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Not sure if there is an easier way of trying this but I inserted the the actions of 'EMCMOT_JOINT_ACTIVATE' / 'EMCMOT_JOINT_DEACTIVATE' (ie set/reset 'SET_JOINT_ACTIVE_FLAG' for a specific joint :
 

into 'EMCMOT_SPINDLE_ON' / 'EMCMOT_SPINDLE_OFF':

 
 


Which lets me clear 'joint.1.active' using the spindle control but it does basically the same as disabling the drive as 'joint.1.pos-cmd' is still updated as the axis is jogged or commanded through the interpreter:

 

The problem with the following error when reactivating the joint remains the same as if it was done in hal or the drive disabled. 
 

After you set it the first time, does it disappear from the sdos listing or does it just become read-only?

A servo of this size is not a toy.
The “Servo On” or “Enable” signal comes from the controller (PLC / lcnc).
The emergency stop and limit switches are hardwired.

Have you tested the module in Twincat yet?
If it runs without any issues there, you could use Wireshark to monitor the communication. Maybe that will turn something up.

I imagine that you will be satisfied with the updated xhc-whb04b-6 component by hdiethelm, which allows the pendant to reconnect in case it disconnects (as well as several other improvements). But you need to compile it from source, same as building LinuxCNC from source (which is not all that difficult). He made a backport to LinuxCNC 2.9.8:
github.com/hdiethelm/linuxcnc-fork/tree/...x-v2_backport-v2.9.8
So basically git clone that repository, checkout xhc-whb04b-6-fix-v2_backport-v2.9.8 and then compile. I don't know about exact version compatibility, but I don't think you actually need to use v2.9.8 to run the component. You can just give the full path to the newly built compnonent binary in the loadrt command.

I made a custom firmware for the USB dongle that I use myself, but I can't really recommend that for others. There is a decent risk that it would irreversibly break your dongle in case the hardware is slightly different than what I have.

I don't know your proficiency with git and compiling LinuxCNC from source. Just ask if my somewhat terse instructions are not clear to you.

desoler , je ne comprend pas ,car j 'ai bien le signal dans la config de hal

Aciera wrote:

I'm not aware of a way to block the operator from commanding a move of a particular axis. Would be a handy feature to have.

Appreciate you having a think about it.

I'd like to experiment with that NML message I found (DEACTIVATE_JOINT).  If I can deactivate joint-0 near the beginning of the sub-spindle transfer process I can simplify the parting-slide jogging disable (which happens later in the overall sequence).

Any idea how I can send an NML message to LCNC?

Maybe it's done via python interface, but I don't see anything obvious in the LCNC manual section on python-interface that includes that specific command.
 

Any ideas how to no-kidding stop an axis from being moved without disabling the drive? like DEACTIVATE_JOINT or something?

I'm not aware of a way to block the operator from commanding a move of a particular axis. Would be a handy feature to have.

- I use Gmoccapy where the onscreen jog buttons can be hidden and only physical jogging through hal pins needs to be handled.
- MDI entries are more involved as one would need to parse all commands that an operator enters, still possible without too much effort.
- Rehoming can be handled using 'motion.homing-inhibit'.

Still leaves program execution and any mdi commands that are not coming from the gui entry.

Hakan wrote:

Any clues in syslog?

noe that I saw. I think the slave may misbehave. in some places it says you can't change values once they are set

For what it's worth, I retrofitted a similar machine with this control with Yaskawa servo/drives and it was pretty straight forward with Mesa hardware. So a retrofit should be pretty easy if anyone is thinking about this machine.

Hi, I have the same problem. How did you switch to XML OP mode? 
Leidshine em32dx-e

ceka@debian:~$ ethercat slave
0  0:0  OP     +  XINJE-DS5C1 EtherCAT(CoE) Drive Rev4.0 v3.7.70
1  0:1  OP     +  XINJE-DS5C1 EtherCAT(CoE) Drive Rev4.0 v3.7.70
2  0:2  OP     +  XINJE-DS5C1 EtherCAT(CoE) Drive Rev4.0 v3.7.70
3  0:3  PREOP  E  EM32DX-E4
ceka@debian:~$

main xml

 
slave idx="3" type="generic" vid="0x00004321" pid="0x01100073" configPdos="true">
      <dcConf assignActivate="300" sync0Cycle="*1" sync0Shift="0"/>     
      <syncManager idx="2" dir="out">
        <pdo idx="1600">            
            <!-- Digtial Outputs (RTEC1616)-->
          <pdoEntry idx="0x7000," subIdx="01" bitLen="16" halType="complex">
            <complexEntry bitLen="1" halPin="out-01" halType="bit"/>
            <complexEntry bitLen="1" halPin="out-02" halType="bit"/>
            <complexEntry bitLen="1" halPin="out-03" halType="bit"/>
            <complexEntry bitLen="1" halPin="out-04" halType="bit"/>
            <complexEntry bitLen="1" halPin="out-05" halType="bit"/>
            <complexEntry bitLen="1" halPin="out-06" halType="bit"/>
            <complexEntry bitLen="1" halPin="out-07" halType="bit"/>
            <complexEntry bitLen="1" halPin="out-08" halType="bit"/>
            <complexEntry bitLen="1" halPin="out-09" halType="bit"/>
            <complexEntry bitLen="1" halPin="out-10" halType="bit"/>
            <complexEntry bitLen="1" halPin="out-11" halType="bit"/>
            <complexEntry bitLen="1" halPin="out-12" halType="bit"/>
            <complexEntry bitLen="1" halPin="out-13" halType="bit"/>
            <complexEntry bitLen="1" halPin="out-14" halType="bit"/>
            <complexEntry bitLen="1" halPin="out-15" halType="bit"/>
            <complexEntry bitLen="1" halPin="out-16" halType="bit"/>
          </pdoEntry>  
          
