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Thanks a lot !

They also mentioned, "if you put this newest ESI , some of this problem will fixed."

( But LinuxCNC (IgH master) desn't have this function. And Yaskawa tools doesn't have upload ESI function to drive as default.)

They said also, this ESI file contains fixture for all versions of firmware.

In this case, do you think It is possible for TwinCAT to fix default ESI in ServoDrive , to make LinuxCNC work ?

I know I have to do it with my own risk and I may not need to do it if I found another solutions.

But I'm happy if I could get some hints for it...

Hi all my name is Greg I have been watching this forum for years and this is my first post.

I built a CNC plasma 2 years ago and I used a Masso CNC v3 with their DTHC, as I couldn't get the after market ones to play nicely with it.
I have had nothing but trouble with this machine, yet I have a CNC router and a CNC mill using Masso's and they work great.
The Plasma on Masso is just immature and failure prone. I have built many Plasma cutters for friends using MyPlasm and it is about 1/8 the price and flawless .
I have been watching Rods videos and am very impressed with his results. So I bought a Mesa 7i96 card but I am now retired and a pensioner so I don't have the income like when I was working hence my question , can I implement THC and OHMIC on the existing board or use the ProKeys Fibre linked THC that I have from the Masso experiments and the CNC4PC Ohmic also left over?

Thanks Heaps for any advice 

Cheers Greg.

Arthurs Creek, Vic.

Sorry. Let me fix, I used 2.9.5 and 2.9.8.
I'm sure 2.9.5 have some bugs for jogs.

This reminds me of how a lot of industrial CNC machines add a linear scale encoder feedback for increased accuracy. Technically, on such a machine the servomotor feedback encoder equates to your input encoder, and the linear scale is what you call the output encoder.

The idea of measuring torque by measuring the difference between the two encoders sounds really neat, never before heard of that.

Thank you for the offer, but I already ordered them, and I suspect that postage for you would probably be more than the €4 for five pieces delivered from the other side of the planet. I still don’t understand how these prices are possible.

Oh, I already ordered some of those board from JCLPCB years ago. I can send you a couple.

Thanks!
I have not studied internals of CiA402 very deeply. However, I have some EtherCAT hardware here, I'd be willing to test your component on my drives once you get to that stage of the project.

No, I haven't.I posted a query about this on the German sps forum. The response was arrogant, and I don't expect any help.We're on our own. If you have working code to test, I'd be happy to help

1. A 0 P term will not work as it will drift it must be 1/servo_period
(1000 for a 1 ms servo thread period)

2. It looks like the step/dir inputs are differential so:

Drive        7I95
7   PULS    Step+
8  /PULS    Step-
11 SIGN     Dir
12 /SIGN    Dir-
 

you can adjust the vtk code to offer dynamic plot functionality. you need to add in code to correctly follow the tool and define which components of the machine remain stationary and which have motion and assign the plot constraints to match.

this has been a planned upgrade for a while now but we have a bunch going on with the move to pyside6 qt6 so this is kinda down on priority list as most folks don't both with machine simulation so its a minority "want" at the moment.

if you want to dig into the vtk display and see if you can sort some things out that would be fantastic. i have a branch already that has some good work in it where i was working on multi axis which is pretty brutal when it takes so long to test each change. I will see if i can catch up that old branch and leave the sections i was working with notated and commented out as a starting point but it will likely be next week before i can even do it since i have a pyside system currently setup as dev.

Hello,

that looks like a lot of work to do and I hope that the OTK-post processor will be
helpful for you as it just adds the rotation for the knife and, if necessary, the
retractions.
FYI: The stepcraft OTK-3 is a little bit "special", because it requires an unusual 30V power supply and I also had to build a small circuit to connect it to my homemade CNC router.(running at 48V) and to handle the homing and safety stop signals.
Just let me know if you encounter any problems with the post processor.. Maybe
I can fix or improve it.

I rechecked it multiple times myself. According to --readhmid, it should be fine. In the end,

I gave up and purchased a 7i97T. That should solve all the current problems and all it cost is money
That is the card I use in my mill. It has one Smart Serial port, and I will need two (for the 7i73 and one 7i85). I plan to build this small board from Talla83 (github.com/talla83/RS422-SmartSerial-Adapter
), but for starting out, the I/O on the 7i97T itself should be sufficient to get most of the machine running.

A way to debug this is to plot (with halscope) the joint 2 commanded and feedback positions
(setting the following error limits higher may help debugging as well)
 

Here is the connector layout. We have the P value set to 0 because we aren't able to get the axis to move when it is set at 1000. I thought we would try to get the motion working better before worrying about it. If we need to figure that out first, I can work on that first. 

Thanks,

-jblanscett

Is it possible that you have ended up with the wrong firmware flashed? I looked back and the last one I saw you mention was 7i92 plus 2x 7i85. Sounds okay, but maybe Peter can confirm that?