XHC-WHB04B-6 LinuxCNC not working

Uthayne
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Premium Member

6 years 1 month ago #184189 by Uthayne

Replied by Uthayne on topic XHC-WHB04B-6 LinuxCNC not working

I have not, I will give that a shot.

I was able to get both continuous and step mode to behave as expected by changing the timeoutMs to 0 in the below section of hal.cc and recompiled.

Code:

bool Hal::waitForRequestedMode(volatile hal_bit_t * condition)
{
    if(mIsSimulationMode)
    {
        return true;
    }
    useconds_t   timeoutMs   = 0;//mHalRequestProfile.mode.modeCheckLoopTimeoutMs;
    unsigned int maxTimeouts = mHalRequestProfile.mode.modeCheckLoops;
    unsigned int timeouts    = maxTimeouts;
    do
    {
        if (false == *condition)
        {
            usleep(timeoutMs * 1000);
        }
        else
        {
            return true;
        }
    } while ((false == *condition) && (--timeouts) > 0);
    if (false == *condition)
    {
        auto delay = (maxTimeouts - timeouts) * timeoutMs;
        std::cerr << "hal   failed to wait for reqested mode. waited " << delay << "ms\n";
        return false;
    }
    else
    {
        return true;
    }
    return false;
}

Although this has seemed to fix both issues (jerkiness and missed jog counts), I feel like it is not really a solution? I have been jogging around with it for the last few minutes and haven't seen any errors due to getting rid of the timeout duration. I'll have a look at adjusting the axis.L.jog-accel-fraction pin too.

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romeofox
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6 years 1 month ago #184191 by romeofox

Replied by romeofox on topic XHC-WHB04B-6 LinuxCNC not working

I solved my handwheel problem with a solution from the german cnc-aus-holz.at forum: link

At first I also suspected the USB port and system problems.
But I found the cause after searching the source code and several tests:
In the example configuration for the hand wheel (raw.githubusercontent.com/Linu.../example-configuration.md) the following signal connection is created in the section "#machine mode related signals":

Code:

net pdnt.mode.teleop whb.halui.mode.teleop halui.mode.teleop

But the signal "halui.mode.teleop" is not set by LinuxCNC as expected by the driver and then leads to timeouts/sleeps in the driver, which in turn leads to the delays when transmitting the handwheel movement to LinuxCNC.

After I changed the signal connection to :

Code:

net pdnt.mode.is-manual whb.halui.mode.is-teleop

where the net "net pdnt.mode.is-manual" is defined in the example config as:

Code:

net pdnt.mode.is-manual halui.mode.is-manual whb.halui.mode.is-manual

Did the hand wheel work without any problems.

Thanks to Ghostrider!

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Uthayne
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6 years 1 month ago #184193 by Uthayne

Replied by Uthayne on topic XHC-WHB04B-6 LinuxCNC not working

Thanks Romeo, I'm trying this fix out. I reverted back on the hal.cc changes I just made.

If I'm following correctly,

Code:

net pdnt.mode.is-manual halui.mode.is-manual whb.halui.mode.is-manual

gets changed to

Code:

net pdnt.mode.is-manual whb.halui.mode.is-teleop

and

Code:

net pdnt.mode.teleop whb.halui.mode.teleop halui.mode.teleop

gets commented out?

If so, I just tried it and it has the same jerkiness.

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romeofox
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6 years 1 month ago #184194 by romeofox

Replied by romeofox on topic XHC-WHB04B-6 LinuxCNC not working

That's what it was meant to be.
I tested my handwheel with LinuxCNC 2.8 and 2.9. Both worked.

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Uthayne
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Premium Member

6 years 1 month ago - 6 years 1 month ago #184200 by Uthayne

Replied by Uthayne on topic XHC-WHB04B-6 LinuxCNC not working

Would you mind sharing you .hal file? I either keep getting something wrong or it is not working for me.

Edit: changed

Code:

net pdnt.mode.is-manual  halui.mode.is-manual  whb.halui.mode.is-manual

to add

Code:

whb.halui.mode.is-teleop

(commented this out on

Code:

net pdnt.mode.is-teleop halui.mode.is-teleop  #whb.halui.mode.is-teleop

)

and its working now. Strange. I made no other edits.

Full hal file is attached.

Last edit: 6 years 1 month ago by Uthayne.

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tommylight
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Moderator

6 years 1 month ago - 6 years 1 month ago #184213 by tommylight

Replied by tommylight on topic XHC-WHB04B-6 LinuxCNC not working

romeofox wrote: I solved my handwheel problem with a solution from the german cnc-aus-holz.at forum:

I see some angry Austrians coming your way !

www.youtube.com/@toma.cnc1
www.youtube.com/@toma.3d
www.youtube.com/@tomapc

Last edit: 6 years 1 month ago by tommylight. Reason: typo

The following user(s) said Thank You: rodw

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XHC-WHB04B-6 LinuxCNC not working