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- bedouno
- bedouno
Today 01:03
Replied by bedouno on topic HAL component for tangential knife
HAL component for tangential knife
Category: HAL
DEAR Sir, it is great work and i hope to learn alot of you , that was very deep in the CNC FOUNDATION, I am now in need to use my machine and the level of mach3 is very suffecient to me , so what do you recommend to achieve this level now and i hope to join your effort of your project that i hope to learn much of you , thank you sir
- grandixximo
Today 00:39
syncToRefClock=true
means the MASTER syncs to the SLAVES, adjust period every cycle, ppl/bang-bang mode
syncToRefClock=false
means the SLAVES syncs to the MASTER
refClockSyncCycles="positive number here"
means the SLAVES syncs to the MASTER, and with the number you specify, every how many cycles should the SLAVES do a sync event.
refClockSyncCycles="-1" (or any negative number)
means the MASTER syncs to the SLAVES, same as syncToRefClock=true, bigger negative numbers don't effect, the sync of MASTER to the SLAVES is done EVERY cycle regardless
this
refClockSyncCycles="-1" and syncToRefClock= "false"
is a contradiction, and should not be written, and will be invalid in the future.
all of these
refClockSyncCycles="1" and syncToRefClock= "true"
refClockSyncCycles="5" and syncToRefClock= "true"
refClockSyncCycles="1000" and syncToRefClock= "true"
refClockSyncCycles="-1" and syncToRefClock= "true"
all mean exactly the same thing
MASTER sync to SLAVES every cycle, ppl/bang-bang mode
refClockSyncCycles is ignored because those are sync cycles between events when the SLAVES sync to the MASTER, when MASTER sync to SLAVES (syncToRefClock= "true"/refClockSyncCycles="-1"), SLAVES are NOT running in a mode where they need to sync to MASTER, they run on their own, it is MASTER that syncs to the SLAVES, so it does not make sense to change refClockSyncCycles when you are asking MASTER to sync to the slaves.
The thing you should try, with syncToRefClock= "true" is set sync0shift to 300000 or 500000
with syncToRefClock= "true" and sync0shift="0", you will get grinding noise, this is expected good and correct according to the standard.
refClockSyncCycles="-1" has the same meaning as syncToRefClock= "true"
This is not your fault, there should be errors that explain to users when their settings make no sense, I will try to get something implemented when Scott is back.
about 1.5.2 that OP quickly, can you provide a package version from
dpkg -l | grep ethercat
I'd love to investigate, I also remember some old old version was going in OP much quicker.
Replied by grandixximo on topic Ethercat random jitter fix
Ethercat random jitter fix
Category: EtherCAT
Based on this, I can conclude you seem to not understand what syncToRefClock does, I will try to dimistifyI've already run tests with:
refClockSyncCycles="1" and syncToRefClock= "true"
refClockSyncCycles="5" and syncToRefClock= "true"
refClockSyncCycles="1000" and syncToRefClock= "true"
refClockSyncCycles="-1" and syncToRefClock= "true"
With these settings, the machine makes noise when moving.
Now I've set refClockSyncCycles="-1" and syncToRefClock= "false"
and the machine is working without problems so far.
syncToRefClock=true
means the MASTER syncs to the SLAVES, adjust period every cycle, ppl/bang-bang mode
syncToRefClock=false
means the SLAVES syncs to the MASTER
refClockSyncCycles="positive number here"
means the SLAVES syncs to the MASTER, and with the number you specify, every how many cycles should the SLAVES do a sync event.
refClockSyncCycles="-1" (or any negative number)
means the MASTER syncs to the SLAVES, same as syncToRefClock=true, bigger negative numbers don't effect, the sync of MASTER to the SLAVES is done EVERY cycle regardless
this
refClockSyncCycles="-1" and syncToRefClock= "false"
is a contradiction, and should not be written, and will be invalid in the future.
all of these
refClockSyncCycles="1" and syncToRefClock= "true"
refClockSyncCycles="5" and syncToRefClock= "true"
refClockSyncCycles="1000" and syncToRefClock= "true"
refClockSyncCycles="-1" and syncToRefClock= "true"
all mean exactly the same thing
MASTER sync to SLAVES every cycle, ppl/bang-bang mode
refClockSyncCycles is ignored because those are sync cycles between events when the SLAVES sync to the MASTER, when MASTER sync to SLAVES (syncToRefClock= "true"/refClockSyncCycles="-1"), SLAVES are NOT running in a mode where they need to sync to MASTER, they run on their own, it is MASTER that syncs to the SLAVES, so it does not make sense to change refClockSyncCycles when you are asking MASTER to sync to the slaves.
The thing you should try, with syncToRefClock= "true" is set sync0shift to 300000 or 500000
with syncToRefClock= "true" and sync0shift="0", you will get grinding noise, this is expected good and correct according to the standard.
refClockSyncCycles="-1" has the same meaning as syncToRefClock= "true"
This is not your fault, there should be errors that explain to users when their settings make no sense, I will try to get something implemented when Scott is back.
about 1.5.2 that OP quickly, can you provide a package version from
dpkg -l | grep ethercat
I'd love to investigate, I also remember some old old version was going in OP much quicker.
