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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?

Lower the jog speed a lot, like something really slow and try to jog again.

It's a collaborative arm. I haven't seen an earlier LCNC project that uses the dual encoder joints used in collaborative arms.

They typically use Cycloidal drives with encoders on both the input and output to measure the strain. The difference between the two encoders gives you the strain. This sounds like I need to develop a new HAL component.

For example:
www.celeramotion.com/mechatronics-soluti...ollaborative-robots/

The tool path needs to be plotted relative to the work piece. (tool -> world -> work)

The problem is that your tool position is plotted in World coordinates (tool -> world) which works if only the tool moves because the Work coordinate system remains identical to the World coordinates.
However on a machine like yours where the tool AND the work move in space the plotter needs to track both the tool tip as well as the work piece.
This is why the 'vismach' tool needs the capture() function for the tooltip as well as for work.

Not sure but maybe the backplot in ProbeBasic only plots tool position in world coordinates instead of plotting tool position in Work coordinates?

Hi, What piece You need?

If you don't mind updating LinuxCNC, you might be better off with more current replacements for the 5I20:

PCIE --> 6I24-16
Ethernet --> 7I80HDT

The 5I20 is a 20 year old card...

Do you have the step/dir pinout information for the drive?

It does look like it may be single ended from the pictures of the
step/dir modes.

Also in your .ini file, you have the PID P term set to 0.
This should be 1000 (for a 1 ms servo thread period)
A 0 P term will cause position drift