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  • hitchhiker
  • hitchhiker
Today 20:41
Replied by hitchhiker on topic PUMA 200 Robotarm and some Hal/INI issues

PUMA 200 Robotarm and some Hal/INI issues

Category: Advanced Configuration

here the zipped config.. hope it help us... thank you for the help and time and headache :)
  • rubes
  • rubes
Today 19:32
shared home/limit swiches was created by rubes

shared home/limit swiches

Category: General LinuxCNC Questions

i have a RPI-4 running linuxcnc 2.9.10. using  a 7i96s, the qtdragon GUI, and inductive proximity switches. i have one switch acting as both home and limit.
everything is working perfectly except for a minor annoyance on the status bar. when i home, and the axis move toward the home switch, initially trips the switch, it properly reverses off the switch (search velocity is positive, and latch velocity is negative so the axis is of the switch), then continues on to the final home position. but when it initially hits the switch, the status bar shows "hard limit tripped". the machine doesn't stop, so it is properly ignoring limits while homing. the fault clears itself after several seconds. just curious why this is happening. i thought i read somewhere that it re-enabled limits after the cycle was done, apparently not the case? I assume if it bothers me enough i could learn/write some HAL code to block it in the GUI?? or better yet just use the switch as home, and just rely on the soft limits
File Attachment:
  • 3404gerber
  • 3404gerber
Today 18:48
Replied by 3404gerber on topic Best bet for a low cost HW assisted Linuxcnc engine....

Best bet for a low cost HW assisted Linuxcnc engine....

Category: General LinuxCNC Questions

* I have asked on the Remora part of the forum if the RP2040 based system (which sounds great!) is ready for prime time and I have had no responses since posting it a couple of weeks ago.  Is the impression I am left with which is that it is not ready and the enthusiam for it has died out?  
 

I saw your post on the in the Remora forum a week ago. I think that the port to RP2040 is not as developed as other port; one reason is probably that there are only few 3D printer control boards based on this mcu. As Scotta wrote in the post:

scotta post=344968 userid=24854

"This Remora port was a hotel room project when I was travelling for work."

I played a bit with it, mainly because I had some rp2040 around, but never used it to move physical axis. That's the next thing; if you want to interact with real world, a Pico might not be enough. You'll need some buffer and optocouplers. And this is something you get out of the box with the Mesa card. I guess you could also try the PicoCNC board designed for grblHAL and put Remora on it, but it's not that cheap anymore either.

For the RP2040 there's also a component called stepper-ninja that might interest you. But again, you'll not find the maturity of Mesa cards there. Really depends what you plan to do with it.

And if you go with a RPi, yo can also design a HAT for it with some SPI drivers; I designed one with TMC5160 drivers on the top and wrote a LinuxCNC component to send target velocity over SPI; I probably wouldn't use this as is on a CNC mill, but I have a Galvo Laser engraver that is mounted on a 3 axis system, which are connected to that HAT. It's been a year now and never had issue with it, but I only use it more or less an hour per week.
  • hitchhiker
  • hitchhiker
Today 17:06
Replied by hitchhiker on topic PUMA 200 Robotarm and some Hal/INI issues

PUMA 200 Robotarm and some Hal/INI issues

Category: Advanced Configuration

I test arround... i will send you later.

I think the singularity is a issue... and dh parameters... possible the alohas are not correct... upside down tcp... i dont know
  • Aciera
  • Aciera's Avatar
Today 17:03
Replied by Aciera on topic PUMA 200 Robotarm and some Hal/INI issues

PUMA 200 Robotarm and some Hal/INI issues

Category: Advanced Configuration

an again i wonder that the tcp is upside down..


Looking at those curved jog paths I don't think you are done with your DH-parameters yet.

If you zip up the config folder with the vismach model I'll try to have a look at it.
  • saxa
  • saxa
Today 16:07 - Today 16:07
Replied by saxa on topic Gantry oxyfuel / plasma type machine from scratch

Gantry oxyfuel / plasma type machine from scratch

Category: General LinuxCNC Questions

Hi another question from my side is in case I have to replace the servo drives and motors, as it seems that they have lost them, which brand would be the best one to go ? Also in that case would it be worth going directly with EtherCAT type of drives ?
  • emresensoy
  • emresensoy
Today 15:21
LS L7N Servo drives standing INIT state was created by emresensoy