- tommylight
Today 22:16
Replied by tommylight on topic HAL component for tangential knife
HAL component for tangential knife
Category: HAL
Done, thank you.@Tommy, add FOR TANGENTAL KNIFE to the title
- rodw
Today 21:36
Replied by rodw on topic HAL component for tangential knife
HAL component for tangential knife
Category: HAL
@Tommy, add FOR TANGENTAL KNIFE to the title
@bedouno, Linuxcnc's architecture is complex and described in the docs here
linuxcnc.org/docs/devel/html/code/code-notes.html
The problem to set the tangential heading is that the geometry is known by the gcode but once the gcode is tokenised into a buffer, the gcode (and geometry) is thrown away so motion is just left with way points and segments. Furthermore, this gcode tokenisation is buffered so the interpreter can be many segments ahead of the motion parameters at run time.The intent of state tags was to "tag" each of these motion segments with the interpreter state so certain information was known by motion but it is not exposed in a useful way. (It was originally for GUI's).
The purpose of my code was to extend the state tags mechanism to include the radius and tangential heading and publish the available tags to a set of pins so the data can be used by anyone.
You can do some stuff in a hal component by saving the lastX and lastY positions (axis.L.pos-cmd) and the current axis.x.pos-cmd and axis.y.pos-cmd. motion.motion-type tells you if you are on an arc or a linear segment. Now you can do some trig calculations. If its linear you just need to calculate the slope of the line (angle) and you have the heading. If its an arc, you can calculate the radius, arc and then the tangent which is your heading. I tried this and never got reliable results.
Ref: linuxcnc.org/docs/devel/html/man/man9/motion.9.html
Regardless of what AI thinks, there isn't a method to inject into the motion planner. Perhaps you can develop a kinematic model of the tangential knife. linuxcnc.org/docs/devel/html/motion/kinematics.html
But I think the correct method which AI won't know anything about is to work with state tags.
My thought was that there would be a component that took the heading and set the A axis angle with it.
Yesterday, I made a start on merging the current 2.10 master branch into my 6 year old arc-radius branch but I have not committed it back to GitHub. github.com/rodw-au/linuxcnc/tree/arc-radius
There are 7 files that need manual intervention because of changes to the code base. I'm on my second attempt.....
@bedouno, Linuxcnc's architecture is complex and described in the docs here
linuxcnc.org/docs/devel/html/code/code-notes.html
The problem to set the tangential heading is that the geometry is known by the gcode but once the gcode is tokenised into a buffer, the gcode (and geometry) is thrown away so motion is just left with way points and segments. Furthermore, this gcode tokenisation is buffered so the interpreter can be many segments ahead of the motion parameters at run time.The intent of state tags was to "tag" each of these motion segments with the interpreter state so certain information was known by motion but it is not exposed in a useful way. (It was originally for GUI's).
The purpose of my code was to extend the state tags mechanism to include the radius and tangential heading and publish the available tags to a set of pins so the data can be used by anyone.
You can do some stuff in a hal component by saving the lastX and lastY positions (axis.L.pos-cmd) and the current axis.x.pos-cmd and axis.y.pos-cmd. motion.motion-type tells you if you are on an arc or a linear segment. Now you can do some trig calculations. If its linear you just need to calculate the slope of the line (angle) and you have the heading. If its an arc, you can calculate the radius, arc and then the tangent which is your heading. I tried this and never got reliable results.
Ref: linuxcnc.org/docs/devel/html/man/man9/motion.9.html
Regardless of what AI thinks, there isn't a method to inject into the motion planner. Perhaps you can develop a kinematic model of the tangential knife. linuxcnc.org/docs/devel/html/motion/kinematics.html
But I think the correct method which AI won't know anything about is to work with state tags.
My thought was that there would be a component that took the heading and set the A axis angle with it.
Yesterday, I made a start on merging the current 2.10 master branch into my 6 year old arc-radius branch but I have not committed it back to GitHub. github.com/rodw-au/linuxcnc/tree/arc-radius
There are 7 files that need manual intervention because of changes to the code base. I'm on my second attempt.....
- tommylight
Today 21:32
You would need a Mesa 7i95T board as it has step/dir outputs and encoder inputs so the glass scales would be wired to those encoder inputs.
There are other combinations of Mesa boards, like 7i96S with 7i85 etc, but first make sure the glass scales can be wired to normal incremental encoder inputs.
Replied by tommylight on topic SIEG SX3.5Z Drivers EtherCAT A6 Steppers
SIEG SX3.5Z Drivers EtherCAT A6 Steppers
Category: Driver Boards
No, but you can use them with LinuxCNC and leave the drives as they are.... i bought the mill with glas scales and i like to implement them in the driver if possible?
You would need a Mesa 7i95T board as it has step/dir outputs and encoder inputs so the glass scales would be wired to those encoder inputs.
There are other combinations of Mesa boards, like 7i96S with 7i85 etc, but first make sure the glass scales can be wired to normal incremental encoder inputs.
- Hakan
- Hakan
Today 19:56
Replied by Hakan on topic SIEG SX3.5Z Drivers EtherCAT A6 Steppers
SIEG SX3.5Z Drivers EtherCAT A6 Steppers
Category: Driver Boards
You can use glass scales instead of the servo's encoder. BUT.
The driver must interface to the glass scales. And that is most likely the problem.
I'm guessing the glass scales uses incremental quadrature signal.
In the product listing it's mentioned 17-bit absolute encoder.
That's not the same and will not work.
You must check the capabilities of the drive, if it can accept incremental quadrature signal.
If it can do that, there is a big chance it will work.
Summary:
- Check interface of the glass scales
- Check that the drive can use that.
The driver must interface to the glass scales. And that is most likely the problem.
I'm guessing the glass scales uses incremental quadrature signal.
In the product listing it's mentioned 17-bit absolute encoder.
