LinuxCNC S-Curve Accelerations
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06 May 2025 17:54 #327870
by PCW
Replied by PCW on topic LinuxCNC S-Curve Accelerations
Will test today or tomorrow.
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06 May 2025 18:04 #327874
by Grotius
Replied by Grotius on topic LinuxCNC S-Curve Accelerations
Hi Pcw,
Thanks for your fast responce.
We have an issue on codeberg. I invested today to find why the scurve some times breaks. We then see a
vertical line in the plot of tpmod.curvel.
The curve kind of starting from vel=0 again. Jumping etc.
It seems if my base thread is set to 50000 (too fast),
the scurve lib is not able to finish the algo anymore. Resulting in strange behaviour.
Like a sqrt() function taking about 1 ms to complete, wich is absolulutely madness.
Now if i set the base thread to 80000. Everything goes fine.
So i thought, better you know this also.
The guy in italy had 6 axis ethercat running, very difficult .hal setup, constantly breaking the scurve every move,
even without clothoids.
So now i helped him with remote desktop for hours. And now with a simple config he runs ok. We don't know
his cause exactly. But we are happy the problem is gone now.
Thanks for your fast responce.
We have an issue on codeberg. I invested today to find why the scurve some times breaks. We then see a
vertical line in the plot of tpmod.curvel.
The curve kind of starting from vel=0 again. Jumping etc.
It seems if my base thread is set to 50000 (too fast),
the scurve lib is not able to finish the algo anymore. Resulting in strange behaviour.
Like a sqrt() function taking about 1 ms to complete, wich is absolulutely madness.
Now if i set the base thread to 80000. Everything goes fine.
So i thought, better you know this also.
The guy in italy had 6 axis ethercat running, very difficult .hal setup, constantly breaking the scurve every move,
even without clothoids.
So now i helped him with remote desktop for hours. And now with a simple config he runs ok. We don't know
his cause exactly. But we are happy the problem is gone now.
The following user(s) said Thank You: tivoi, besriworld, zmrdko
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07 May 2025 12:04 #327941
by Grotius
Replied by Grotius on topic LinuxCNC S-Curve Accelerations
Hi Pcw,
To inform you.
I just synchronized the codeberg lcnc to github's lcnc codebase.
I did messed up some hal source code when trying things out, wich resulted in a non starting simulation config for "run_axis_9".
This is now reverted.
To inform you.
I just synchronized the codeberg lcnc to github's lcnc codebase.
I did messed up some hal source code when trying things out, wich resulted in a non starting simulation config for "run_axis_9".
This is now reverted.
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07 May 2025 23:14 #327965
by PCW
Replied by PCW on topic LinuxCNC S-Curve Accelerations
Is there a different repository? Just did a git pull
and got: "already up to date"
and got: "already up to date"
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08 May 2025 06:52 #327982
by Grotius
Replied by Grotius on topic LinuxCNC S-Curve Accelerations
Hi Pcw,
Its still this one : codeberg.org/skynet/linuxcnc_scurve_compact
I did a forced upload yesterday, resulting the git history is whiped out.
Otherwise maybe to be sure : git clone --recurse-submodules codeberg.org/skynet/linuxcnc_scurve_compact
If you see the new hal pins appearing, it's ok.
I really hope you can run a few motions.
Its still this one : codeberg.org/skynet/linuxcnc_scurve_compact
I did a forced upload yesterday, resulting the git history is whiped out.
Otherwise maybe to be sure : git clone --recurse-submodules codeberg.org/skynet/linuxcnc_scurve_compact
If you see the new hal pins appearing, it's ok.
I really hope you can run a few motions.