LS L7N Servo drives standing INIT state

Category: EtherCAT

my DIGAN IO card (ER 12 DIG 4 ANA IO) is working without problem,
but servo drives standing INIT state and generates error,
what is the problem?
[code]emre@debian:~$ ethercat slaves
0  0:0  INIT   E  0x00007595:0x00000000
1  0:1  INIT   E  0x00007595:0x00000000
2  0:2  INIT   E  0x00007595:0x00000000
3  0:3  INIT   E  0x00007595:0x00000000
4  0:4  INIT   E  0x00007595:0x00000000
5  0:5  PREOP  +  ER 12 DIG 4 ANA IO 
[/code]
[code][code]emre@debian:~$ sudo dmesg | tail -n 30
[  538.497723] EtherCAT 0-1: Acknowledged state INIT.
[  538.497724] EtherCAT 0-2: Acknowledged state INIT.
[  538.497726] EtherCAT 0-3: Acknowledged state INIT.
[  538.497727] EtherCAT 0-4: Acknowledged state INIT.
[  538.499581] EtherCAT 0: Domain 0: Working counter changed to 2/18.
[  538.529813] EtherCAT 0: Slave states on main device: INIT, OP.
[  539.503585] EtherCAT 0: Domain 0: Working counter changed to 3/18.
[  549.453683] EtherCAT 0: Master thread exited.
[  549.453704] EtherCAT 0: Starting EtherCAT-IDLE thread (build-marker: lib-refclk-quiet-v16).
[  549.453762] EtherCAT 0: Releasing master...
[  549.453764] EtherCAT 0: Released.
[  549.486309] EtherCAT 0: Slave states on main device: INIT, PREOP + ERROR.
[  549.486318] EtherCAT ERROR 0-0: Failed to set PREOP state, slave refused state change (INIT + ERROR).
[  549.486321] EtherCAT ERROR 0-1: Failed to set PREOP state, slave refused state change (INIT + ERROR).
[  549.486322] EtherCAT ERROR 0-2: Failed to set PREOP state, slave refused state change (INIT + ERROR).
[  549.486324] EtherCAT ERROR 0-3: Failed to set PREOP state, slave refused state change (INIT + ERROR).
[  549.486326] EtherCAT ERROR 0-4: Failed to set PREOP state, slave refused state change (INIT + ERROR).
[  549.490488] EtherCAT ERROR 0-0: AL status message 0x0016: "Invalid mailbox configuration".
[  549.490493] EtherCAT ERROR 0-1: AL status message 0x0016: "Invalid mailbox configuration".
[  549.490495] EtherCAT ERROR 0-2: AL status message 0x0016: "Invalid mailbox configuration".
[  549.490497] EtherCAT ERROR 0-3: AL status message 0x0016: "Invalid mailbox configuration".
[  549.490499] EtherCAT ERROR 0-4: AL status message 0x0016: "Invalid mailbox configuration".
[  549.498600] EtherCAT 0-0: Acknowledged state INIT.
[  549.498605] EtherCAT 0-1: Acknowledged state INIT.
[  549.498606] EtherCAT 0-2: Acknowledged state INIT.
[  549.498608] EtherCAT 0-3: Acknowledged state INIT.
[  549.498609] EtherCAT 0-4: Acknowledged state INIT.
[  549.517994] EtherCAT 0: Slave states on main device: INIT, PREOP.
[  622.701268] warning: `Socket Thread' uses wireless extensions which will stop working for Wi-Fi 7 hardware; use nl80211
[  809.225497] perf: interrupt took too long (3952 > 3950), lowering kernel.perf_event_max_sample_rate to 50500
[/code]
[/code]
emre@debian:~$ ethercat xml
<?xml version="1.0" ?>
<EtherCATInfoList>
  <EtherCATInfo>
    <!-- Slave 0 -->
    <Vendor>
      <Id>30101</Id>
    </Vendor>
    <Descriptions>
      <Devices>
        <Device>
          <Type ProductCode="#x00000000" RevisionNo="#x00000002"></Type>
        </Device>
      </Devices>
    </Descriptions>
  </EtherCATInfo>
  <EtherCATInfo>
    <!-- Slave 1 -->
    <Vendor>
      <Id>30101</Id>
    </Vendor>
    <Descriptions>
      <Devices>
        <Device>
          <Type ProductCode="#x00000000" RevisionNo="#x00000002"></Type>
        </Device>
      </Devices>
    </Descriptions>
  </EtherCATInfo>
  <EtherCATInfo>
    <!-- Slave 2 -->
    <Vendor>
      <Id>30101</Id>
    </Vendor>
    <Descriptions>
      <Devices>
        <Device>
          <Type ProductCode="#x00000000" RevisionNo="#x00000002"></Type>