That's not the same and will not work.
You must check the capabilities of the drive, if it can accept incremental quadrature signal.
If it can do that, there is a big chance it will work.
Summary:
- Check interface of the glass scales
- Check that the drive can use that.
- juan13372k
- juan13372k
Today 19:05
Replied by juan13372k on topic SIEG SX3.5Z Drivers EtherCAT A6 Steppers
SIEG SX3.5Z Drivers EtherCAT A6 Steppers
Category: Driver Boards
nobody 
- tommylight
Today 18:46
Replied by tommylight on topic HAL component for tangential knife
HAL component for tangential knife
Category: HAL
What should the tittle of this topic be?
As is seems left in half.
As is seems left in half.
- Pudding1960
- Pudding1960
Today 18:28
Probleme mit G Code... was created by Pudding1960
Probleme mit G Code...
Category: General LinuxCNC Questions
Hallo Zusammen ! Da bin ich mal wieder mit einem oder besser mehreren Problemen... Mittlerweile weiß ich nicht mehr weiter. Meine Fräse spinnt ja des öfteren,da habe ich mich schon daran gewöhnt,einfach am nächsten Tag wieder Versuchen ,dann ging es meistens wieder. Fehlermeldungen wie" Radius to end of arc differs from Radius to start und ähnliches bin ich ja schon gewöhnt. Da half oft einfach einen anderen G Code zu Laden,Starten und gleich wieder Stoppen,dann den Ursprünglichen Code wieder Laden und dann ging es . Jetzt Kommt aber die Fehlermeldung,dass die Fehlermeldung" Bewegung Linear in Zeile 19 würde Anschlag der Achse 1 Überschreiten! Das Dumme ist nur,dass das Werkstück 40mm Durchmesser hat und ich nach jeder Seite 250mm Weg über habe. Jeden Start quittiert die Maschine mit einem sofortigen Stopp. Ich habe für das Werkstück 2 G Codes,einmal für eine 3,17mm Fräser und einmal für einen 2mm Fräser zum Schlichten. Der G Code für den 3,17mm Fräser läuft ohne Probleme,der für den 2mm Fräser nicht. Ich habe schon ein neues Setup Probiert,für jeden Arbeitsschritt einen eigen G-Code erstellt,alles ohne Erfolg. Meine Steuerung ist eine Mesa 7i76e ,an allen Achsen Closed Loop. Das Nonplusultra wäre jemand im Raum Laa an der Thaya in Niederösterreich,der sich das mal in Natura gegen Bezahlung natürlich anschauen könnte. Ich bin mit meinem Latein Mittlerweile am Ende. Ein neues Bedienpult neuem Steuerrechner(I 5) steht auch schon in den Startlöchern,da bin ich auch noch am Tüfteln wegen Werkzeuglängen vermessung und Antastfunktion ect. G-Code häng ich mal an,vielleicht findet wer den Fehler,ich werde nicht daraus Schlau. Mit Dank im Voraus !
- Hakan
- Hakan
Today 18:22 - Today 18:23
Replied by Hakan on topic Ethercat random jitter fix
Ethercat random jitter fix
Category: EtherCAT
Scott thought so too forum.linuxcnc.org/ethercat/52200-defaul...a-402-devices#297315
One should really have a look in the servo's ESI file and see what it says.
One should really have a look in the servo's ESI file and see what it says.
- endian
Today 18:12
I have hardware which runs at 250us and generic driver was not capable therefore I searched for other way of grinding avoiding with higher value of assign ... else with native chip driver is 0x0300 good enough
Replied by endian on topic Ethercat random jitter fix
Ethercat random jitter fix
Category: EtherCAT
what help me during the grinding noise was reinstall driver to chip native or dcConf assignActivate = "300" edit to something as dcConf assignActivate = "730" ... then generic driver works well ...xml on debian trixie
i have test refClockSyncCycles = -1 , but problem is the same
Warning: Spoiler!