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08 May 2025 21:56 - 08 May 2025 22:53 #328031
by tiagounderground
Replied by tiagounderground on topic LinuxCNC S-Curve Accelerations
hi all
i tried to install in 3 different computers with no sucess, all of then was working linuxcnc installed. in the last one it says it could not find tpmod_scurve.so. i was able to run the previous versions, so i copy this file from a previous installation and was able to start in simulation mode but those new hal pins didnt apear to me.
edit
solve the problem moving files from clothoid_3d and scurve to their lib directories.
edit 2
cant run ethercat
when installing linuxcnc-ethercat this error apears
/home/cnc/scurve2/linuxcnc_scurve_compact/linuxcnc-ethercat/lcec_rtapi.h:22:10: fatal error: rtapi.h: Arquivo ou diretório inexistente
22 | #include <rtapi.h>
| ^~~~~~~~~
edit3
it runs on ethercat now but i cant start a gcode, it says
task: main loop took 0.023097 seconds
tpAbort.
tpAbort.
task: main loop took 0.070196 seconds
tpAbort.
tpAbort.
task: main loop took 0.044852 seconds
task: main loop took 0.011368 seconds
Then the above pins must stay below ~50000 nanosec at runtime.
they all stayed below 50000 nanosec
i tried to install in 3 different computers with no sucess, all of then was working linuxcnc installed. in the last one it says it could not find tpmod_scurve.so. i was able to run the previous versions, so i copy this file from a previous installation and was able to start in simulation mode but those new hal pins didnt apear to me.
edit
solve the problem moving files from clothoid_3d and scurve to their lib directories.
edit 2
cant run ethercat
when installing linuxcnc-ethercat this error apears
/home/cnc/scurve2/linuxcnc_scurve_compact/linuxcnc-ethercat/lcec_rtapi.h:22:10: fatal error: rtapi.h: Arquivo ou diretório inexistente
22 | #include <rtapi.h>
| ^~~~~~~~~
edit3
it runs on ethercat now but i cant start a gcode, it says
task: main loop took 0.023097 seconds
tpAbort.
tpAbort.
task: main loop took 0.070196 seconds
tpAbort.
tpAbort.
task: main loop took 0.044852 seconds
task: main loop took 0.011368 seconds
Then the above pins must stay below ~50000 nanosec at runtime.
they all stayed below 50000 nanosec
Last edit: 08 May 2025 22:53 by tiagounderground.
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09 May 2025 06:55 #328047
by Grotius
Replied by Grotius on topic LinuxCNC S-Curve Accelerations
Hi Tia,
Attached file can be renamed to install.sh
This is more or less the install procedure to get it going, excluding the ethercat-master setup.
Furthermore we expanded the current path algo to a new one wich covers abc uvw motion at fillets.
This path algo is active by default.
Furthermore we solved a codeberg issue , related to uvw motions at runtime.
Attached file can be renamed to install.sh
This is more or less the install procedure to get it going, excluding the ethercat-master setup.
Furthermore we expanded the current path algo to a new one wich covers abc uvw motion at fillets.
This path algo is active by default.
Furthermore we solved a codeberg issue , related to uvw motions at runtime.
The following user(s) said Thank You: tiagounderground
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09 May 2025 17:23 #328089
by tiagounderground
Replied by tiagounderground on topic LinuxCNC S-Curve Accelerations
I instaled linuxcnc scurve compact with the install script from cmake folder
Is it different from the one in the root scurve compact folder?
Is it different from the one in the root scurve compact folder?
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09 May 2025 20:58 #328105
by PCW
Replied by PCW on topic LinuxCNC S-Curve Accelerations
Well, ran install.sh and it wiped everything except the base mint installation
on my test computer. Not trying that again.
on my test computer. Not trying that again.
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13 May 2025 20:01 #328413
by Hakan
Replied by Hakan on topic LinuxCNC S-Curve Accelerations
Did that too hehe. All files gone. Luckily it was a new PC so I can redo it.
I mean do it one more time and delete all files again
It's the ./build_cmake_rm that is a bit aggressive.
This is the log of that command, it goes a bit further bit I only include up to the point where things go wrong.