      </pdo>
      </syncManager>      
      <syncManager idx="3" dir="in">
        <pdo idx="0x1a00,">    
          <!-- Digtial_inputs  -->
          <pdoEntry idx="0x6000," subIdx="01" bitLen="32" halType="complex">
            <complexEntry bitLen="1" halPin="in-01" halType="bit"/>
            <complexEntry bitLen="1" halPin="in-02" halType="bit"/>
            <complexEntry bitLen="1" halPin="in-03" halType="bit"/>
            <complexEntry bitLen="1" halPin="in-04" halType="bit"/>
            <complexEntry bitLen="1" halPin="in-05" halType="bit"/>
            <complexEntry bitLen="1" halPin="in-06" halType="bit"/>
            <complexEntry bitLen="1" halPin="in-07" halType="bit"/>
            <complexEntry bitLen="1" halPin="in-08" halType="bit"/>
            <complexEntry bitLen="1" halPin="in-09" halType="bit"/>
            <complexEntry bitLen="1" halPin="in-10" halType="bit"/>
            <complexEntry bitLen="1" halPin="in-11" halType="bit"/>
            <complexEntry bitLen="1" halPin="in-12" halType="bit"/>
            <complexEntry bitLen="1" halPin="in-13" halType="bit"/>
            <complexEntry bitLen="1" halPin="in-14" halType="bit"/>
            <complexEntry bitLen="1" halPin="in-15" halType="bit"/>
            <complexEntry bitLen="1" halPin="in-16" halType="bit"/>    
           </pdoEntry>  
        </pdo>
      </syncManager>   
       </slave>
</master>
</masters>  


 

Hallo StephanCNC
Also wir haben eine 0-10 V Regelung….
Was ist die Max des FU ?
Wenn er bei 5 V 18000 aus gibt müsste er 36000 bei 10 V haben
und bei 2,5 V 6000
wenn das so ist passe doch die Einstellungen der Mesa-Karte an…

Gruß
Juergen

This is the swivel head that I want to insstall. It comes with Yaskawa servos and digital drives. The rotaries that I intend to install will also have digital drives so I think I will be using the analog drives and servos that come with the machine on one Mesa card, and doing all these more modern stuff on a second card with a 3rd handling all the sensors.

Question: The current setup with the 16hp columbo spindle is about 100ish lbs. This AC head is another 100ish lbs. I wanted to sell the columbo, and just install a spindle that is closer to what I need... about 6hp (max). The machine comes with an air piston that reduces the load on the Z axis servo drive. I'm not sure how much weight it can handle. I image this is a function of air pressure, gaskets, and how the thing is built. If this air lift thing is calibrated right, there should not be any additional load on the Z axis servo, so I'm going to assume that problem away. I sort of have no doubts that the gantry and bearings can take the extra weight... been climbing up there to check stuff out, and its just built solid, don't know what else to say. I think this was welded together as a bridge, and then machined to get a flat surface. I will need some sort of an L bracket and some hackery to stiffen that Z axis. This L bracket will put a moment arm on the linear guides, so I was wondering if I needed a counter weight. I know I will also have to alter the position of the tool changers because the swivel head will push the spindle a little further forward. That's no big deal. I wanted to add more tool holders anyway.

Do you guys see any major concerns? I know all this stuff is mechanically stressful which is why I bought this machine to upgrade instead of rolling my own joint with extruded aluminum. I think I don't have to worry about mechanical integrity, but again, I've never done this before. Thoughts? 

Will have all the faceplates and schemes up tomorrow, then I want to order this swivel head parts once I am sure that I can make this work.

UPDATE

I have switchkins working.  I have not yet tested CSS, but the axis/joint swap works with a couple of M-codes.

• Normal mode:
  • jogging/g-code/MDI axis "V" moves the parting slide (joint-3)
  • jogging/g-code/MDI axis "X" moves the real X-axis (joint-0)
• Switched mode
  • jogging/g-code/MDI axis "X" moves the parting slide
  • jogging axis V and joint-0 is disabled
  • Pre-switch V-axis G54 offsets are written to the virtual X
  • Appropriate max/min limits and accel/velocity are written to the virtual X
• Switched back to normal
  • All jogging/g-code/MDI work normally
  • X-axis position goes back to pre-switch position (G53 X0)
  • Same for V-axis

Remaining issues

• Axis GUI screen buttons can still jog joint-0/V-axis when in switched mode
  • I don't plan to use Axis once I'm done configuring & sorting out the lathe, but I don't know how to stop NML background messages from a GUI from moving the true X-axis.  Any ideas how to no-kidding stop an axis from being moved without disabling the drive? like DEACTIVATE_JOINT or something?
  • Bad Things will happen if the real X-axis moves when I've got the main and sub-spindles both clamped on a part.
• Jogging the slide while in switched mode results in half the motion I'd expect.
  • i.e. the DRO doesn't match the physical distance the slide moves.
  • This may be due to a scale component I've got in the X-axis jogging logic so I can jog in diameter mode.  Maybe I need to get rid of that and change the joint-0 scale.

Not posting config or other files until I've tested CSS and sort out the jog motion issue.

Big thanks to @Aciera for the help.

Any clues in syslog?