<masters>
<master idx="0" appTimePeriod="1000000" refClockSyncCycles="1" syncToRefClock="true">
<slave idx="0" type="generic" vid="0000022b" pid="0531ec01" configPdos="true">
<sdoConfig idx="3103" subIdx="08">
<sdoDataRaw data="16"/>
</sdoConfig>
<sdoConfig idx="3104" subIdx="08">
<sdoDataRaw data="16"/>
</sdoConfig>
<sdoConfig idx="3103" subIdx="09">
<sdoDataRaw data="03"/>
</sdoConfig>
<sdoConfig idx="3104" subIdx="09">
<sdoDataRaw data="01"/>
</sdoConfig>
<syncManager idx="0" dir="out"></syncManager>
<syncManager idx="1" dir="in"></syncManager>
<syncManager idx="2" dir="out">
<pdo idx="1600">
<pdoEntry idx="7001" subIdx="01" bitLen="8" halPin="out_veloci" halType="bit"/>
<pdoEntry idx="7002" subIdx="01" bitLen="16" halPin="ao0" halType="float" scale="2765"/>
<pdoEntry idx="7002" subIdx="02" bitLen="16" halPin="ao1" halType="float" scale="2765"/>
<pdoEntry idx="7003" subIdx="01" bitLen="32" halPin="comparation_value" halType="float" scale="1"/>
<pdoEntry idx="7003" subIdx="02" bitLen="32" halPin="setvalue" halType="float" scale="1"/>
<pdoEntry idx="7003" subIdx="03" bitLen="16" halPin="control_word" halType="bit"/>
<pdoEntry idx="7004" subIdx="01" bitLen="32" halPin="comparation_valuev" halType="float" scale="1"/>
<pdoEntry idx="7004" subIdx="02" bitLen="32" halPin="setvaluev" halType="float" scale="1"/>
<pdoEntry idx="7004" subIdx="03" bitLen="16" halPin="control_wordv" halType="bit"/>
</pdo>
</syncManager>
<syncManager idx="3" dir="in">
<pdo idx="1a00">
<pdoEntry idx="6000" subIdx="01" bitLen="8" halPin="in_veloci" halType="bit"/>
<pdoEntry idx="6003" subIdx="01" bitLen="32" halPin="counter_value" halType="float" scale="1"/>
<pdoEntry idx="6003" subIdx="02" bitLen="16" halPin="counter_status" halType="bit"/>
<pdoEntry idx="6003" subIdx="03" bitLen="16" halPin="microsecond" halType="S32"/>
<pdoEntry idx="6004" subIdx="01" bitLen="32" halPin="counter_valuev" halType="float" scale="1"/>
<pdoEntry idx="6004" subIdx="02" bitLen="16" halPin="counter_statusv" halType="bit"/>
<pdoEntry idx="6004" subIdx="03" bitLen="16" halPin="microsecondv" halType="S32"/>
</pdo>
</syncManager>
<dcConf assignActivate = "300" sync0Cycle = "*1" sync0Shift = "0" />
<watchdog divider="2498" intervals="1000"/>
</slave>
<!-- INIZIO PARAMETRI ASSE X -->
<slave idx="1" type="generic" vid="850104" pid="01030507" configPdos="true">
<syncManager idx="0" dir="out"></syncManager>
<syncManager idx="1" dir="in"></syncManager>
<syncManager idx="2" dir="out">
<pdo idx="1600">
<pdoEntry idx="6040" subIdx="00" bitLen="16" halPin="drivecontrol" halType="bit"/>
<pdoEntry idx="6060" subIdx="00" bitLen="8" halPin="opmode" halType="u32"/>
<!--PARAMETRO POSCOMAND IN SCALE SCRIVERE 8388607/X DOVE X SONO MM A GIRO MOTORE ESEMP: 8388607/10MM = 838860.7 -->
<pdoEntry idx="607A" subIdx="00" bitLen="32" halPin="poscommand" halType="float" scale="838860.7"/>
<pdoEntry idx="6098" subIdx="00" bitLen="8" halPin="homemode" halType="u32"/>
<!--PARAMETRO HOMESPPED1 IN SCALE SCRIVERE 8388607/X DOVE X SONO MM A GIRO MOTORE ESEMP: 8388607/10MM = 838860.7 -->
<pdoEntry idx="6099" subIdx="01" bitLen="32" halPin="homespeed1" halType="float" scale="838860.7"/>
<!--PARAMETRO HOMESPPED2 IN SCALE SCRIVERE 8388607/X DOVE X SONO MM A GIRO MOTORE ESEMP: 8388607/10MM = 838860.7 -->
<pdoEntry idx="6099" subIdx="02" bitLen="32" halPin="homespeed2" halType="float" scale="838860.7"/>
<!--PARAMETRO HOMEACC IN SCALE SCRIVERE 8388607/X DOVE X SONO MM A GIRO MOTORE ESEMP: 8388607/10MM = 838860.7 -->
<pdoEntry idx="609A" subIdx="00" bitLen="32" halPin="homeacc" halType="float" scale="838860.7"/>
<!--PARAMETRO HOMEOFFSET IN SCALE SCRIVERE 8388607/X DOVE X SONO MM A GIRO MOTORE ESEMP: 8388607/10MM = 838860.7 -->
<pdoEntry idx="607C" subIdx="00" bitLen="32" halPin="homeoffset" halType="float" scale="838860.7"/>
</pdo>
</syncManager>
<syncManager idx="3" dir="in">
<pdo idx="1a00">
<pdoEntry idx="6041" subIdx="00" bitLen="16" halPin="drivestatus" halType="bit"/>
<pdoEntry idx="6063" subIdx="00" bitLen="32" halPin="enccounts" halType="s32"/>
<!--PARAMETRO POS IN SCALE SCRIVERE X/8388607 DOVE X SONO MM A GIRO MOTORE ESEMP: 10/8388607/= 0.0000078125 -->
<pdoEntry idx="6064" subIdx="00" bitLen="32" halPin="pos" halType="float" scale="0.0000011920930376"/>
