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hope it helps.

Hi again. I have sorted the power issue (manual was no help at all). Now, I have it set to Linuxcnc using ethercat. It is all communication etc. I want to run the servo as a spindle motor so just have the target-velocity (60FE). How do I create the 'pins' to tell the drive to turn at say 1000rpm with an M3 command is given. I have done the many times using a VFD (much easier but space and weight limits force me to use a servo).

I am soooo out of my depth here, any help is always hugely appreciated. (I have already looked through the various threads and found no help after hours of scrolling)

Omg it worked!!! Thank you so much PCW not only did you spoon feed me on how to get my 7i96s to run my spindle but you also helped me get all my steppers working with the BoB. Thank you so much

Hi, I am creating a custom machine for work and really really need help. I am using the above driver with a 1000w servo motor for the spindle. I have installed ethercat and configured. I have downloaded the xml file for the drive from stepperonline. I have created a hal file that loads lcec and the xml file. But when I start linuxcnc is stops with an error saying lcec exited. How can I use this to drive the spindle. I don't need limits or probes or anything, Just speed.

I am really out of my depth here as I normally use a 3ph and vfd but space and weight does not permit this on the machine I am making.

Thanks

Russell

Hello, I just started working on the linuxcnc esp32 W5500 setup and I ran into some issues.
1. Hardware: Rpi4 8gb with linuxcnc 2.8.4, W5500, Esp32 Wroom 
2. Esp firmware: hal2udp pwm
3. Motion: open loop stepper with TB6600 Driver

Issues
1. activation of spindle or flood no voltage change on esp32 pins 4 or 25.
2. joint follow error all axis3. My stepper is enable without the enable pin connection (I'm not even sure what pin to use for enable/disable on the esp32-the pin out from the read file doesn't show what pin to use.
3. udp.stepgen.1.enable (error doesn't exsist) (My assumption is that because the udp.comp file doesnt show the param or pin) maybe I'm missing something
4. is the Pid function only used for closed loop steppers to accurately determine movement
I attached my hal and ini files

thanks for the help

I think I have wrapped my head around my stepper motor and limit switch wiring. Regarding the spindle, I have a few questions:

The inverter is a woods eTrac x2c and the manual offers a nearly overwhelming number of options. I was never able to see the spindle working with the stock
AMC controller. I have attached the relevant table from the inverter manual and it seems like I should be able to use the analog spindle interface to provide 0-5vdc signal for speed control (vin). Do I simply use inputs on the 7i96 to conteol fwd/rev and a ground connected to the inverter common? Is that all there is to it?

The original wiring from the AMC controller to the inverter is somewhat different and it isn’t obvious that the AMC was actually able to control the spindle speed. It is connected to use 4 preset spindle speeds and the AMC has wires indicating an acceleration/deceleration signal, as well as some connections to NO and RCM.

 

 

sry for delay.

i have now the whole machine running with the original controller.

all works.. steppers,maindrive, all sensors and the spindleencoder.

in the next days i link up my raspberry pi 4 with a 7i92.
why the rasp? its easier for me instead a notebook.. i have the machine in my garage not in my basement...

if all works and linked to the mesa and is in my linuxcnc i came back.


parallel i would build a small model for the toolchanger to play in the apartment with the toolchanger carousel stuff.

thanks

At the end it was easier for me to compile a new bit file without the pwm/dir (I/O 07 PIN 17) and use it as a GPIO. It is working now.
Many thanks to you Peter!


Another question is about my "26 HDR" internal port of the 6i25 , I wanted to do my own encoder pcb but now I found a used 7I52S.
How to modify my vhd-file to do so and how should the cable from 26 HDR 6i25 to the 50 HDR 7I52S look like?
I don't now if I can use all functionality of the 7I52S but at least the 6 encoders and the rest filled with (stepper)outputs?
Should I open a new thread for this?

