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  • Sascha H.
  • Sascha H.
Today 15:15
Replied by Sascha H. on topic Erste Schritte mit A6-EC Servo: 24 V für Bremse, Bremswiderstand und RJ45-Kabel?

Erste Schritte mit A6-EC Servo: 24 V für Bremse, Bremswiderstand und RJ45-Kabel?

Category: Deutsch

Relais für die 24 V DC Bremse:
Hier möchte ich noch einmal sicherstellen, ob ich das richtig verstanden habe:

Ohne 24 V bleibt die Bremse geschlossen, und mit 24 V wird sie gelöst.

Das Relais würde dann nicht das 24 V Netzteil selbst ein- und ausschalten, sondern die 24 V zur Motorbremse durchschalten. Angesteuert wird das Relais über einen Ausgang des A6-Treibers beziehungsweise über die Steuerung. Erst wenn der Servo freigegeben ist und die Bremse gelöst werden soll, wird über das Relais die 24 V Spannung auf die Bremse gegeben.

Habe ich das so richtig verstanden?
 

Korrekt. Die Verkabelung der Bremse ist im Handbuch in Kapitel 3.7.3 beschrieben. Ich glaube, der Ausgang DO3 am Servo ist per default zum Schalten der Bremse eingerichtet.
  • Muecke
  • Muecke's Avatar
Today 14:59 - Today 15:05
Replied by Muecke on topic Erste Schritte mit A6-EC Servo: 24 V für Bremse, Bremswiderstand und RJ45-Kabel?

Erste Schritte mit A6-EC Servo: 24 V für Bremse, Bremswiderstand und RJ45-Kabel?

Category: Deutsch

Hallo zusammen,

vielen Dank für Eure Rückmeldungen, das hilft mir schon sehr weiter.

Dann sieht mein Einkaufswagen aktuell so aus:

Servo-Set:
A6 Serie, 750 W, 2,39 Nm, mit Bremse, 17-Bit-Absolutgeber, STO
www.omc-stepperonline.com/de/a6-serie-75...a6-ec750h2b1-m17-sto

I/O-Kabel / Stecker:
HDB15-Stecker auf geschirmtes Kabel, D-SUB 15-poliger Stecker
www.omc-stepperonline.com/de/1m-39-37-hd...ger-stecker-hdb15-1m

Encoderkabel mit Batteriekasten:
3 m Encoderkabel mit Batteriekasten für 17-Bit-Servomotoren der A6-Serie
www.omc-stepperonline.com/de/3m-118-11-l...as7-c-enc076-bat-3-0

Netzfilter:
Bei StepperOnline habe ich direkt nichts Passendes gefunden. Ich hätte jetzt diesen hier im Blick:
TDK RSHN-2006
www.mouser.de/ProductDetail/TDK-Lambda/R...vzAR%252BTyPxw%3D%3D

Der Filter ist mit 250 V AC und 6 A angegeben. Da der Servo laut Daten mit 220 V AC und 750 W arbeitet, sollte das für ein einzelnes Test-Setup vermutlich passen. Oder übersehe ich hier etwas Wichtiges?

24 V DC Netzteil:
Ist bereits vorhanden.

Relais für die 24 V DC Bremse:
Hier möchte ich noch einmal sicherstellen, ob ich das richtig verstanden habe:

Ohne 24 V bleibt die Bremse geschlossen, und mit 24 V wird sie gelöst.

Das Relais würde dann nicht das 24 V Netzteil selbst ein- und ausschalten, sondern die 24 V zur Motorbremse durchschalten. Angesteuert wird das Relais über einen Ausgang des A6-Treibers beziehungsweise über die Steuerung. Erst wenn der Servo freigegeben ist und die Bremse gelöst werden soll, wird über das Relais die 24 V Spannung auf die Bremse gegeben.

Habe ich das so richtig verstanden?

Bremswiderstand
Danke auch für die Info zum Bremswiderstand. In meinem ersten Testfall geht es mir nicht um schnelles Abbremsen großer bewegter Massen, sondern hauptsächlich darum, die Grundlagen zu verstehen und sicherzustellen, dass bei Stromausfall nichts unkontrolliert absacken kann.

Gruß
Mücke
  • grandixximo
  • grandixximo's Avatar
Today 13:59
Replied by grandixximo on topic VEICHI SD700 EtherCAT — Er.960 on startup, clears after few F2 presses — why?

VEICHI SD700 EtherCAT — Er.960 on startup, clears after few F2 presses — why?