<pdoEntry idx="6077" subIdx="00" bitLen="16" halPin="torque%" halType="float" scale="0.1"/>
<pdoEntry idx="606C" subIdx="00" bitLen="32" halPin="velmotore" halType="float" scale="0.00007"/>
<pdoEntry idx="603F" subIdx="00" bitLen="16" halPin="allarm" halType="u32"/>
</pdo>
</syncManager>
<dcConf assignActivate = "300" sync0Cycle = "*1" sync0Shift = "0" />
<watchdog divider="2498" intervals="1000"/>
</slave>
<!-- INIZIO PARAMETRI ASSE Y -->
<slave idx="2" type="generic" vid="850104" pid="01030507" configPdos="true">
<syncManager idx="0" dir="out"></syncManager>
<syncManager idx="1" dir="in"></syncManager>
<syncManager idx="2" dir="out">
<pdo idx="1600">
<pdoEntry idx="6040" subIdx="00" bitLen="16" halPin="drivecontrol" halType="bit"/>
<pdoEntry idx="6060" subIdx="00" bitLen="8" halPin="opmode" halType="u32"/>
<!--PARAMETRO POSCOMAND IN SCALE SCRIVERE 8388607/X DOVE X SONO MM A GIRO MOTORE ESEMP: 8388607/10MM = 838860.7 -->
<pdoEntry idx="607A" subIdx="00" bitLen="32" halPin="poscommand" halType="float" scale="838860.7"/>
<pdoEntry idx="6098" subIdx="00" bitLen="8" halPin="homemode" halType="u32"/>
<!--PARAMETRO HOMESPPED1 IN SCALE SCRIVERE 8388607/X DOVE X SONO MM A GIRO MOTORE ESEMP: 8388607/10MM = 838860.7 -->
<pdoEntry idx="6099" subIdx="01" bitLen="32" halPin="homespeed1" halType="float" scale="838860.7"/>
<!--PARAMETRO HOMESPPED2 IN SCALE SCRIVERE 8388607/X DOVE X SONO MM A GIRO MOTORE ESEMP: 8388607/10MM = 838860.7 -->
<pdoEntry idx="6099" subIdx="02" bitLen="32" halPin="homespeed2" halType="float" scale="838860.7"/>
<!--PARAMETRO HOMEACC IN SCALE SCRIVERE 8388607/X DOVE X SONO MM A GIRO MOTORE ESEMP: 8388607/10MM = 838860.7 -->
<pdoEntry idx="609A" subIdx="00" bitLen="32" halPin="homeacc" halType="float" scale="838860.7"/>
<!--PARAMETRO HOMEOFFSET IN SCALE SCRIVERE 8388607/X DOVE X SONO MM A GIRO MOTORE ESEMP: 8388607/10MM = 838860.7 -->
<pdoEntry idx="607C" subIdx="00" bitLen="32" halPin="homeoffset" halType="float" scale="838860.7"/>
</pdo>
</syncManager>
<syncManager idx="3" dir="in">
<pdo idx="1a00">
<pdoEntry idx="6041" subIdx="00" bitLen="16" halPin="drivestatus" halType="bit"/>
<pdoEntry idx="6063" subIdx="00" bitLen="32" halPin="enccounts" halType="s32"/>
<!--PARAMETRO POS IN SCALE SCRIVERE X/8388607 DOVE X SONO MM A GIRO MOTORE ESEMP: 10/8388607/= 0.0000011920930376 -->
<pdoEntry idx="6064" subIdx="00" bitLen="32" halPin="pos" halType="float" scale="0.0000011920930376"/>
<pdoEntry idx="6077" subIdx="00" bitLen="16" halPin="torque%" halType="float" scale="0.1"/>
<pdoEntry idx="606C" subIdx="00" bitLen="32" halPin="velmotore" halType="float" scale="0.00007"/>
<pdoEntry idx="603F" subIdx="00" bitLen="16" halPin="allarm" halType="u32"/>
</pdo>
</syncManager>
<dcConf assignActivate = "300" sync0Cycle = "*1" sync0Shift = "0" />
<watchdog divider="2498" intervals="1000"/>
</slave>
<!-- INIZIO PARAMETRI ASSE Z -->
<slave idx="3" type="generic" vid="850104" pid="01030507" configPdos="true">
<syncManager idx="0" dir="out"></syncManager>
<syncManager idx="1" dir="in"></syncManager>
<syncManager idx="2" dir="out">
<pdo idx="1600">
<pdoEntry idx="6040" subIdx="00" bitLen="16" halPin="drivecontrol" halType="bit"/>
<pdoEntry idx="6060" subIdx="00" bitLen="8" halPin="opmode" halType="u32"/>
<!--PARAMETRO POSCOMAND IN SCALE SCRIVERE 8388607/X DOVE X SONO MM A GIRO MOTORE ESEMP: 8388607/10MM = 838860.7 -->
<pdoEntry idx="607A" subIdx="00" bitLen="32" halPin="poscommand" halType="float" scale="838860.7"/>
<pdoEntry idx="6098" subIdx="00" bitLen="8" halPin="homemode" halType="u32"/>
<!--PARAMETRO HOMESPPED1 IN SCALE SCRIVERE 8388607/X DOVE X SONO MM A GIRO MOTORE ESEMP: 8388607/10MM = 838860.7 -->
<pdoEntry idx="6099" subIdx="01" bitLen="32" halPin="homespeed1" halType="float" scale="838860.7"/>
<!--PARAMETRO HOMESPPED2 IN SCALE SCRIVERE 8388607/X DOVE X SONO MM A GIRO MOTORE ESEMP: 8388607/10MM = 838860.7 -->
<pdoEntry idx="6099" subIdx="02" bitLen="32" halPin="homespeed2" halType="float" scale="838860.7"/>
<!--PARAMETRO HOMEACC IN SCALE SCRIVERE 8388607/X DOVE X SONO MM A GIRO MOTORE ESEMP: 8388607/10MM = 838860.7 -->
<pdoEntry idx="609A" subIdx="00" bitLen="32" halPin="homeacc" halType="float" scale="838860.7"/>
<!--PARAMETRO HOMEOFFSET IN SCALE SCRIVERE 8388607/X DOVE X SONO MM A GIRO MOTORE ESEMP: 8388607/10MM = 838860.7 -->