I made the config with PnCconf and only slightly changed to to account for probe basic interface.
the inductive endstops are mounted on the traveling part of the axis and there are metal stops at each end of the travel.

the machine has the following specs:
Machine Specs:
X460, Y750mm, Z160
20mm linear rails
10mm pitch ballscrews, 20mm diameter
Construction: aluminum profiles bolted to 12mm steel plates, welded gantry sides
Motors: Y-axis 6.8Nm stepper, Z + X-axis 3Nm stepper
Drives: DM556 V1 48v
Spindle: 24K RPM 2.2kW ER20
inductive endstops
good latency values mostly sub 3000ns servo

Hi,
I originally wanted to run a cheap DIY cnc machine using an old Intel Atom dualcore computer which has an LPT connector. But meanwhile I start thinking about higher quality components.

Same specs:
-stepper motors (already exist)
-linear rails for a work area of 1000/600/200mm (already exist)
-spindle Kress FME800 (already exists)
-stepper driver board with 5x Toshiba TB6560 (already exists)
-USB connected hand controller/job wheel LHB04 (already exists)

Now I wonder if I'd better go for an network/USB controlled Mesa card to get rid of that old Intel Atom computer and be able to use any machine (probably a modern notebook).

Also I would like to bux linear scales for my build, but couldn't figure out how they would be connected to LinuxCNC.
Is there a lis with reliable (but not too expensive) supportet linear scales?

And would you rather ust the Toshiba stepper driver board listet above or get some modern alternative?

Since I didn't really start building it, I'm free to change components for the good

I'm going to weld the frame for my machine. So I wonder what's the best way to start? At the moment I think I'm going to build z-axis first and depending on it's dimensions I can design the x-axis, then Y-axis.
But for designing the z-axis I need to know which linear scale system I need to mount and what size it is.

Since this CNC machine is intended to build electrical guitars, I don't require the highest precision, but I'd like to have as small tollerances as possilbe for a reliable pricetag.

Just getting started on planning my AXYZ cnc router retrofit. Regarding the “AXYZ AXI” stepper drivers, the wiring diagram I have indicates driver control is standard 3 cable (12vdc, step, dir). Dip switches have the micro steps set to 1200 micro steps/rev (default). Is there anything else I need to know?

The stock spindle inverter was replaced with an eTrac X2C and is currently wired with 6 wires (gnd, decelerate, accelerate,  5vdc, feedback, on/off). Is there anything else I should consider?

My current plan is to purchase a Mesa 7i96s. For a pc, I have a Dell Optiplex 7050 and an ELO touchscreen ready to go.

Backstory, the AMC controller board on the small AXYZ cnc router that I bought is bad. It shows ‘Error 92’ or no controller OS and the AXYZ tool path software is unable to communicate with the board to restore it. My plan had been to convert the machine to Linuxcnc anyways but it would have been nice to test it and take some measurements prior to starting the conversion.

loadrt carousel pockets=10 encoding=index num_sense=2 dir=2
addf carousel.0 servo-thread


loadrt xor2 names=spindelwechsler
addf spindelwechsler servo-thread

loadrt mux_generic config=ff2
addf mux-gen.00 servo-thread

net carousel-rotate carousel.0.motor-vel
net carousel-rotate mux-gen.00.in-float-00
net s-output spindle.0.speed-out
net s-output mux-gen.00.in-float-01

net Spindelausgang mux-gen.00.out-float
net Spindelausgang [HMOT](CARD0).stepgen.03.velocity-cmd

i try something...

i have a stepper and some switches connected to my mesa.

i can run the stepper as spindle.. but the carousel.comp give me no velocity command.
i try it from halshow .... any idea?

Hi guys!
I get a VMC-100 as gift from a school.

I owm a F1P which i retrofit to LINUXCNC years ago. works perfect.
Same Machine as the VMC-100 but with manual Toolchange.

Now the VMC-100 has a carousel as Toolchanger.

 

This carousel have 4 proximity switch to operate the Toolchanger.

 

Sensor1 is a sensor to reference tool 1.
Sensor2 counts a hole in a parallel gear. is it counts 2 times the next toolslot is reached.
Sensor3 tells that the tool is engaged.
Sensor4 tells that the tool is disengaged and the mainspindle can rotate the carousel.

 

Main issue for me is that the carousel works above the Z reference sensor.
At Z reference positon the Carousel begins to disengage the tool and when sensor 4 is reached the carousel can rotate.

Does someone ever retrofit this in Linuxcnc and can share his experience?
I searched a bit arround but found only some videos with MACH3 and some dead threads.