Category: EtherCAT

You need check for the slave-state-op and or all-op status on master, only after all-op you should even attempt to F2, connect your lcec.0.all-op with iocontrol.0.emc-enable-in

you can also make some messages with message component to tell you that ethercat is not ready.
  • fer662
  • fer662
Today 13:48
Replied by fer662 on topic Sanitycheck my plan: ethercat + stepperonline A6

Sanitycheck my plan: ethercat + stepperonline A6

Category: EtherCAT

I know the kind of driver you're talking about, but this was literally a freshly installed windows 10, and all i did was install the stepperonline software and forward the usb device to it and was able to find it in the scanner. i didn't install anything else.
  • papagno-source
  • papagno-source
Today 10:32
Replied by papagno-source on topic VEICHI SD700 EtherCAT — Er.960 on startup, clears after few F2 presses — why?

VEICHI SD700 EtherCAT — Er.960 on startup, clears after few F2 presses — why?

Category: EtherCAT

I'm also having problems with the same drives. We're trying different solutions, but sometimes I hear noise from the axes as they move.
First, try refClockSyncCycles="-1"; it will definitely work better. But despite this option, I sometimes hear noise from the axes. The only way I can get them to work at the moment is with Debian 10 and kernel 4.19. I'm having problems with Trixie and kernel 6.12. We're running tests with Grandixximo and Rodw, but I'm starting to think the drives are very sensitive. I'll try Mitsubishi and Delta.
  • Sascha H.
  • Sascha H.
Today 08:21
Replied by Sascha H. on topic Sanitycheck my plan: ethercat + stepperonline A6

Sanitycheck my plan: ethercat + stepperonline A6

Category: EtherCAT

Forget my post about the adapter cable. I mixed up the servo types.

You need a USB-C cable with data transfer. Some can only charge.
  • andrax
  • andrax's Avatar
Today 07:29
Replied by andrax on topic Sanitycheck my plan: ethercat + stepperonline A6

Sanitycheck my plan: ethercat + stepperonline A6

Category: EtherCAT

According to the description, a standard USB cable is required.
After installing the software, the USB-to-serial driver apparently needs to be installed.
There are several in the program folder, but which one is the correct one?
  • pushkarp
  • pushkarp
Today 06:42
VEICHI SD700 EtherCAT — Er.960 on startup, clears after few F2 presses — why? was created by pushkarp

VEICHI SD700 EtherCAT — Er.960 on startup, clears after few F2 presses — why?

Category: EtherCAT

VEICHI SD700 EtherCAT — Er.960 on startup, clears after few F2 presses — why?Platform: LinuxCNC 2.9.8, Debian, kernel 6.12.57+deb13-rt-amd64 (PREEMPT_RT) Drive: VEICHI SD700 EtherCAT servo drive (firmware V1.2) Interface: linuxcnc-ethercat (lcec) with cia402 component Mode: CSP (Cyclic Synchronous Position), 1ms servo periodWhat's happeningEvery time I start LinuxCNC, the drive shows Er.960 (SYNC0 synchronous frame loss) for the first 15-30 seconds. During this time pressing F2 gives:
joint 0 amplifier fault
emc/task/taskintf.cc 976: Error on joint 0, command number 56
After pressing F2 several times over 15-30 seconds, the drive eventually shows "88" (operating state), I hear a click from the motor, and everything works fine after that — jogging, position feedback, motion programs all stable.My question is: why does Er.960 appear at startup and what is actually happening when F2 eventually causes it to go away?System latencyThis is likely relevant. My machine is an AMD Ryzen system on a Shenzhen Meigao generic motherboard. Latency-test shows:
Servo thread (1ms):  Max Jitter = 85,000 ns (85µs)
Base thread (25µs):  Max Jitter = 58,000 ns (58µs)
I have tried:
  • CPU governor set to performance
  • C-states disabled via cpupower
  • nomodeset (amdgpu blacklisted)
  • isolcpus, nohz_full, rcu_nocbs kernel parameters
  • idle=poll
None brought jitter below ~80µs — likely SMM interrupts from locked-down BIOS on this generic hardware.Current workaroundUsing
sync0Shift=500000
(500µs) in dcConf which helps the drive lock faster but doesn't eliminate the startup Er.960 completely.Config filessd700.xml
<?xml version="1.0"?>
<masters>
  <master idx="0" appTimePeriod="1000000" refClockSyncCycles="1">

    <slave idx="0"
           type="generic"
           vid="00850104"
           pid="01030507"
           name="x"
           configPdos="true">

      <dcConf assignActivate="300" sync0Cycle="*1" sync0Shift="500000"/>

      <sdoConfig idx="6060" subIdx="00">
        <sdoDataRaw data="08"/>
      </sdoConfig>