+
+
| liblinuxcnchal |
+
+
-- The C compiler identification is GNU 12.2.0
-- Detecting C compiler ABI info
-- Detecting C compiler ABI info - done
-- Check for working C compiler: /usr/bin/cc - skipped
-- Detecting C compile features
-- Detecting C compile features - done
-- Configuring done
-- Generating done
-- Build files have been written to: /home/debian/src/linuxcnc/cmake/liblinuxcnchal/build
[ 66%] Building C object CMakeFiles/linuxcnchal.dir/home/debian/src/linuxcnc/src/hal/hal_lib.c.o
[ 66%] Building C object CMakeFiles/linuxcnchal.dir/home/debian/src/linuxcnc/src/rtapi/uspace_ulapi.c.o
[100%] Linking C shared library liblinuxcnchal.so
[100%] Built target linuxcnchal
[100%] Built target linuxcnchal
Install the project...
-- Install configuration: "Release"
-- Installing: /home/debian/src/linuxcnc/cmake/liblinuxcnchal/../../lib/liblinuxcnchal.so.0
-- Up-to-date: /home/debian/src/linuxcnc/cmake/liblinuxcnchal/../../lib/liblinuxcnchal.so
+
+
| custom motmod.so |
+
+
-- The CXX compiler identification is GNU 12.2.0
-- The C compiler identification is GNU 12.2.0
-- Detecting CXX compiler ABI info
-- Detecting CXX compiler ABI info - done
-- Check for working CXX compiler: /usr/bin/c++ - skipped
-- Detecting CXX compile features
-- Detecting CXX compile features - done
-- Detecting C compiler ABI info
-- Detecting C compiler ABI info - done
-- Check for working C compiler: /usr/bin/cc - skipped
-- Detecting C compile features
-- Detecting C compile features - done
-- Configuring done
-- Generating done
-- Build files have been written to: /home/debian/src/linuxcnc/cmake/libmotion/build
[ 11%] Building C object CMakeFiles/motmod.dir/home/debian/src/linuxcnc/src/emc/kinematics/cubic.c.o
[ 23%] Building C object CMakeFiles/motmod.dir/home/debian/src/linuxcnc/src/emc/motion/command.c.o
[ 23%] Building C object CMakeFiles/motmod.dir/home/debian/src/linuxcnc/src/emc/motion/axis.c.o
[ 23%] Building C object CMakeFiles/motmod.dir/home/debian/src/linuxcnc/src/emc/motion/motion.c.o
[ 29%] Building C object CMakeFiles/motmod.dir/home/debian/src/linuxcnc/src/emc/motion/control.c.o
[ 35%] Building C object CMakeFiles/motmod.dir/home/debian/src/linuxcnc/src/emc/motion/simple_tp.c.o
[ 41%] Building C object CMakeFiles/motmod.dir/home/debian/src/linuxcnc/src/emc/motion/emcmotutil.c.o
[ 47%] Building C object CMakeFiles/motmod.dir/home/debian/src/linuxcnc/src/emc/motion/stashf.c.o
[ 52%] Building C object CMakeFiles/motmod.dir/home/debian/src/linuxcnc/src/emc/motion/dbuf.c.o
[ 58%] Building C object CMakeFiles/motmod.dir/home/debian/src/linuxcnc/src/emc/tp/tc.c.o
[ 64%] Building C object CMakeFiles/motmod.dir/home/debian/src/linuxcnc/src/emc/tp/tcq.c.o
[ 70%] Building C object CMakeFiles/motmod.dir/home/debian/src/linuxcnc/src/emc/tp/spherical_arc.c.o
[ 76%] Building C object CMakeFiles/motmod.dir/home/debian/src/linuxcnc/src/emc/tp/blendmath.c.o
[ 82%] Building C object CMakeFiles/motmod.dir/home/debian/src/linuxcnc/src/emc/nml_intf/emcpose.c.o
[ 88%] Building C object CMakeFiles/motmod.dir/home/debian/src/linuxcnc/src/libnml/posemath/_posemath.c.o
[ 94%] Building C object CMakeFiles/motmod.dir/home/debian/src/linuxcnc/src/libnml/posemath/sincos.c.o
[100%] Linking C shared library motmod.so
[100%] Built target motmod
[100%] Built target motmod
Install the project...