I will use the orignial maindrive which has a encoder on it at the beginning.
the maindrive works with step/dir signals.

On my f1p was the same maindrive which i use to tap threads.. spindle orient is used for this but iswitch to a 1kw servo.
this time i will use everything orignial because i have 3 orignial stepperdrivers for the 5 phase steppers. later i would change to nema23 2 phase.
Main focus is to bring everything back to live without changing to different steppermotors or maindrive.

The maindrive is working and the encoder counts.
Steppers working.
all proximity sensors are working.


thanks for any help

the pictures are taken from youtube



 

seuchato wrote:

Hi all
After a couple of years, I am finally back and ready to making chips. I have a router, use steppers on parport. Linuxcnc is 2.9.4, debian doodle jump :

Linux cnc0 6.1.0-35-rt-amd64 #1 SMP PREEMPT_RT Debian 6.1.137-1 (2025-05-07) x86_64 GNU/Linux

The router works, I can cut stuff etc. not the problem. The job that I want to do soon requires quite a few tool changes. So far I did it using the dowel method, but that is very time consuming. Sure an automatic tool changer would be perfect, but that's up for in a later stage. For now I have a tool length sensor, that I would like to use with my collet spindle to get tool length set after a manual tool change.

When I run tcdemo.ngc:

- goes to change position
- when I hit "Tool change complete", goes to zmax, tool sensor x and y, starts going towards the sensor.
- As soon as the sensor is touched, I get "Probe tripped during non-probe move" and program is stopped

How can I get over this?

I attach the relevant files in zipped folder "toollength_problem.zip"

Greez
chris
You might want to double-check that the

G38.x command is active before motion toward the sensor begins. Also, review your HAL and INI files to confirm the probe input isn't being tripped by noise or an early signal. Did you try adding a small delay before the probe move to stabilize the signal?

hal file content: 

# Generated by PNCconf at Thu Feb 14 05:38:27 2019
# Using LinuxCNC version:  2.8
# If you make changes to this file, they will be
# overwritten when you run PNCconf again

loadrt [KINS]KINEMATICS
loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS num_spindles=[TRAJ]SPINDLES
loadrt hostmot2
loadrt hm2_pci config="num_encoders=6 num_pwmgens=0 num_stepgens=5 sserial_port_0=00000x" 
setp    hm2_5i25.0.watchdog.timeout_ns 5000000
loadrt pid names=pid.x,pid.y,pid.z,pid.s

addf hm2_5i25.0.read          servo-thread
addf motion-command-handler   servo-thread
addf motion-controller        servo-thread
addf pid.x.do-pid-calcs       servo-thread
addf pid.y.do-pid-calcs       servo-thread
addf pid.z.do-pid-calcs       servo-thread
addf pid.s.do-pid-calcs       servo-thread
addf hm2_5i25.0.write         servo-thread

# external output signals

# --- MACHINE-IS-ENABLED ---
net machine-is-enabled  =>     hm2_5i25.0.7i77.0.0.output-02

# --- ESTOP-OUT ---
net estop-out  =>     hm2_5i25.0.7i77.0.0.output-03

# external input signals


# --- BOTH-HOME-X ---
net both-home-x     <=  hm2_5i25.0.7i77.0.0.input-01

# --- BOTH-HOME-Y ---
net both-home-y     <=  hm2_5i25.0.7i77.0.0.input-02

# --- BOTH-HOME-Z ---
net max-home-z     <=  hm2_5i25.0.7i77.0.0.input-03-not

#*******************
#  AXIS X JOINT 0
#*******************

setp   pid.x.Pgain     [JOINT_0]P
setp   pid.x.Igain     [JOINT_0]I
setp   pid.x.Dgain     [JOINT_0]D
setp   pid.x.bias      [JOINT_0]BIAS
setp   pid.x.FF0       [JOINT_0]FF0
setp   pid.x.FF1       [JOINT_0]FF1
setp   pid.x.FF2       [JOINT_0]FF2
setp   pid.x.deadband  [JOINT_0]DEADBAND
setp   pid.x.maxoutput [JOINT_0]MAX_OUTPUT
setp   pid.x.error-previous-target true

net x-index-enable  => pid.x.index-enable
net x-enable        =>  pid.x.enable
net x-pos-cmd       =>  pid.x.command
net x-pos-fb        =>  pid.x.feedback
net x-output        <=  pid.x.output