      <syncManager idx="2" dir="out">
        <pdo idx="1601">
          <pdoEntry idx="6040" subIdx="00" bitLen="16" halPin="control-word"    halType="u32"/>
          <pdoEntry idx="607A" subIdx="00" bitLen="32" halPin="target-position" halType="s32"/>
          <pdoEntry idx="60FF" subIdx="00" bitLen="32" halPin="target-velocity" halType="s32"/>
        </pdo>
      </syncManager>

      <syncManager idx="3" dir="in">
        <pdo idx="1A01">
          <pdoEntry idx="6041" subIdx="00" bitLen="16" halPin="status-word"           halType="u32"/>
          <pdoEntry idx="6064" subIdx="00" bitLen="32" halPin="position-actual-value" halType="s32"/>
          <pdoEntry idx="606C" subIdx="00" bitLen="32" halPin="velocity-actual-value" halType="s32"/>
        </pdo>
      </syncManager>

    </slave>
  </master>
</masters>
sd700.hal
loadusr -W lcec_conf sd700.xml
loadrt lcec
loadrt [KINS]KINEMATICS
loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS
loadrt cia402 count=1

addf lcec.read-all              servo-thread
addf cia402.0.read-all          servo-thread
addf motion-command-handler     servo-thread
addf motion-controller          servo-thread
addf cia402.0.write-all         servo-thread
addf lcec.write-all             servo-thread

net x-status-word   lcec.0.x.status-word           => cia402.0.statusword
net x-control-word  cia402.0.controlword            => lcec.0.x.control-word
net x-pos-raw       lcec.0.x.position-actual-value  => cia402.0.drv-actual-position
net x-tgt-raw       cia402.0.drv-target-position    => lcec.0.x.target-position
net x-pos-cmd       joint.0.motor-pos-cmd           => cia402.0.pos-cmd
net x-pos-fb        cia402.0.pos-fb                 => joint.0.motor-pos-fb
net x-enable        joint.0.amp-enable-out          => cia402.0.enable
net x-fault         cia402.0.drv-fault              => joint.0.amp-fault-in

setp cia402.0.pos-scale 10000
setp iocontrol.0.emc-enable-in 1
net tool-prep  iocontrol.0.tool-prepare  => iocontrol.0.tool-prepared
net tool-chg   iocontrol.0.tool-change   => iocontrol.0.tool-changed
sd700.ini
[EMC]
MACHINE = sd700-test
VERSION = 1.1

[DISPLAY]
DISPLAY    = axis
CYCLE_TIME = 0.100

[TASK]
TASK       = milltask
CYCLE_TIME = 0.010

[RS274NGC]
PARAMETER_FILE = linuxcnc.var

[EMCMOT]
EMCMOT       = motmod
COMM_TIMEOUT = 1.0
SERVO_PERIOD = 1000000

[HAL]
HALFILE = sd700.hal

[KINS]
KINEMATICS = trivkins coordinates=X
JOINTS     = 1

[TRAJ]
COORDINATES             = X
LINEAR_UNITS            = mm
ANGULAR_UNITS           = degree
MAX_LINEAR_VELOCITY     = 5
MAX_LINEAR_ACCELERATION = 20

[EMCIO]
EMCIO      = io
CYCLE_TIME = 0.100
TOOL_TABLE = tool.tbl

[AXIS_X]
MAX_VELOCITY     = 5
MAX_ACCELERATION = 20
MIN_LIMIT        = -9999
MAX_LIMIT        =  9999

[JOINT_0]
TYPE             = LINEAR
HOME             = 0.0
MAX_VELOCITY     = 5
MAX_ACCELERATION = 20
MIN_LIMIT        = -9999
MAX_LIMIT        =  9999
FERROR           = 50
MIN_FERROR       = 5
SCALE            = 10000
HOME_SEARCH_VEL  = 0
HOME_LATCH_VEL   = 0
HOME_SEQUENCE    = 0
Specific questions
  1. Is Er.960 at startup expected behavior on a high-jitter system while DC sync is being acquired, or does it indicate a configuration problem?
  2. Why does pressing F2 (which sends CIA402 enable controlword) help the drive clear Er.960 and lock onto DC sync? I would not expect an application-layer command to affect DC sync acquisition.
  3. Is there a way to make the drive more tolerant of sync frame jitter during the initial lock-in period — either via SDO parameters or lcec config?
  4. Would increasing
    refClockSyncCycles
    help, and what is the recommended value for a high-jitter system?
  5. Is there a known-good
    sync0Shift
    formula based on measured max jitter? (e.g. shift = 2x max jitter?)
Any insight appreciated. The system works well once locked — just trying to understand the startup behavior and ideally make it more reliable.
  • grandixximo
  • grandixximo's Avatar
Today 06:40
Replied by grandixximo on topic MDI Command Error

