Mitsubishi SSCNET

yes, the 222242ns period is there for a reason. the card uses a digital pll to keep sync with the linuxcnc by varying its 0.22ms cycle a bit according to the phase difference with the linuxcnc's one. MR-J4-B drives are rather strict on the cycle time - they tolerate max -0/+5 bytes of cycle length at 150Mbps. so that timing is about at the middle of that tolerance range

yet another retrofit in progress - traub tnc 65. originally mitsubishi meldas 500 controller with some customizations from traub i guess. mds-b/c1-v/sp servo drives. the oem controller was alive, so i got servo/spindle params from it. the machine has 3 spindles: main, counter and live tooling. main and counter have hi-res secondary encoders for C1,C2 axes plus hydraulic brakes. two carriages were mapped to Z,X and W,U axes and counterspindle to V, but a secondary independent control channel is badly needed for adequate utilization of the machine potential... also spindle-counnterspindle synchronization is in research...
the machine has no limit switches relying on absolute servo encoders. it has Z1,Z2,V overload sensors. it has two Z1-V proximity switches. linuxcnc homing was configured with rigid stops and servo motor torque limiting.

afaik, mitsubishi controllers have a "system" entity. i belive it's an independent g-code interpreter+interpolator. for this machine has
system $0: Z1,X1,V
system $1: Z2 X2
system $2 ??? aux functions - workpiece removal
spindles are shared
i don;t have yet a programming manual for the traub, i'll try to obtain one. i guess they have 2 g-code programs running simultaneously plus some means of synchronization between them

there's also a fanuc robot on the photo in the background - i may try to get on it too

yes, i know. but i still use them my own way: a patch to add "joint.x.set-homed" pins and saving motor-offset to the .pos file...

Hi, can You share how can we connect LinuxCNC via SSCNET?
Can we use STM32? I can write code in C and VHDL - Spartan 6 (IP core), 7 (microblaze), but I have not frame description.
Can You create a tutorial how can we control servo via SSCNET.