# ---PWM Generator signals/setup---

setp   hm2_5i25.0.7i77.0.1.analogout0-scalemax  [JOINT_0]OUTPUT_SCALE
setp   hm2_5i25.0.7i77.0.1.analogout0-minlim    [JOINT_0]OUTPUT_MIN_LIMIT
setp   hm2_5i25.0.7i77.0.1.analogout0-maxlim    [JOINT_0]OUTPUT_MAX_LIMIT

net x-output     => hm2_5i25.0.7i77.0.1.analogout0
net x-pos-cmd    <= joint.0.motor-pos-cmd
net x-enable     <= joint.0.amp-enable-out
# enable _all_ sserial pwmgens
net x-enable   => hm2_5i25.0.7i77.0.1.analogena

# ---Encoder feedback signals/setup---

setp    hm2_5i25.0.encoder.00.counter-mode 0
setp    hm2_5i25.0.encoder.00.filter 1
setp    hm2_5i25.0.encoder.00.index-invert 0
setp    hm2_5i25.0.encoder.00.index-mask 0
setp    hm2_5i25.0.encoder.00.index-mask-invert 0
setp    hm2_5i25.0.encoder.00.scale  [JOINT_0]ENCODER_SCALE

net x-pos-fb               <=  hm2_5i25.0.encoder.00.position
net x-vel-fb               <=  hm2_5i25.0.encoder.00.velocity
net x-pos-fb               =>  joint.0.motor-pos-fb
net x-index-enable    joint.0.index-enable  <=>  hm2_5i25.0.encoder.00.index-enable
net x-pos-rawcounts        <=  hm2_5i25.0.encoder.00.rawcounts

# ---setup home / limit switch signals---

net both-home-x     =>  joint.0.home-sw-in
net both-home-x     =>  joint.0.neg-lim-sw-in
net both-home-x     =>  joint.0.pos-lim-sw-in

#*******************
#  AXIS Y JOINT 1
#*******************

setp   pid.y.Pgain     [JOINT_1]P
setp   pid.y.Igain     [JOINT_1]I
setp   pid.y.Dgain     [JOINT_1]D
setp   pid.y.bias      [JOINT_1]BIAS
setp   pid.y.FF0       [JOINT_1]FF0
setp   pid.y.FF1       [JOINT_1]FF1
setp   pid.y.FF2       [JOINT_1]FF2
setp   pid.y.deadband  [JOINT_1]DEADBAND
setp   pid.y.maxoutput [JOINT_1]MAX_OUTPUT
setp   pid.y.error-previous-target true

net y-index-enable  => pid.y.index-enable
net y-enable        =>  pid.y.enable
net y-pos-cmd       =>  pid.y.command
net y-pos-fb        =>  pid.y.feedback
net y-output        <=  pid.y.output

# ---PWM Generator signals/setup---

setp   hm2_5i25.0.7i77.0.1.analogout1-scalemax  [JOINT_1]OUTPUT_SCALE
setp   hm2_5i25.0.7i77.0.1.analogout1-minlim    [JOINT_1]OUTPUT_MIN_LIMIT
setp   hm2_5i25.0.7i77.0.1.analogout1-maxlim    [JOINT_1]OUTPUT_MAX_LIMIT

net y-output     => hm2_5i25.0.7i77.0.1.analogout1
net y-pos-cmd    <= joint.1.motor-pos-cmd
net y-enable     <= joint.1.amp-enable-out

# ---Encoder feedback signals/setup---

setp    hm2_5i25.0.encoder.01.counter-mode 0
setp    hm2_5i25.0.encoder.01.filter 1
setp    hm2_5i25.0.encoder.01.index-invert 0
setp    hm2_5i25.0.encoder.01.index-mask 0
setp    hm2_5i25.0.encoder.01.index-mask-invert 0
setp    hm2_5i25.0.encoder.01.scale  [JOINT_1]ENCODER_SCALE

net y-pos-fb               <=  hm2_5i25.0.encoder.01.position
net y-vel-fb               <=  hm2_5i25.0.encoder.01.velocity
net y-pos-fb               =>  joint.1.motor-pos-fb
net y-index-enable    joint.1.index-enable  <=>  hm2_5i25.0.encoder.01.index-enable
net y-pos-rawcounts        <=  hm2_5i25.0.encoder.01.rawcounts