        </Device>
      </Devices>
    </Descriptions>
  </EtherCATInfo>
  <EtherCATInfo>
    <!-- Slave 3 -->
    <Vendor>
      <Id>30101</Id>
    </Vendor>
    <Descriptions>
      <Devices>
        <Device>
          <Type ProductCode="#x00000000" RevisionNo="#x00000002"></Type>
        </Device>
      </Devices>
    </Descriptions>
  </EtherCATInfo>
  <EtherCATInfo>
    <!-- Slave 4 -->
    <Vendor>
      <Id>30101</Id>
    </Vendor>
    <Descriptions>
      <Devices>
        <Device>
          <Type ProductCode="#x00000000" RevisionNo="#x00000002"></Type>
        </Device>
      </Devices>
    </Descriptions>
  </EtherCATInfo>
  <EtherCATInfo>
    <!-- Slave 5 -->
    <Vendor>
      <Id>1640067</Id>
    </Vendor>
    <Descriptions>
      <Devices>
        <Device>
          <Type ProductCode="#x00000002" RevisionNo="#x00000002">ER 12 DIG 4 ANA IO </Type>
          <Name><![CDATA[ER 12 DIG 4 ANA IO ]]></Name>
          <Sm Enable="1" StartAddress="#x1000" ControlByte="#x64" DefaultSize="0" />
          <Sm Enable="1" StartAddress="#x1200" ControlByte="#x20" DefaultSize="0" />
          <RxPdo Sm="0" Fixed="1" Mandatory="1">
            <Index>#x1600</Index>
            <Name>Outputs</Name>
            <Entry>
              <Index>#x0005</Index>
              <SubIndex>1</SubIndex>
              <BitLen>32</BitLen>
              <Name>DAC1</Name>
              <DataType>UINT32</DataType>
            </Entry>
            <Entry>
              <Index>#x0005</Index>
              <SubIndex>2</SubIndex>
              <BitLen>32</BitLen>
              <Name>DAC2</Name>
              <DataType>UINT32</DataType>
            </Entry>
            <Entry>
              <Index>#x0005</Index>
              <SubIndex>3</SubIndex>
              <BitLen>32</BitLen>
              <Name>DAC3</Name>
              <DataType>UINT32</DataType>
            </Entry>
            <Entry>
              <Index>#x0005</Index>
              <SubIndex>4</SubIndex>
              <BitLen>32</BitLen>
              <Name>DAC4</Name>
              <DataType>UINT32</DataType>
            </Entry>
            <Entry>
              <Index>#x0005</Index>
              <SubIndex>5</SubIndex>
              <BitLen>16</BitLen>
              <Name>Output</Name>
              <DataType>UINT16</DataType>
            </Entry>
          </RxPdo>
          <TxPdo Sm="1" Fixed="1" Mandatory="1">
            <Index>#x1a00</Index>
            <Name>Inputs</Name>
            <Entry>
              <Index>#x0006</Index>
              <SubIndex>1</SubIndex>
              <BitLen>32</BitLen>
              <Name>V1</Name>
              <DataType>UINT32</DataType>
            </Entry>
            <Entry>
              <Index>#x0006</Index>
              <SubIndex>2</SubIndex>
              <BitLen>32</BitLen>
              <Name>V2</Name>
              <DataType>UINT32</DataType>
            </Entry>
            <Entry>
              <Index>#x0006</Index>
              <SubIndex>3</SubIndex>
              <BitLen>32</BitLen>
              <Name>V3</Name>
              <DataType>UINT32</DataType>
            </Entry>
            <Entry>
              <Index>#x0006</Index>
              <SubIndex>4</SubIndex>
              <BitLen>32</BitLen>
              <Name>V4</Name>
              <DataType>UINT32</DataType>
            </Entry>
            <Entry>
              <Index>#x0006</Index>
              <SubIndex>5</SubIndex>
              <BitLen>16</BitLen>
              <Name>Input</Name>
              <DataType>UINT16</DataType>
            </Entry>
          </TxPdo>
        </Device>
      </Devices>
    </Descriptions>
  </EtherCATInfo>
</EtherCATInfoList>