<pdoEntry idx="607C" subIdx="00" bitLen="32" halPin="homeoffset" halType="float" scale="838860.7"/>
</pdo>
</syncManager>
<syncManager idx="3" dir="in">
<pdo idx="1a00">
<pdoEntry idx="6041" subIdx="00" bitLen="16" halPin="drivestatus" halType="bit"/>
<pdoEntry idx="6063" subIdx="00" bitLen="32" halPin="enccounts" halType="s32"/>
<!--PARAMETRO POS IN SCALE SCRIVERE X/8388607 DOVE X SONO MM A GIRO MOTORE ESEMP: 10/8388607/= 0.0000011920930376 -->
<pdoEntry idx="6064" subIdx="00" bitLen="32" halPin="pos" halType="float" scale="0.0000011920930376"/>
<pdoEntry idx="6077" subIdx="00" bitLen="16" halPin="torque%" halType="float" scale="0.1"/>
<pdoEntry idx="606C" subIdx="00" bitLen="32" halPin="velmotore" halType="float" scale="0.00007"/>
<pdoEntry idx="603F" subIdx="00" bitLen="16" halPin="allarm" halType="u32"/>
</pdo>
</syncManager>
<dcConf assignActivate = "300" sync0Cycle = "*1" sync0Shift = "0" />
<watchdog divider="2498" intervals="1000"/>
</slave>
<!-- INIZIO PARAMETRI SP -->
<slave idx="4" type="generic" vid="01dd" pid="10400140" configPdos="true">
<syncManager idx="0" dir="out"></syncManager>
<syncManager idx="1" dir="in"></syncManager>
<syncManager idx="2" dir="out">
<pdo idx="1600">
<pdoEntry idx="6040" subIdx="00" bitLen="16" halPin="drivecontrol" halType="bit"/>
<pdoEntry idx="6042" subIdx="00" bitLen="16" halPin="cmdvel" halType="float"/>
<pdoEntry idx="6060" subIdx="00" bitLen="8" halPin="opmode" halType="u32"/>
</pdo>
</syncManager>
<syncManager idx="3" dir="in">
<pdo idx="1a00">
<pdoEntry idx="6041" subIdx="00" bitLen="16" halPin="drivestatus" halType="bit"/>
<pdoEntry idx="6077" subIdx="00" bitLen="16" halPin="torque%" halType="float" scale="0.1"/>
<pdoEntry idx="603F" subIdx="00" bitLen="16" halPin="allarm" halType="u32"/>
</pdo>
</syncManager>
<dcConf assignActivate = "300" sync0Cycle = "*1" sync0Shift = "0" />
<watchdog divider="2498" intervals="1000"/>
</slave>
<!-- INIZIO PARAMETRI ASSE A -->
<slave idx="5" type="generic" vid="850104" pid="01030507" configPdos="true">
<syncManager idx="0" dir="out"></syncManager>
<syncManager idx="1" dir="in"></syncManager>
<syncManager idx="2" dir="out">
<pdo idx="1600">
<pdoEntry idx="6040" subIdx="00" bitLen="16" halPin="drivecontrol" halType="bit"/>
<pdoEntry idx="6060" subIdx="00" bitLen="8" halPin="opmode" halType="u32"/>
<!--PARAMETRO POSCOMAND IN SCALE SCRIVERE 8388607/X DOVE X SONO MM A GIRO MOTORE ESEMP: 8388607/10MM = 838860.7 -->
<pdoEntry idx="607A" subIdx="00" bitLen="32" halPin="poscommand" halType="float" scale="838860.7"/>
<pdoEntry idx="6098" subIdx="00" bitLen="8" halPin="homemode" halType="u32"/>
<!--PARAMETRO HOMESPPED1 IN SCALE SCRIVERE 8388607/X DOVE X SONO MM A GIRO MOTORE ESEMP: 8388607/10MM = 838860.7 -->
<pdoEntry idx="6099" subIdx="01" bitLen="32" halPin="homespeed1" halType="float" scale="838860.7"/>
<!--PARAMETRO HOMESPPED2 IN SCALE SCRIVERE 8388607/X DOVE X SONO MM A GIRO MOTORE ESEMP: 8388607/10MM = 838860.7 -->
<pdoEntry idx="6099" subIdx="02" bitLen="32" halPin="homespeed2" halType="float" scale="838860.7"/>
<!--PARAMETRO HOMEACC IN SCALE SCRIVERE 8388607/X DOVE X SONO MM A GIRO MOTORE ESEMP: 8388607/10MM = 838860.7 -->
<pdoEntry idx="609A" subIdx="00" bitLen="32" halPin="homeacc" halType="float" scale="838860.7"/>
<!--PARAMETRO HOMEOFFSET IN SCALE SCRIVERE 8388607/X DOVE X SONO MM A GIRO MOTORE ESEMP: 8388607/10MM = 838860.7 -->
<pdoEntry idx="607C" subIdx="00" bitLen="32" halPin="homeoffset" halType="float" scale="838860.7"/>
</pdo>
</syncManager>
<syncManager idx="3" dir="in">
<pdo idx="1a00">
<pdoEntry idx="6041" subIdx="00" bitLen="16" halPin="drivestatus" halType="bit"/>
<pdoEntry idx="6063" subIdx="00" bitLen="32" halPin="enccounts" halType="s32"/>
<!--PARAMETRO POS IN SCALE SCRIVERE X/8388607 DOVE X SONO MM A GIRO MOTORE ESEMP: 10/8388607/= 0.0000011920930376 -->
<pdoEntry idx="6064" subIdx="00" bitLen="32" halPin="pos" halType="float" scale="0.0000011920930376"/>
<pdoEntry idx="6077" subIdx="00" bitLen="16" halPin="torque%" halType="float" scale="0.1"/>
<pdoEntry idx="606C" subIdx="00" bitLen="32" halPin="velmotore" halType="float" scale="0.00007"/>
<pdoEntry idx="603F" subIdx="00" bitLen="16" halPin="allarm" halType="u32"/>
</pdo>
</syncManager>
<dcConf assignActivate = "300" sync0Cycle = "*1" sync0Shift = "0" />