# ---setup home / limit switch signals---

net both-home-y     =>  joint.1.home-sw-in
net both-home-y     =>  joint.1.neg-lim-sw-in
net both-home-y     =>  joint.1.pos-lim-sw-in

#*******************
#  AXIS Z JOINT 2
#*******************

setp   pid.z.Pgain     [JOINT_2]P
setp   pid.z.Igain     [JOINT_2]I
setp   pid.z.Dgain     [JOINT_2]D
setp   pid.z.bias      [JOINT_2]BIAS
setp   pid.z.FF0       [JOINT_2]FF0
setp   pid.z.FF1       [JOINT_2]FF1
setp   pid.z.FF2       [JOINT_2]FF2
setp   pid.z.deadband  [JOINT_2]DEADBAND
setp   pid.z.maxoutput [JOINT_2]MAX_OUTPUT
setp   pid.z.error-previous-target true
# This setting is to limit bogus stepgen
# velocity corrections caused by position
# feedback sample time jitter.
setp   pid.z.maxerror 0.012700

net z-index-enable  => pid.z.index-enable
net z-enable        =>  pid.z.enable
net z-pos-cmd       =>  pid.z.command
net z-pos-fb        =>  pid.z.feedback
net z-output        <=  pid.z.output

# Step Gen signals/setup

setp   hm2_5i25.0.stepgen.00.dirsetup        [JOINT_2]DIRSETUP
setp   hm2_5i25.0.stepgen.00.dirhold         [JOINT_2]DIRHOLD
setp   hm2_5i25.0.stepgen.00.steplen         [JOINT_2]STEPLEN
setp   hm2_5i25.0.stepgen.00.stepspace       [JOINT_2]STEPSPACE
setp   hm2_5i25.0.stepgen.00.position-scale  [JOINT_2]STEP_SCALE
setp   hm2_5i25.0.stepgen.00.step_type        0
setp   hm2_5i25.0.stepgen.00.control-type     1
setp   hm2_5i25.0.stepgen.00.maxaccel         [JOINT_2]STEPGEN_MAXACCEL
setp   hm2_5i25.0.stepgen.00.maxvel           [JOINT_2]STEPGEN_MAXVEL

# ---closedloop stepper signals---

net z-pos-cmd    <= joint.2.motor-pos-cmd
net z-vel-cmd    <= joint.2.vel-cmd
net z-output     => hm2_5i25.0.stepgen.00.velocity-cmd
net z-pos-fb     <= hm2_5i25.0.stepgen.00.position-fb
net z-pos-fb     => joint.2.motor-pos-fb
net z-enable     <= joint.2.amp-enable-out
net z-enable     => hm2_5i25.0.stepgen.00.enable

# ---closedloop stepper signals---

net z-pos-cmd    <= joint.2.motor-pos-cmd
net z-vel-cmd    <= joint.2.vel-cmd
net z-output     => hm2_5i25.0.stepgen.00.velocity-cmd
net z-pos-fb     <= hm2_5i25.0.stepgen.00.position-fb
net z-pos-fb     => joint.2.motor-pos-fb
net z-enable     <= joint.2.amp-enable-out
net z-enable     => hm2_5i25.0.stepgen.00.enable

# ---setup home / limit switch signals---

net max-home-z     =>  joint.2.home-sw-in
net z-neg-limit     =>  joint.2.neg-lim-sw-in
net max-home-z     =>  joint.2.pos-lim-sw-in

#*******************
# #  SPINDLE
#*******************

# setp   pid.s.Pgain     [SPINDLE_0]P
# setp   pid.s.Igain     [SPINDLE_0]I
# setp   pid.s.Dgain     [SPINDLE_0]D
# setp   pid.s.bias      [SPINDLE_0]BIAS
# setp   pid.s.FF0       [SPINDLE_0]FF0
# setp   pid.s.FF1       [SPINDLE_0]FF1
# setp   pid.s.FF2       [SPINDLE_0]FF2
# setp   pid.s.deadband  [SPINDLE_0]DEADBAND
# setp   pid.s.maxoutput [SPINDLE_0]MAX_OUTPUT
setp   pid.s.error-previous-target true

