StepperOnline A6 Servo

Das hochfrequente piepen ist ganz normal.
Kommt von der Lageregelung.
Autotuning habe ich über die interne Servofunktion durchgeführt. Der Ablauf steht in der Doku.

@Jugo2
Das springen der Achsen hat sich geklärt.
Beim internen homing desynchonisieren sich die Achsen von linuxcnc. Nach Abschluss vom homing versucht linuxcnc die Position der Achsen wieder zu synchronisieren. Das führt zum bekannten springen.
Stelle die Default speeds in der .ini auf Minimalwerte, dann sollte es weg sein.

Hey, sowas in der art hab ich mir schon gedacht…
Dank dir, werde es nachher mal ausprobieren.
hast du dann nur DEFAULT_LINEAR_VELOCITY runtergesetzt oder auch noch andere werte und auf welchen wert hast du's runtergesetzt?
 

andrax wrote:

Hi, 
here is my configuration.
It works. I use XYYZ.
 

Hello.
Just trying to set up simmilar machine configuration asyou have. I am trying to use your configuration, but run into weird problem - at hal, Ethercat to CIA402 driver mapping section, "joint.0.cia-statusword does not exist".
Also joint.0.request-cia-homing, joint.0.start-cia-homing,
What am I missing?

Hi,

Please provide your .xml, .ini, and .hal files.
An output of dmesg and EtherCAT slaves

Hello, 
Im new and have just started with linuxcnc, and im also a newbie with linux. I have installed linuxcnc  on a machine and installed ethercat. I can see my a6 drive under the slaves. But now i dont know what to do. Where should i copy the working configuartion files from Page 1? What do i have to do after that? Can someone please guide me through everything? I have not done anything else on this machine except from adjusting the Internet settings. I can see the drive in preop Mode, but how do i go on? As i said, im a complete newbie. Help much apreciated. Thanks.

Update:
i have copied the "working" fies from page 1 into my axis.sim folder, removed the date in their names and put the Basic.hal to be called in the axis.ini file. now the axis.sim does not start and i get this error log: 
Print file information:
RUN_IN_PLACE=no
LINUXCNC_DIR=
LINUXCNC_BIN_DIR=/usr/bin
LINUXCNC_TCL_DIR=/usr/lib/tcltk/linuxcnc
LINUXCNC_SCRIPT_DIR=
LINUXCNC_RTLIB_DIR=/usr/lib/linuxcnc/modules
LINUXCNC_CONFIG_DIR=
LINUXCNC_LANG_DIR=/usr/lib/tcltk/linuxcnc/msgs
INIVAR=inivar
HALCMD=halcmd
LINUXCNC_EMCSH=/usr/bin/wish8.6
LINUXCNC - 2.9.8
Machine configuration directory is '/home/christian/linuxcnc/configs/sim.axis'
Machine configuration file is 'axis.ini'
INIFILE=/home/christian/linuxcnc/configs/sim.axis/axis.ini
VERSION=1.1
PARAMETER_FILE=sim.var
TPMOD=
HOMEMOD=
TASK=milltask
HALUI=halui
DISPLAY=axis
COORDINATES=X Y Z
KINEMATICS=trivkins
Starting LinuxCNC...
Starting LinuxCNC server program: linuxcncsvr
Loading Real Time OS, RTAPI, and HAL_LIB modules
Starting LinuxCNC IO program: io
Starting HAL User Interface program: halui
linuxcnc TPMOD=tpmod HOMEMOD=homemod EMCMOT=motmod
Found file(lib): /usr/share/linuxcnc/hallib/core_sim.hal
Found file(lib): /usr/share/linuxcnc/hallib/sim_spindle_encoder.hal
Found file(lib): /usr/share/linuxcnc/hallib/axis_manualtoolchange.hal
Found file(lib): /usr/share/linuxcnc/hallib/simulated_home.hal
Found file(lib): /usr/share/linuxcnc/hallib/check_xyz_constraints.hal
Found file(REL): ./cooling.hal
Found file(REL): ./Basic.hal
Shutting down and cleaning up LinuxCNC...
Removing HAL_LIB, RTAPI, and Real Time OS modules
Removing NML shared memory segments

Debug file information:
Note: Using POSIX realtime
trivkins: already exists
./Basic.hal:3: waitpid failed /usr/bin/rtapi_app trivkins
./Basic.hal:3: /usr/bin/rtapi_app exited without becoming ready
./Basic.hal:3: insmod for trivkins failed, returned -1
2381
Stopping realtime threads
Unloading hal components
Note: Using POSIX realtime

Thanks for the reply, but im still too dumb to integrate just these files. It just won't work. Can anyone guide me through this? What doch i have to do with these files? All i have done so far is to create a sample from the Premiere Samples and put the 3 files into the folder. Should i even call the Basic.hal from the axis.ini file? What am i doing wrong?

Okay, first step: read through the entire thread.
I know there are a lot of pages, but you’ll find a wealth of information here.
Then, step by step.
First, what’s what:
>>> ethercat.xml
provides the information for the LinuxCNC EtherCAT driver (lcnc) – mappings of the signals and registers of the servos to the pins in LinuxCNC

>>> your config.hal
Calls to the LinuxCNC components and internal connections within LinuxCNC

>>> your config.ini 
General configuration 

Setup
1. Connect the servos and troubleshoot issues
> dmesg | grep ethercat asl root
There shouldn’t be any errors here; if there are, you have EMC issues

2. List connected devices
> ethercat slaves

3. Create ethercat.xml
Study the existing templates in this thread
If you don’t understand something, just ask

3. Create your config.hal
Here, too, simply use the existing templates.
Most of the time, you won’t need to change much.

4. Create your config.ini
Here, you’ll need to read through the LinuxCNC documentation.
The configuration is specific to your machine’s setup.
Again, make sure to familiarize yourself with the individual parameters.
If you have any questions, we’re happy to help. 
But please start a new thread for that.

5. Start LinuxCNC 
If there are any errors, you’ll see a message right away.

And importantly, most questions and issues have already been posted and answered in the forum. The forum search will surely answer most of your questions.
If you get stuck, just ask—we’re here to help.

Best regards