-- Install configuration: "Release"
-- Installing: /home/debian/src/linuxcnc/cmake/libmotion/../../rtlib/motmod.so
+
+
| custom homemod.so |
+
+
-- The CXX compiler identification is GNU 12.2.0
-- The C compiler identification is GNU 12.2.0
-- Detecting CXX compiler ABI info
-- Detecting CXX compiler ABI info - done
-- Check for working CXX compiler: /usr/bin/c++ - skipped
-- Detecting CXX compile features
-- Detecting CXX compile features - done
-- Detecting C compiler ABI info
-- Detecting C compiler ABI info - done
-- Check for working C compiler: /usr/bin/cc - skipped
-- Detecting C compile features
-- Detecting C compile features - done
-- Configuring done
-- Generating done
-- Build files have been written to: /home/debian/src/linuxcnc/cmake/libhome/build
[ 66%] Building C object CMakeFiles/homemod.dir/home/debian/src/linuxcnc/src/emc/motion/homemod.c.o
[ 66%] Building C object CMakeFiles/homemod.dir/home/debian/src/linuxcnc/src/emc/motion/homing.c.o
[100%] Linking C shared library homemod.so
[100%] Built target homemod
[100%] Built target homemod
Install the project...
-- Install configuration: "Release"
-- Installing: /home/debian/src/linuxcnc/cmake/libhome/../../rtlib/homemod.so
+
+
| libclothoid3d.so |
+
+
./build_cmake_rm: rad 84: cd: libclothoid3d/src: Filen eller katalogen finns inte
CMake Warning:
Ignoring extra path from command line:
".."
CMake Error: The source directory "/home/debian/src/linuxcnc/cmake" does not appear to contain CMakeLists.txt.
Specify --help for usage, or press the help button on the CMake GUI.
make: *** Inga mål angavs och ingen makefil hittades. Stannar.
make: *** Ingen regel för att skapa målet ”install”. Stannar.
I mean do it one more time and delete all files again
It's the ./build_cmake_rm that is a bit aggressive.
This is the log of that command, it goes a bit further bit I only include up to the point where things go wrong.
Warning: Spoiler!
+
+
| liblinuxcnchal |
+
+
-- The C compiler identification is GNU 12.2.0
-- Detecting C compiler ABI info
-- Detecting C compiler ABI info - done
-- Check for working C compiler: /usr/bin/cc - skipped
-- Detecting C compile features
-- Detecting C compile features - done
-- Configuring done
-- Generating done
-- Build files have been written to: /home/debian/src/linuxcnc/cmake/liblinuxcnchal/build
[ 66%] Building C object CMakeFiles/linuxcnchal.dir/home/debian/src/linuxcnc/src/hal/hal_lib.c.o
[ 66%] Building C object CMakeFiles/linuxcnchal.dir/home/debian/src/linuxcnc/src/rtapi/uspace_ulapi.c.o
[100%] Linking C shared library liblinuxcnchal.so
[100%] Built target linuxcnchal
[100%] Built target linuxcnchal
Install the project...
-- Install configuration: "Release"
-- Installing: /home/debian/src/linuxcnc/cmake/liblinuxcnchal/../../lib/liblinuxcnchal.so.0
-- Up-to-date: /home/debian/src/linuxcnc/cmake/liblinuxcnchal/../../lib/liblinuxcnchal.so
+
+
| custom motmod.so |
+
+
-- The CXX compiler identification is GNU 12.2.0
-- The C compiler identification is GNU 12.2.0
-- Detecting CXX compiler ABI info
-- Detecting CXX compiler ABI info - done
-- Check for working CXX compiler: /usr/bin/c++ - skipped
-- Detecting CXX compile features
-- Detecting CXX compile features - done
-- Detecting C compiler ABI info
-- Detecting C compiler ABI info - done
-- Check for working C compiler: /usr/bin/cc - skipped
-- Detecting C compile features
-- Detecting C compile features - done
-- Configuring done
-- Generating done
