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Nice!

Hi everyone,

I'm developing my own CNC controller in C using the IgH EtherCAT Master on real-time Linux. I'm not using LinuxCNC itself, but I know there are several people here with experience using Delta ASDA drives with IgH.

My setup is:
- 4x Delta ASDA-E3
- CSP mode
- 1 ms cycle / SYNC0
- Distributed Clocks enabled
- Intel I210
- Real-time Linux

I have a strange intermittent problem.
During constant motion, occasionally one drive's Actual Position (0x6064) does not update for exactly one cycle. On the next cycle it advances approximately twice the normal amount.

For example:
Cycle N-1:  +39000
Cycle N:         0   <-- one drive does not update
Cycle N+1:  +78000   <-- approximately 2x

At the same moment, another Delta drive in the same EtherCAT cycle continues updating normally.
WKC remains normal, DC stays synchronized, there are no drive alarms, and 0x1C32:0B / 0x1C32:0C remain zero.
The same drives, motors and EtherCAT wiring work smoothly with a Bochu CNC controller.
I have already spent a lot of time checking Linux RT jitter, SYNC0 shift, DC phase and packet timing without finding the cause.

Has anyone using Delta ASDA with IgH ever seen this exact one-cycle hold followed by a double update?
Is there any Delta-specific EtherCAT, DC, synchronization or servo parameter that I may be missing?
Any ideas would be greatly appreciated.

Thanks,
Fahreddin

Hello, I have built a new plasma cutting table. I am working with Linuxccnc 2.9, Qtplasmac, and an LPT board. A problem has arisen: the torch touches the metal on the floating platform, the sensor is triggered, the Z value on the DRO suddenly changes by 100+, the machine goes into an emergency due to exceeding the Z‑axis limit, then the Z‑axis moves away and the readings return to normal. Please help me solve this problem.

Hello all.

Just thought I'd share this little app I had ChatGPT write for me.  In a nutshell - it generates GCode for side operations on a standing cylinder using a lollipop style of cutter when you don't have a rotary axis available.  It's fairly limited in scope, but may prove useful from time to time.  True G2/G3 helices too.  I'll add some more features as and when.

groovecam.smallscalecnc.co.uk

Yes, I tested it and it works fine.
Thanks for reporting the issue.

nice, it's time to build an addon board with IO's

It all working now. Have to change tri-state block in vivad. Will be update on cloud project Vivado and so on

This should be fixed in master now.
Another Dev figured it out quick!

If the driver does not find a Sserial remote, it reverts the pins to GPIO
so that's expected if there is no remote connected/discovered.

Hi, kind of a late message but I am in the process of retrofitting an old hydraulic press brake. Currently, I'm looking to buy a hydraulic proportional valve for the cylinder. Do you have any tips for this purchase? I really appreciate any advice. I am a bit intimidated by this project.

I've gone through the parity options before but Its been a while

That said, I have not seen  any other parity complaints,

I can try and duplicate this sometime this week but I think it's something more basic.

Edit:

Just tried the GS10 at 8E1 (still 38400 baud) and it works as expected on master.
 

Ok for the stop bits, what about the parity ?

Unlikely, The V2 firmware does not support 2 stop bits and it runs the same
(the driver complains that it cannot set 2 stop bits so drops back to 1 stop bit)

I can try the same setup with 1 stop bit but I doubt that's the issue

Alright, fair enough. I've already purchased a separate supply and a PWM to analog converter. I'll just use the pot on the board to make it send out a max of 7 volts and use the basic stepconf to set up the spindle RPM.

Hello,
I just checked your zip and the only real difference is you use 8N2, I need 8E1 (and 38400 vs 19200bps).
Could that be the problem ?

Thanks !