# net spindle-index-enable  => pid.s.index-enable
# net spindle-enable        =>  pid.s.enable
# net spindle-vel-cmd-rpm     => pid.s.command
# net spindle-vel-fb-rpm      => pid.s.feedback
# net spindle-output        <=  pid.s.output

# # ---setup spindle control signals---

# net spindle-vel-cmd-rps        <=  spindle.0.speed-out-rps
# net spindle-vel-cmd-rps-abs    <=  spindle.0.speed-out-rps-abs
# net spindle-vel-cmd-rpm        <=  spindle.0.speed-out
# net spindle-vel-cmd-rpm-abs    <=  spindle.0.speed-out-abs
# net spindle-enable             <=  spindle.0.on
# net spindle-cw                 <=  spindle.0.forward
# net spindle-ccw                <=  spindle.0.reverse
# net spindle-brake              <=  spindle.0.brake
# net spindle-revs               =>  spindle.0.revs
# net spindle-at-speed           =>  spindle.0.at-speed
# net spindle-vel-fb-rps         =>  spindle.0.speed-in
# net spindle-index-enable      <=>  spindle.0.index-enable

# # ---Setup spindle at speed signals---

# sets spindle-at-speed true


#******************************
# connect miscellaneous signals
#******************************

#  ---HALUI signals---

net axis-select-x  halui.axis.x.select
net jog-x-pos      halui.axis.x.plus
net jog-x-neg      halui.axis.x.minus
net jog-x-analog   halui.axis.x.analog
net x-is-homed     halui.joint.0.is-homed
net axis-select-y  halui.axis.y.select
net jog-y-pos      halui.axis.y.plus
net jog-y-neg      halui.axis.y.minus
net jog-y-analog   halui.axis.y.analog
net y-is-homed     halui.joint.1.is-homed
net axis-select-z  halui.axis.z.select
net jog-z-pos      halui.axis.z.plus
net jog-z-neg      halui.axis.z.minus
net jog-z-analog   halui.axis.z.analog
net z-is-homed     halui.joint.2.is-homed
net jog-selected-pos      halui.axis.selected.plus
net jog-selected-neg      halui.axis.selected.minus
# net spindle-manual-cw     halui.spindle.0.forward
# net spindle-manual-ccw    halui.spindle.0.reverse
# net spindle-manual-stop   halui.spindle.0.stop
# net machine-is-on         halui.machine.is-on
net jog-speed             halui.axis.jog-speed
net MDI-mode              halui.mode.is-mdi

#  ---coolant signals---

net coolant-mist      <=  iocontrol.0.coolant-mist
net coolant-flood     <=  iocontrol.0.coolant-flood

#  ---probe signal---

net probe-in     =>  motion.probe-input

#  ---motion control signals---

net in-position               <=  motion.in-position
net machine-is-enabled        <=  motion.motion-enabled

#  ---digital in / out signals---

#  ---estop signals---

net estop-out     <=  iocontrol.0.user-enable-out
net estop-out     =>  iocontrol.0.emc-enable-in

#  ---manual tool change signals---

# loadusr -W hal_manualtoolchange
# net tool-change-request     iocontrol.0.tool-change       =>  hal_manualtoolchange.change
# net tool-change-confirmed   iocontrol.0.tool-changed      <=  hal_manualtoolchange.changed
# net tool-number             iocontrol.0.tool-prep-number  =>  hal_manualtoolchange.number
# net tool-prepare-loopback   iocontrol.0.tool-prepare      =>  iocontrol.0.tool-prepared


# toolchange passthrough
net tool:change iocontrol.0.tool-change  => iocontrol.0.tool-changed
net tool:prep   iocontrol.0.tool-prepare => iocontrol.0.tool-prepared

# Added By me 08.12.2024 
# Mesa Codes
setp hm2_5i25.0.encoder.02.scale -1
setp hm2_5i25.0.encoder.02.filter 1
setp hm2_5i25.0.encoder.02.counter-mode 1