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Hi,
I have some technical questions about CIA402 and homecomp.comp
First of all, which version of homecomp.comp is currently recommended for the A6?
Since I don't understand the source code of homecomp.comp and CIA402, I would like to know how the basic servo homing process works.
Are all servos put into homing mode and checked to see if they are ready before the sequence starts?

I'm trying to understand how the process works, as I keep getting sporadic errors during homing, even though everything else is running smoothly.

Does the drive run away if the input from the Mesa is disconnected? Do you have the manual for the drives? On my Indramat, you are supposed to turn the drives using a simple power supply, before connecting them to the controller. Sorry I am no help on this, as the PID tuning I suck at.
Cheers,
Mark

Ok thank you I'm happy to use the RS-485 mode,

Hallo Mario,

Es freut mich zu hören das Du ein Schritt weiter gekommen bist. Gut hast Du Geduld und mehrmals versucht die Firmware zu flashen!

Ich komme selber auch von GRBL; die Software ist zwar genial, aber irgendwann war ich begrentzt mit TMC5160 Treiber. Ich habe dann ein Komponent für LinuxCNC geschrieben (bin nicht mal ein Hobbyprogrammier) und es funktioniert nicht so schlecht. Es ist krass was es auf LinuxCNC alles gibt und möglich ist, im Vergleich zu GRBL. Aber die Komponenten die nicht mit der Standardinstallation kommen sind halt auch nicht unbedingt häufig verwendet. Remora ist zwar eher gut dokumentiert, es ist aber nicht vergleichbar mit Kommerziellen Produkte wie Mesa Karten zum Beispiel. Mir ging es so, und ich kann mir vorstellen das ich nicht der einzige bin: ich habe mir ein Komponent geschrieben und eigesetzt, auf github geladen und bin dann zum nächsten Projekt gegangen, obwohl der Komponent weit von perfekt war und kaum dokumentiert ist.

Allerdings lernt man viel dabei und so lange Du weiter kommst und auch hier Hilfe findest wenn es nötig wird, bin ich überzeugt das Du viel Spass haben wirst mit LinuxCNC.

Gruss,
Luca

Hi,
anhand deiner Hal denke ich, du sprichst deutsch.
Zunächst: Welche Vorlage hast du für die Konfiguration genommen?
In der ini sehe ich folgendes
1. Für die Verwendung des Handrades musst du noch die Makro buttons mit rein nehmen (müssen nicht belegt sein), sonst gibt es Fehler.
In die hal muss dann folgendes rein: loadusr -W xhc-whb04b-6 -HsfB

2. Es gibt keinen CIA402_HOMING_METHOD=-4 
Schau in die Dokumentation vom A6, da werden alle möglichen Homing Methoden aufgeführt.
Es gibt hier auch keinen Drehmomentbasierten Homing Modus. Du kannst aber einen Endschalter + Z-Impuls nutzen.
Der Endschalter muss aber dann am Driver angeschlossen werden (Di1;Di2)
Wäre zum Beispiel -1 oder -2 je nach Verfahrrichtung.
In der ethercat-conf.xml ist es empfehlenswert sync0Shift="0" zu setzen
 

On my machine when 19k1 is latched it fires the coil on 7k1
Then this allows 24v to the rf pins on the indramat drives. 
E1 and E2 which are +10v -10v inputs are connected to Aout0 and gnd on the 7i97t with the shield connected to the gnd as well
Bb and bb also have not been touched as they are controlled by 7k7s coil
In tommylights servo wiring and tuning how to guide he talks about wiring the drive enables on the mesa card but I think I should touch the original maho logic???? But would love to hear what you think

I spent some time going through the manual and making sure the encoder calculations are correct in the ini
I’ve done something wrong somewhere and I don’t know where?  thanks for your time paul
 

Good weather for welding Nice progress.

Hi Daniel,
Shame this forum has no DM function. I think you need to be logged into YT to see the email address on the main page. Otherwise I have the same user name on Zerspannungbude, which has a DM function.

I put all I learnt about the gearbox here. 
github.com/jin-eld/mh400e-linuxcnc/wiki
This Github has the Comp my mate wrote to control it.

Yes, the comp rounds the commanded speed to the nearest lower gearbox ratio. It reacts automatic to the "S" code in gcode. Of course, speed change is inhibited with the spindle turning.

I added a G4 P5 pause to my post processor at every speed change, as it can take that long for the gearbox to finish changing ratio.
Cheers,
Mark

Hi,

I'm happy to help if I can. I'm ot familiar with the STM32 controllers and I don't really understand the ldscript files, but from what I understand you'll need a ldscript and some adjustment in the platformio.ini file. Can you share your platformio.ini file?

The area im stuck on is the latching of 19k1 relay. I cannot keep the relay latched because the axis keeps running away. I’ve tried swapping the wires and changing the signs for output scale and encoder scale multiple times different combinations and still run away just in opposite directions when I swap the E1 and e2 wires. So that leads me to say what I have done is not correct. When I try to latch 19k1 from f2 it drops constantly back to estopTo tackle it from a different angle I reduced the p value in the ini from 50 to 5 and manually latched 19k1 by pushing on the contactor with Linuxcnc started but without f2 pressed. The error indicator at the rear of the machine reset, and was happy with no errors but very very slow run away. Estop, door switch’s, tool clamp etc all work as before the retrofit and the axis limit switches all trip the estop. SoOn my machine when 19k1 is latched it fires the coil on 7k1

Good job! Works well at high speed. Little beast

this hm2_modbus.0.last-error-code ?
it looks like:
• 110, 0x6e (ETIMEDOUT): The command received no reply and timed out.

But I 'm not sure if this was some consequential error.
I compared the running wj200.comp example of my USB-Dongle
but i can´t see any difference. Do I need some delay somewhere .
I added some interval="1000" like you did in your gs10. but no success.

Here is 5I25/6I25 firmware for a 7I76U with the PKTUART

 

I can try to help more later, but note there is another user trying to get a Omron MX2
working with a Mesa card and having issues. I suspect I may have to acquire a MX2
to try and get this going.

The 7I76U manual has the RS-485 wiring information (and you must use RS-485 mode with the 7I76U
so you lose on estep/dir output)

Sounds like you have two separate errors.to clarify, when you try to start the machine contactors are closing? If so, which?
For the servos, can you post how you connected the indramat +/- 10V wires to 7i97T terminal block?

Hello,Im using LinuxCNC 2.9Can I please get some assistance with wiring of the mesa 7i76U to an omron mx2 VFD and the HAL and INI file and the correct firmware recommendation. files.omron.eu/downloads/latest/manual/e...rs_manual_en.pdf?v=1