrol.0.tool-prep-number => hal_manualtoolchange.number
net tool-prepare-loopback iocontrol.0.tool-prepare => iocontrol.0.tool-prepared
# Watchdog-Einstellungen
setp 5A-75B:V8.0.watchdog.timeout_ns 3000000
net estop-loopout iocontrol.0.emc-enable-in <= estop-latch.0.ok-out
net estop-loopin iocontrol.0.user-enable-out => estop-latch.0.ok-in
net estop-reset iocontrol.0.user-request-enable => estop-latch.0.reset
net remote-estop estop-latch.0.fault-in <= 5A-75B:V8.0.watchdog.has_bitten
#loadrt trivkins
loadrt [KINS]KINEMATICS
loadrt litexcnc connections="eth:10.0.0.10"
loadrt [EMCMOT]EMCMOT base_period_nsec=[EMCMOT]BASE_PERIOD servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS
loadrt estop_latch
loadrt stepgen step_type=0,0,0,0,0
loadrt pwmgen output_type=1
addf estop-latch.0 servo-thread
addf 5A-75B:V8.0.read servo-thread
# Funktionen für Schrittmotoren
addf motion-command-handler servo-thread
addf motion-controller servo-thread
addf 5A-75B:V8.0.write servo-thread
# Spindel
########################################################
# Verbinden der Spindel mit dem PWM-Generator
net spindle-speed-cmd spindle.0.speed-out => 5A-75B:V8.0.pwm.00.value
# net spindle-on spindle.0.on => 5A-75B:V8.0.pwm.00.enable
setp 5A-75B:V8.0.pwm.00.enable 1
# Frequenz von 50Hz einstellen f. Servosignal Regler (1ms bis 2ms)
setp 5A-75B:V8.0.pwm.00.pwm_freq 50
setp 5A-75B:V8.0.pwm.00.min_dc 0.05
setp 5A-75B:V8.0.pwm.00.max_dc 0.1
setp 5A-75B:V8.0.pwm.00.offset 0.05
# maximale Drehzahl
setp 5A-75B:V8.0.pwm.00.scale 140000
# Drehrichtungspins
net spindle-fwd spindle.0.forward => 5A-75B:V8.0.gpio.22.out
net spindle-rev spindle.0.reverse => 5A-75B:V8.0.gpio.23.out
# Eingänge
##############################################################
net home_schalter_all 5A-75B:V8.0.gpio.06.in => joint.0.home-sw-in joint.1.home-sw-in joint.2.home-sw-in joint.3.home-sw-in joint.4.home-sw-in
#net home_schalter_y1 5A-75B:V8.0.gpio.06.in => joint.1.home-sw-in
#net home_schalter_y2 5A-75B:V8.0.gpio.06.in => joint.2.home-sw-in
#net home_schalter_z 5A-75B:V8.0.gpio.06.in => joint.3.home-sw-in
# STEPGEN - X-AXIS
##############################################################
setp 5A-75B:V8.0.stepgen.00.position-scale [JOINT_0]SCALE
setp 5A-75B:V8.0.stepgen.00.steplen 5000
setp 5A-75B:V8.0.stepgen.00.stepspace 5000
setp 5A-75B:V8.0.stepgen.00.dir-hold-time 10000
setp 5A-75B:V8.0.stepgen.00.dir-setup-time 10000
setp 5A-75B:V8.0.stepgen.00.max-velocity [JOINT_0]MAX_VELOCITY
setp 5A-75B:V8.0.stepgen.00.max-acceleration [JOINT_0]STEPGEN_MAXACCEL
# setp 5A-75B:V8.0.stepgen.00.debug true
# - Connect velocity command
net xpos_cmd joint.0.motor-pos-cmd => 5A-75B:V8.0.stepgen.00.position-cmd
net xpos_fb joint.0.motor-pos-fb <= 5A-75B:V8.0.stepgen.00.position-feedback
# - enable the drive
net xenable joint.0.amp-enable-out => 5A-75B:V8.0.stepgen.00.enable
# STEPGEN - Y1-AXIS
##############################################################
setp 5A-75B:V8.0.stepgen.01.position-scale [JOINT_1]SCALE
setp 5A-75B:V8.0.stepgen.01.steplen 5000
setp 5A-75B:V8.0.stepgen.01.stepspace 5000
setp 5A-75B:V8.0.stepgen.01.dir-hold-time 10000
setp 5A-75B:V8.0.stepgen.01.dir-setup-time 10000
setp 5A-75B:V8.0.stepgen.01.max-velocity [JOINT_1]MAX_VELOCITY
setp 5A-75B:V8.0.stepgen.01.max-acceleration [JOINT_1]STEPGEN_MAXACCEL
# setp 5A-75B:V8.0.stepgen.01.debug true
# - Connect velocity command
net y1pos_cmd joint.1.motor-pos-cmd => 5A-75B:V8.0.stepgen.01.position-cmd
net y1pos_fb joint.1.motor-pos-fb <= 5A-75B:V8.0.stepgen.01.position-feedback
# - enable the drive
net y1enable joint.1.amp-enable-out => 5A-75B:V8.0.stepgen.01.enable
# STEPGEN - Y2-AXIS
##############################################################
setp 5A-75B:V8.0.stepgen.02.position-scale [JOINT_2]SCALE
setp 5A-75B:V8.0.stepgen.02.steplen 5000
setp 5A-75B:V8.0.stepgen.02.stepspace 5000
setp 5A-75B:V8.0.stepgen.02.dir-hold-time 10000
setp 5A-75B:V8.0.stepgen.02.dir-setup-time 10000
setp 5A-75B:V8.0.stepgen.02.max-velocity [JOINT_2]MAX_VELOCITY
setp 5A-75B:V8.0.stepgen.02.max-acceleration [JOINT_2]STEPGEN_MAXACCEL
# setp 5A-75B:V8.0.stepgen.02.debug true
# - Connect velocity command
net y2pos_cmd joint.2.motor-pos-cmd => 5A-75B:V8.0.stepgen.02.position-cmd