<watchdog divider="2498" intervals="1000"/>
</slave>
<!-- INIZIO PARAMETRI ASSE B -->
<slave idx="6" type="generic" vid="850104" pid="01030507" configPdos="true">
<syncManager idx="0" dir="out"></syncManager>
<syncManager idx="1" dir="in"></syncManager>
<syncManager idx="2" dir="out">
<pdo idx="1600">
<pdoEntry idx="6040" subIdx="00" bitLen="16" halPin="drivecontrol" halType="bit"/>
<pdoEntry idx="6060" subIdx="00" bitLen="8" halPin="opmode" halType="u32"/>
<!--PARAMETRO POSCOMAND IN SCALE SCRIVERE 8388607/X DOVE X SONO MM A GIRO MOTORE ESEMP: 8388607/10MM = 838860.7 -->
<pdoEntry idx="607A" subIdx="00" bitLen="32" halPin="poscommand" halType="float" scale="838860.7"/>
<pdoEntry idx="6098" subIdx="00" bitLen="8" halPin="homemode" halType="u32"/>
<!--PARAMETRO HOMESPPED1 IN SCALE SCRIVERE 8388607/X DOVE X SONO MM A GIRO MOTORE ESEMP: 8388607/10MM = 838860.7 -->
<pdoEntry idx="6099" subIdx="01" bitLen="32" halPin="homespeed1" halType="float" scale="838860.7"/>
<!--PARAMETRO HOMESPPED2 IN SCALE SCRIVERE 8388607/X DOVE X SONO MM A GIRO MOTORE ESEMP: 8388607/10MM = 838860.7 -->
<pdoEntry idx="6099" subIdx="02" bitLen="32" halPin="homespeed2" halType="float" scale="838860.7"/>
<!--PARAMETRO HOMEACC IN SCALE SCRIVERE 8388607/X DOVE X SONO MM A GIRO MOTORE ESEMP: 8388607/10MM = 838860.7 -->
<pdoEntry idx="609A" subIdx="00" bitLen="32" halPin="homeacc" halType="float" scale="838860.7"/>
<!--PARAMETRO HOMEOFFSET IN SCALE SCRIVERE 8388607/X DOVE X SONO MM A GIRO MOTORE ESEMP: 8388607/10MM = 838860.7 -->
<pdoEntry idx="607C" subIdx="00" bitLen="32" halPin="homeoffset" halType="float" scale="838860.7"/>
</pdo>
</syncManager>
<syncManager idx="3" dir="in">
<pdo idx="1a00">
<pdoEntry idx="6041" subIdx="00" bitLen="16" halPin="drivestatus" halType="bit"/>
<pdoEntry idx="6063" subIdx="00" bitLen="32" halPin="enccounts" halType="s32"/>
<!--PARAMETRO POS IN SCALE SCRIVERE X/8388607 DOVE X SONO MM A GIRO MOTORE ESEMP: 10/8388607/= 0.0000011920930376 -->
<pdoEntry idx="6064" subIdx="00" bitLen="32" halPin="pos" halType="float" scale="0.0000011920930376"/>
<pdoEntry idx="6077" subIdx="00" bitLen="16" halPin="torque%" halType="float" scale="0.1"/>
<pdoEntry idx="606C" subIdx="00" bitLen="32" halPin="velmotore" halType="float" scale="0.00007"/>
<pdoEntry idx="603F" subIdx="00" bitLen="16" halPin="allarm" halType="u32"/>
</pdo>
</syncManager>
<dcConf assignActivate = "300" sync0Cycle = "*1" sync0Shift = "0" />
<watchdog divider="2498" intervals="1000"/>
</slave>
<!-- INIZIO PARAMETRI ASSE C -->
<slave idx="7" type="generic" vid="850104" pid="01030507" configPdos="true">
<syncManager idx="0" dir="out"></syncManager>
<syncManager idx="1" dir="in"></syncManager>
<syncManager idx="2" dir="out">
<pdo idx="1600">
<pdoEntry idx="6040" subIdx="00" bitLen="16" halPin="drivecontrol" halType="bit"/>
<pdoEntry idx="6060" subIdx="00" bitLen="8" halPin="opmode" halType="u32"/>
<!--PARAMETRO POSCOMAND IN SCALE SCRIVERE 8388607/X DOVE X SONO MM A GIRO MOTORE ESEMP: 8388607/10MM = 838860.7 -->
<pdoEntry idx="607A" subIdx="00" bitLen="32" halPin="poscommand" halType="float" scale="838860.7"/>
<pdoEntry idx="6098" subIdx="00" bitLen="8" halPin="homemode" halType="u32"/>
<!--PARAMETRO HOMESPPED1 IN SCALE SCRIVERE 8388607/X DOVE X SONO MM A GIRO MOTORE ESEMP: 8388607/10MM = 838860.7 -->
<pdoEntry idx="6099" subIdx="01" bitLen="32" halPin="homespeed1" halType="float" scale="838860.7"/>
<!--PARAMETRO HOMESPPED2 IN SCALE SCRIVERE 8388607/X DOVE X SONO MM A GIRO MOTORE ESEMP: 8388607/10MM = 838860.7 -->
<pdoEntry idx="6099" subIdx="02" bitLen="32" halPin="homespeed2" halType="float" scale="838860.7"/>
<!--PARAMETRO HOMEACC IN SCALE SCRIVERE 8388607/X DOVE X SONO MM A GIRO MOTORE ESEMP: 8388607/10MM = 838860.7 -->
<pdoEntry idx="609A" subIdx="00" bitLen="32" halPin="homeacc" halType="float" scale="838860.7"/>
<!--PARAMETRO HOMEOFFSET IN SCALE SCRIVERE 8388607/X DOVE X SONO MM A GIRO MOTORE ESEMP: 8388607/10MM = 838860.7 -->
<pdoEntry idx="607C" subIdx="00" bitLen="32" halPin="homeoffset" halType="float" scale="838860.7"/>
</pdo>
</syncManager>
<syncManager idx="3" dir="in">
<pdo idx="1a00">
<pdoEntry idx="6041" subIdx="00" bitLen="16" halPin="drivestatus" halType="bit"/>
<pdoEntry idx="6063" subIdx="00" bitLen="32" halPin="enccounts" halType="s32"/>
