LinuxCNC S-Curve Accelerations

@Pcw,

Thanks for your effort. Not everything is installed by the makefile.
I think you need to look at the ./installer file, wich install's locally :

libclothoid3d
libscurve

segment.h is part off libclothoid3d and is installed in /usr/local/include

Then finally there is done a ldconfig.
I hope it works for you then.

 

@Rod,

In the mean time, have done some reading about the cia-402.

• The

  0x6065

  : following error window is not used or set by linuxcnc.
• Velocity mode in combination with a tuned linuxcnc pid could be a try out.

@Tia,
if you want to access my machine remotely i can give you access
We could verify iff all is installed ok. Like the libclothoid is in place etc.
But i think you already used the ./installer. It can be the installer failed at some step.
For the rest i don't know much about the cia-402.

hmm, I am not seeing 6065 in my drives manual.

0x603F reports any errors including following errors which are described as Closed-loop mode tracking error over limit

In practice, a drive error is thrown and this pin can be referred to to determine the error . I have seen a few following errors here.
 

It's pretty rudimentary. There are these basic PDOsso basically one send a wanted position to the drive and read the current position back. That's all.
Following error is calculated in linuxcnc.
The cia402 module basically just passes position after scaling to the drive. And reads back actual position.
It also does the state machine walking, but that's in the beginning, then that idles.
 

Hi,

Can we test the cia-402 and shortcut linuxcnc pos-cmd to pos-feedback so
there is no ferror in linuxcnc that can trigger a motion stop? 
Or test it by hooking the cia-402 to a stepgen or pid without closed loop feedback. 


 

Grotius wrote:

Hi,

Can we test the cia-402 and shortcut linuxcnc pos-cmd to pos-feedback so
there is no ferror in linuxcnc that can trigger a motion stop? 
Or test it by hooking the cia-402 to a stepgen or pid without closed loop feedback. 



 

 

hi
in my last test there was no following error on gcode running, the problem was the very low acceleration.
following errors appears on homing procedure

edit
testing now in axis tab manual controll it disable the drivers, i can only run when in MDI tab
Controll word in all drivers is
15 before hit start
Then all goes 6 and then 4 very quickly
 

Grotius wrote:

Hi,

Can we test the cia-402 and shortcut linuxcnc pos-cmd to pos-feedback so
there is no ferror in linuxcnc that can trigger a motion stop? 
Or test it by hooking the cia-402 to a stepgen or pid without closed loop feedback. 
 

The only time this is necessary is during internal homing (if used). During homing, motion is happening that Linuxcnc does not know about so it generates a following error if this is not done.
In the drive, motion is measured in encoder pulses and in Linuxcnc uses device units
One of the other  things the cia402 component does is scale the encoder pulses to Linuxcnc device units (mm or inch)

It depends on the drive but many of them will have a SDO that tells the drive to use open loop or closed loop. There are some reasonably cost effective open loop Ethercat cia402 drives from Rtelligent and Leadshine. Both offer drives that can control two open loop stepper motors. The Rtelligent ECR60X2A is USD $60 each ex works (for 2 steppers). 

tiagounderground wrote:

 
hi
in my last test there was no following error on gcode running, the problem was the very low acceleration.
following errors appears on homing procedure

cia402 defines pins to set velocity and acceleration while homing. 0x6099 and 0x609a

Tried this out but got following errors with large acceleration violations

Running the LinuxCNC logo:

 

Hi Pcw,

One last question, if you run the scurve simulation config :  axis_scurve_mm.ini   using the startup menu.
Run's this ok for you?