net y2pos_fb joint.2.motor-pos-fb <= 5A-75B:V8.0.stepgen.02.position-feedback
# - enable the drive
net y2enable joint.2.amp-enable-out => 5A-75B:V8.0.stepgen.02.enable
# STEPGEN - Z-AXIS
##############################################################
setp 5A-75B:V8.0.stepgen.03.position-scale [JOINT_3]SCALE
setp 5A-75B:V8.0.stepgen.03.steplen 5000
setp 5A-75B:V8.0.stepgen.03.stepspace 5000
setp 5A-75B:V8.0.stepgen.03.dir-hold-time 10000
setp 5A-75B:V8.0.stepgen.03.dir-setup-time 10000
setp 5A-75B:V8.0.stepgen.03.max-velocity [JOINT_3]MAX_VELOCITY
setp 5A-75B:V8.0.stepgen.03.max-acceleration [JOINT_3]STEPGEN_MAXACCEL
# setp 5A-75B:V8.0.stepgen.03.debug true
# - Connect velocity command
net zpos_cmd joint.3.motor-pos-cmd => 5A-75B:V8.0.stepgen.03.position-cmd
net zpos_fb joint.3.motor-pos-fb <= 5A-75B:V8.0.stepgen.03.position-feedback
# - enable the drive
net zenable joint.3.amp-enable-out => 5A-75B:V8.0.stepgen.03.enable
# STEPGEN - A-AXIS
##############################################################
setp 5A-75B:V8.0.stepgen.04.position-scale [JOINT_4]SCALE
setp 5A-75B:V8.0.stepgen.04.steplen 5000
setp 5A-75B:V8.0.stepgen.04.stepspace 5000
setp 5A-75B:V8.0.stepgen.04.dir-hold-time 10000
setp 5A-75B:V8.0.stepgen.04.dir-setup-time 10000
setp 5A-75B:V8.0.stepgen.04.max-velocity [JOINT_4]MAX_VELOCITY
setp 5A-75B:V8.0.stepgen.04.max-acceleration [JOINT_4]STEPGEN_MAXACCEL
# setp 5A-75B:V8.0.stepgen.04.debug true
# - Connect velocity command
net cpos_cmd joint.4.motor-pos-cmd => 5A-75B:V8.0.stepgen.04.position-cmd
net cpos_fb joint.4.motor-pos-fb <= 5A-75B:V8.0.stepgen.04.position-feedback
# - enable the drive
net cenable joint.4.amp-enable-out => 5A-75B:V8.0.stepgen.04.enable
loadusr -W hal_manualtoolchange
net tool-change iocontrol.0.tool-change => hal_manualtoolchange.change
net tool-changed iocontrol.0.tool-changed <= hal_manualtoolchange.changed
net tool-number iocontrol.0.tool-prep-number => hal_manualtoolchange.number
net tool-prepare-loopback iocontrol.0.tool-prepare => iocontrol.0.tool-prepared
# Watchdog-Einstellungen
setp 5A-75B:V8.0.watchdog.timeout_ns 3000000
net estop-loopout iocontrol.0.emc-enable-in <= estop-latch.0.ok-out
net estop-loopin iocontrol.0.user-enable-out => estop-latch.0.ok-in
net estop-reset iocontrol.0.user-request-enable => estop-latch.0.reset
net remote-estop estop-latch.0.fault-in <= 5A-75B:V8.0.watchdog.has_bitten
The following user(s) said Thank You: TOLP2
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09 Feb 2024 08:47 #292918
by TOLP2
Replied by TOLP2 on topic LitexCNC: firmware and driver for 5A-75B and 5A-75E
I've isolated the error. In essence, the write buffer is not large enough for the data which is being send. The buffer is 2 words (8 bytes) off.
There is currently a branch under development where PWM has changed, which alters the communication flow. It seems like the driver you have is an old version, and the firmware is a new version. Therefore it does not help to remove a few PWM. The only resolution is for your setup is to remove the complete PWM module.
How this could happen is a big question. The new image should not have been pushed to the documentation, as these are only updated on a release of the main branch. Also, the problem should not persist when the example is build locally, as you did, because then the driver should be in sync with the system.
A few more questions:
There is currently a branch under development where PWM has changed, which alters the communication flow. It seems like the driver you have is an old version, and the firmware is a new version. Therefore it does not help to remove a few PWM. The only resolution is for your setup is to remove the complete PWM module.
How this could happen is a big question. The new image should not have been pushed to the documentation, as these are only updated on a release of the main branch. Also, the problem should not persist when the example is build locally, as you did, because then the driver should be in sync with the system.
A few more questions:
- which version of LitexCNC are you running. Did you install it using pip install or did you pull the repo.
- did you reinstall the driver with litexcnc install_driver if you have recently updated LitexCNC?
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