MDI Command Error

Category: General LinuxCNC Questions

No worries 
File Attachment:
  • timo
  • timo
Today 04:53 - Today 04:55
Replied by timo on topic Brilliant Bambu Lab

Brilliant Bambu Lab

Category: Off Topic and Test Posts

Haha was on the fence of buying one just because of the hype. I then went with a "cheap" Voron 0.1 kit instead. It was a pain to get it "sort of" running :-).
I am not willing to tune it to the end. (too lazy) I ended up changing the extruder, because the gears from the kit where not really good.
Now the Voron gathers dust :-) instead of a youknowwhat. ....
Question remains: is the youknowwhat really the solution to all the 3d printing let downs?
  • Sascha H.
  • Sascha H.
Today 04:14
Replied by Sascha H. on topic Sanitycheck my plan: ethercat + stepperonline A6

Sanitycheck my plan: ethercat + stepperonline A6

Category: EtherCAT

Do you use a USB to RS232 adapter cable? Not all of them work properly. This one does

www.amazon.de/dp/B08B6C1XQN?th=1
  • Dudelbert
  • Dudelbert
Today 04:05
Replied by Dudelbert on topic Considering a Full Rewire on a Working Schaublin 125 CNC

Considering a Full Rewire on a Working Schaublin 125 CNC

Category: Turning

Thanks for the ideas. I will try running the spindle in open loop and see what that does. I noticed the spindle variations in the video as well, while using the machine, I did not even notice them. More spindle tuning is needed, it seems.

The filter is set to “True” right now. I will try turning it off to make sure that does not change anything.

Regarding the collet closer, I thought about cutting grooves, but as the part is hardened, I don’t like my chances of getting that right. Moglice seems like the best way. I remember Robin Renzetti using it on his D-bit grinder.

The only issue there is that the shaft has holes to port the air to the cylinder. I would have to close these in some reversible way and then machine them back down to the shaft diameter to be able to remove the collar after injecting the goo. Epoxy putty, maybe?
  • spumco
  • spumco
Yesterday 03:16
Replied by spumco on topic Considering a Full Rewire on a Working Schaublin 125 CNC

Considering a Full Rewire on a Working Schaublin 125 CNC

Category: Turning

Next thought about the collet closer...

I'd measure the spindle shaft and see if it's still round.  If it is, and you can get the bearing rings out, it could be possible to use the air fitting threaded holes to inject Moglice in to the annulus between the rotary union bore and the part it rides on. 

Once its cured and you've removed it - not a trivial task to be sure - you could use a grooving tool to clear out the existing air grooves.  Maybe even hone the cured Moglice to provide a much smaller gap - less air leakage, but still some to counter dust ingress and provide a little cooling.

If you're not keen on Moglice, maybe shrink-fit or glue a couple pieces of thin-wall brass or bronze tube inside the union - leave a gap between them for the air grooves - and bore it out to a closer fit.

Last option would be to groove the union ID to fit a couple of teflon seals.  Shouldn't be too hard to find some low-tension rings that just fit around the rotating part and don't drag too much.
  • tommylight
  • tommylight's Avatar
Yesterday 03:00
Replied by tommylight on topic Pierce only and pierce delay

Pierce only and pierce delay

Category: Plasmac

I have to ask, why are you editing/saving gcode?
Does sheetcam output the plasmac-feed-rate ?
See if you can edit the post processor to add this:
F#<_hal[plasmac.cut-feed-rate]>
as a header/preamble.
  • spumco
  • spumco
Yesterday 02:45
Replied by spumco on topic Considering a Full Rewire on a Working Schaublin 125 CNC

Considering a Full Rewire on a Working Schaublin 125 CNC

Category: Turning

Shot in the dark here...

When I switched my spindle encoder to a fairly high resolution version I ran in to intermittent problems with the signal.  Turns out Mesa cards have a filter on the dedicated encoder inputs that can be adjusted:
filter (bit r/w)If set to True (the default), the quadrature counter needs 15 sample clocks to register a change on any of the three input lines (any pulse shorter than this is rejected as noise). If set to False, the quadrature counter needs only 3 clocks to register a change. The default encoder sample clock runs at approximately 25 to 33 MHz but can be changed globally with the sample-frequency or muxed-sample-frequency pin.

Setting it to False sorted things out in my case.

I've no idea if this is causing you a problem, but it's a easy & free thing to test.

After that, next suggestion would be to remove all the PID loops and other stuff from the spindle motor control loop.  Run the VFD open loop, variator set to one position.  Take everything that changes spindle speed out of the equation and do another series of G33 tests.

I don't know that the spindle speed variations are affecting the threading, but it cant be helping things.  Listening to that WAAAHH-uuhhhh-WAAAHH-uuhhhh in the video was driving me nuts
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