<!--PARAMETRO POS IN SCALE SCRIVERE X/8388607 DOVE X SONO MM A GIRO MOTORE ESEMP: 10/8388607/= 0.0000011920930376 -->
<pdoEntry idx="6064" subIdx="00" bitLen="32" halPin="pos" halType="float" scale="0.0000011920930376"/>
<pdoEntry idx="6077" subIdx="00" bitLen="16" halPin="torque%" halType="float" scale="0.1"/>
<pdoEntry idx="606C" subIdx="00" bitLen="32" halPin="velmotore" halType="float" scale="0.00007"/>
<pdoEntry idx="603F" subIdx="00" bitLen="16" halPin="allarm" halType="u32"/>
</pdo>
</syncManager>
<dcConf assignActivate = "300" sync0Cycle = "*1" sync0Shift = "0" />
<watchdog divider="2498" intervals="1000"/>
</slave>
</master>
</masters>
I have hardware which runs at 250us and generic driver was not capable therefore I searched for other way of grinding avoiding with higher value of assign ... else with native chip driver is 0x0300 good enough
- lkt
- lkt
Today 17:37
Replied by lkt on topic Post installation / problème pour ouvrir des images / Paramétrage de Python ?
Post installation / problème pour ouvrir des images / Paramétrage de Python ?
Category: Français
Hi,
funny thing, I had same problem, that's why I'm here.
See the output, especially last line:
AttributeError: Module 'numpy._core' has no attribute 'Inf'. Did you mean: 'inf'?
So, I edited line 34 in /usr/bin/image-to-gcode - changed .Inf --> .inf
It seems to be working
funny thing, I had same problem, that's why I'm here.
See the output, especially last line:
AttributeError: Module 'numpy._core' has no attribute 'Inf'. Did you mean: 'inf'?
So, I edited line 34 in /usr/bin/image-to-gcode - changed .Inf --> .inf
It seems to be working
- Hakan
- Hakan
Today 17:17 - Today 17:24
Replied by Hakan on topic Ethercat random jitter fix
Ethercat random jitter fix
Category: EtherCAT
You have actually switched off the pll, the synchronization code.
You can double-check that with the lcec.pll-err value.
If that one counts up/down it is on. If lcec.pll-err isn't moving it's off.
There is no difference in the code with "-" and syncToRefClock.
It is just two different ways to switch on the option. The actual code is the same.
The bug happens to to be when both options are used, it will be left off in that case
if I understand what I wrote by mistake once.
You can double-check that with the lcec.pll-err value.
If that one counts up/down it is on. If lcec.pll-err isn't moving it's off.
There is no difference in the code with "-" and syncToRefClock.
It is just two different ways to switch on the option. The actual code is the same.
The bug happens to to be when both options are used, it will be left off in that case
if I understand what I wrote by mistake once.
- bedouno
- bedouno
Today 16:21
Replied by bedouno on topic HAL component for tangential knife
HAL component for tangential knife
Category: HAL
thanks for your great contribut and i will study it, i have searched for a while and i got this :' the trajectory planner process the G-code and pass the move sequence to a queue to be managed by the motion planner , so what if we can modify the sequence process the queue by our component our module to calculate the angle and specify the cretical angle points then inject this to the motion planner , we can use the lookahead trajectory planner strategy ' .
how you see that
how you see that
- papagno-source
- papagno-source
Today 16:14
Replied by papagno-source on topic Ethercat random jitter fix
Ethercat random jitter fix
Category: EtherCAT
I've already run tests with:
refClockSyncCycles="1" and syncToRefClock= "true"
refClockSyncCycles="5" and syncToRefClock= "true"
refClockSyncCycles="1000" and syncToRefClock= "true"
refClockSyncCycles="-1" and syncToRefClock= "true"
With these settings, the machine makes noise when moving.
Now I've set refClockSyncCycles="-1" and syncToRefClock= "false"
and the machine is working without problems so far.
refClockSyncCycles="1" and syncToRefClock= "true"
refClockSyncCycles="5" and syncToRefClock= "true"
refClockSyncCycles="1000" and syncToRefClock= "true"
refClockSyncCycles="-1" and syncToRefClock= "true"
With these settings, the machine makes noise when moving.
Now I've set refClockSyncCycles="-1" and syncToRefClock= "false"
and the machine is working without problems so far.
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