[code] 
[/code]
  • hitchhiker
  • hitchhiker
Today 13:52 - Today 13:57
Replied by hitchhiker on topic PUMA 200 Robotarm and some Hal/INI issues

PUMA 200 Robotarm and some Hal/INI issues

Category: Advanced Configuration

i read this yes but i dont think about the a to c axis.. joint 4 to joint 6 issue...

i homed all again to x0y0z0a0b0c0  and then jog ti a1 and b0.5 still flipping...... 




i checked again that all the movements in joint mode are correct ( encoder and motor to degree translation ) the scales are all correct.


an again i wonder that the tcp is upside down..

 
  • tommylight
  • tommylight's Avatar
Today 13:20
Replied by tommylight on topic Best bet for a low cost HW assisted Linuxcnc engine....

Best bet for a low cost HW assisted Linuxcnc engine....

Category: General LinuxCNC Questions

@Tommy: What do you mean with "China is running a misinformation campaign?", do you refer to some spam we see occasionally here?

Nope, the naming everything related to cnc as "mach3", so beginners think it only works with Mach3, besides the usb cards that only work with mach3.
  • Aciera
  • Aciera's Avatar
Today 12:51
Replied by Aciera on topic PUMA 200 Robotarm and some Hal/INI issues

PUMA 200 Robotarm and some Hal/INI issues

Category: Advanced Configuration

i made a vismach model... i update it to the home position i want.. its 1:1 after homing th real arm.


Nice!

i dont know if this explain some wrong dh parameters?! but in some positions the A axis.. joint 4 on the arm starts flipping


Have you read the stuff I wrote and linked to regarding singularities?
Move joint_4 away from the zero position and try again.
  • timo
  • timo
Today 11:16 - Today 11:17
Replied by timo on topic Best bet for a low cost HW assisted Linuxcnc engine....

Best bet for a low cost HW assisted Linuxcnc engine....

Category: General LinuxCNC Questions

@Tommy: What do you mean with "China is running a misinformation campaign?", do you refer to some spam we see occasionally here?

@mars: Does, "I also understand that the Mesa card is solid but the price is less than desirable.", mean you wish it was more expensive so that more people would become motivated to follow up with other options?
  • Aciera
  • Aciera's Avatar
Today 08:40
Replied by Aciera on topic M19 orientation drift with external encoder and orient component (LinuxCNC 2.9.4

M19 orientation drift with external encoder and orient component (LinuxCNC 2.9.4

Category: General LinuxCNC Questions

You might want to try 's_orient.comp', this modified version of 'orient.comp' provides an input that is to be connected to your encoder-index signal and will look for the index before orienting the spindle.
forum.linuxcnc.org/media/kunena/attachme...ient_2025-03-18.comp

- download the file and rename to 's_orient.comp'

- to install you need the 'halcompile' tool (you might need to install the 'linuxcnc-dev' package if your are on a package installation of linuxcnc)

- $ halcompile --install {your-path-to-the-file-here}/s_orient.comp
(you will need to use 'sudo' to execute this command on a package installation)
The output should look something like this:
Compiling realtime s_orient.c
Linking s_orient.so
cp s_orient.so /home/user/git/mylinuxcnc-master/rtlib/

- in your hal file change 'loadrt orient {...}' to 'loadrt s_orient {...}' and connect your encoder index signal to the orient component (you might have to modify your pin names to 's_orient')
  • aydinsen
  • aydinsen
Today 08:31
BF20L ,linuxCNC, touch probe and install was created by aydinsen

BF20L ,linuxCNC, touch probe and install

Category: Milling Machines

Hello from Turkey! Need beginner-friendly guidance on BF20L CNC Touch Probe setup
Hello everyone,
Sending my warmest regards to all forum members! I have been following this community for a while now and have gained a lot of valuable information. I would like to thank everyone who has contributed and shared their knowledge here.
First of all, I have an optimum BF20L mill that has been converted to a CNC. For the controller board, I will leave the link below. Although I have a background in electronics, I am very new to the CNC world and want to make sure I am on the right track.
I want to install a touch probe, but I have a few questions about what to expect:
  1. Once configured, can I use this probe to automatically set my workpiece zeros (X, Y, and Z axes)? Is that the main expectation?
  2. Could you please explain how to configure and wire this setup step-by-step, as if you were explaining it to a complete beginner (or "explain like I'm five")?
  3. Since I live in Turkey, I am not sure which probe model to buy. Can you recommend a budget-friendly, price-to-performance touch probe available here?
I would truly appreciate your help with the choice of probe and the configuration process. Thanks in advance!
www.google.com/imgres?imgurl=https://cdn...spwouoe,sh/x/im/m1/3
  • Aciera
  • Aciera's Avatar
Today 08:25
Replied by Aciera on topic M19 orientation drift with external encoder and orient component (LinuxCNC 2.9.4

M19 orientation drift with external encoder and orient component (LinuxCNC 2.9.4

Category: General LinuxCNC Questions

Do i understand that with mode 0 offset is 1, with mode 1 offset is -1, with mode 2 offset is 0 ? because during tests i seemed to find these shifts.


That man page info appears to be left over from the original code. This particular logic was then modified some time later without updating the man page info:

github.com/LinuxCNC/linuxcnc/commit/b2cd...919af6524f3b82e3eb33
  • Aciera
  • Aciera's Avatar
Today 08:07 - Today 11:07
Replied by Aciera on topic M19 orientation drift with external encoder and orient component (LinuxCNC 2.9.4

M19 orientation drift with external encoder and orient component (LinuxCNC 2.9.4

Category: General LinuxCNC Questions

 
linuxcnc.org/docs/devel/html/en/gcode/m-code.html#mcode:m19

I don't think that is correct.  'M19' does NOT seem to set 'spindle.n.index-enable'.
Testesd on real hardware using current master version :

 


 
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