-- Build files have been written to: /home/debian/src/linuxcnc/cmake/libmotion/build
[ 11%] Building C object CMakeFiles/motmod.dir/home/debian/src/linuxcnc/src/emc/kinematics/cubic.c.o
[ 23%] Building C object CMakeFiles/motmod.dir/home/debian/src/linuxcnc/src/emc/motion/command.c.o
[ 23%] Building C object CMakeFiles/motmod.dir/home/debian/src/linuxcnc/src/emc/motion/axis.c.o
[ 23%] Building C object CMakeFiles/motmod.dir/home/debian/src/linuxcnc/src/emc/motion/motion.c.o
[ 29%] Building C object CMakeFiles/motmod.dir/home/debian/src/linuxcnc/src/emc/motion/control.c.o
[ 35%] Building C object CMakeFiles/motmod.dir/home/debian/src/linuxcnc/src/emc/motion/simple_tp.c.o
[ 41%] Building C object CMakeFiles/motmod.dir/home/debian/src/linuxcnc/src/emc/motion/emcmotutil.c.o
[ 47%] Building C object CMakeFiles/motmod.dir/home/debian/src/linuxcnc/src/emc/motion/stashf.c.o
[ 52%] Building C object CMakeFiles/motmod.dir/home/debian/src/linuxcnc/src/emc/motion/dbuf.c.o
[ 58%] Building C object CMakeFiles/motmod.dir/home/debian/src/linuxcnc/src/emc/tp/tc.c.o
[ 64%] Building C object CMakeFiles/motmod.dir/home/debian/src/linuxcnc/src/emc/tp/tcq.c.o
[ 70%] Building C object CMakeFiles/motmod.dir/home/debian/src/linuxcnc/src/emc/tp/spherical_arc.c.o
[ 76%] Building C object CMakeFiles/motmod.dir/home/debian/src/linuxcnc/src/emc/tp/blendmath.c.o
[ 82%] Building C object CMakeFiles/motmod.dir/home/debian/src/linuxcnc/src/emc/nml_intf/emcpose.c.o
[ 88%] Building C object CMakeFiles/motmod.dir/home/debian/src/linuxcnc/src/libnml/posemath/_posemath.c.o
[ 94%] Building C object CMakeFiles/motmod.dir/home/debian/src/linuxcnc/src/libnml/posemath/sincos.c.o
[100%] Linking C shared library motmod.so
[100%] Built target motmod
[100%] Built target motmod
Install the project...
-- Install configuration: "Release"
-- Installing: /home/debian/src/linuxcnc/cmake/libmotion/../../rtlib/motmod.so
+
+
| custom homemod.so |
+
+
-- The CXX compiler identification is GNU 12.2.0
-- The C compiler identification is GNU 12.2.0
-- Detecting CXX compiler ABI info
-- Detecting CXX compiler ABI info - done
-- Check for working CXX compiler: /usr/bin/c++ - skipped
-- Detecting CXX compile features
-- Detecting CXX compile features - done
-- Detecting C compiler ABI info
-- Detecting C compiler ABI info - done
-- Check for working C compiler: /usr/bin/cc - skipped
-- Detecting C compile features
-- Detecting C compile features - done
-- Configuring done
-- Generating done
-- Build files have been written to: /home/debian/src/linuxcnc/cmake/libhome/build
[ 66%] Building C object CMakeFiles/homemod.dir/home/debian/src/linuxcnc/src/emc/motion/homemod.c.o
[ 66%] Building C object CMakeFiles/homemod.dir/home/debian/src/linuxcnc/src/emc/motion/homing.c.o
[100%] Linking C shared library homemod.so
[100%] Built target homemod
[100%] Built target homemod
Install the project...
-- Install configuration: "Release"
-- Installing: /home/debian/src/linuxcnc/cmake/libhome/../../rtlib/homemod.so
+
+
| libclothoid3d.so |
+
+
./build_cmake_rm: rad 84: cd: libclothoid3d/src: Filen eller katalogen finns inte
CMake Warning:
Ignoring extra path from command line:
".."
CMake Error: The source directory "/home/debian/src/linuxcnc/cmake" does not appear to contain CMakeLists.txt.
Specify --help for usage, or press the help button on the CMake GUI.
make: *** Inga mål angavs och ingen makefil hittades. Stannar.
make: *** Ingen regel för att skapa målet ”install”. Stannar.
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