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  • endian
  • endian's Avatar
Today 08:52
Replied by endian on topic Ethercat random jitter fix

Ethercat random jitter fix

Category: EtherCAT

Thought I'd ask here. User has upgraded from Debian 10 to latest Debian 13.3 and 2.10pre RIP config. Now Running grandixximos Ethercat driver but have not set syncToRefClock yet.

He reports:
With the same xml file, i/o and drive configuration, Debian 10 kernel 4.19 with ethercat 1.5.2 works fine, it has no latency at boot and hasn't given any problems. The current system has kernel 6.12 with ethercat 1.6.9 and has synchronization problems at boot, sometimes it doesn't see some drives on the bus, I'm forced to turn it off and on again. Would it be possible to use the current 6.12 kernel and linuxcnc 2.10, with ethercat 1.5.2?

I copied the lcec_conf and lcec.so files into the respective bin and rtailib folders from the Debian 10 version that I have and which works well on my machines, with linuxcnc 2.9.0 pre1 and etherrcat 1.5.2. At boot time, the drives are now seen within 1-2 seconds of booting and are always found on the bus.

This has 5 axis servos and a few Beckhoff modules attached to EK1100 

Next step is to add syncToRefClock

It seems odd to me that today's Ethercat hal driver is not performing but rolling back to an older version of it works. It seems to me his problem is the driver, not the version of Ethercat.

Any ideas or advice?

 

Ive experience of this non recognizing slaves on the bus during some experimenting at my debian 12 + 6.xx kernel ... but everything was solved by using non generic drivers and restarting ethercat service ifself... back that time I have benn using the 1.5.2 ethercat ... 

but it is sometimes odd till todays that with some hardware at bus ethercat is self-restarting and with some hardware is not ... and therefore bus has no slave active 

Ive not found solution at this till now...
  • Hakan
  • Hakan
Today 07:12 - Today 07:13
Replied by Hakan on topic Ethercat random jitter fix

Ethercat random jitter fix

Category: EtherCAT

It would be helpful to see the messages in syslog from when there was a problem.
journalctl --since=2026-4-5 | grep EtherCAT 

from 5 April as an example. And cut to a reasonable length.
  • leexi
  • leexi
Today 06:22

probe basic lath to define a net spindle-index-en spindle.0.index-enable

Category: HAL

I test all before and is working thetristate-bit make the solution to write to I/O bit

but now i found ddt not the best solution to built index, now I have to make a .comp to built a solution, I would like to have standard solution avoiding to write a none standard .comp but seems to me today the Lcnc standard components are not mature for absolute encoders with low information output as the one that I have, (or maybe is my lack of acknowledge from my side on Lcnc platform).
But only encoder counts in a multi-turn format s32 and encoder spins counter as well as multi-turn format s32.
And as well I believe the ethercat firmware developer for my ethercat encoder module they can add a index signal as well. But now that is what I have.

Thank you.
  • grandixximo
  • grandixximo's Avatar
Today 05:35 - Today 05:36
Replied by grandixximo on topic Ethercat random jitter fix

Ethercat random jitter fix

Category: EtherCAT

Yes sorry, because your post was a bit all over the place.

about ethercat master, 1.6.9 is pretty new, so I was asking to double check with 1.6.8

But I agree linuxcnc-ethercat seems to be the issue, so I was asking about the code for lcec aka linuxcnc-ethercat
You moved the lcec_conf and lcec.so 
But do you have the code for the linuxcnc-ethercat that works? or can you at least share approximately where this working version could have come from? Without that, it is really hard to understand what is happening, and get to the bottom of it.
  • rodw
  • rodw's Avatar
Yesterday 01:51
Replied by rodw on topic HAL COMPONENT FOR

HAL COMPONENT FOR

Category: HAL

Before this, I tried a component and attempted to read the current X & Y position and the prior x,y position. This allowed me to calculate the radius which I wanted but it never worked accurately. So I went to the state tags approach and Andy one of the devs convinced me to add the heading while I was at it.
  • rodw
  • rodw's Avatar
Yesterday 01:46
Replied by rodw on topic HAL COMPONENT FOR

HAL COMPONENT FOR

Category: HAL

This is something that is missing in Linuxcnc. This is actually quite complex. I had a go at it some years ago but my use case faded away.
The pull request still persists. github.com/LinuxCNC/linuxcnc/pull/900
I got it working but it needed a bit of cleanup once the devs reviewed. It really needs to be completed.

This gets pretty deep into the Linuxcnc internals. The interpreter and motion are totally seperate entities in Linuxcnc. The interpreter tokenises the gcode so motion only sees the waypoints.

The interpreter knows or can calculate the centre of the G2/G3 arc and its radius. Motion does not. The change which enabled this was the release of state tags. State Tags passes the interpreter state to motion in real time. 
github.com/LinuxCNC/linuxcnc/blob/master...c/motion/state_tag.h
I extended the tags to include
    GM_FIELD_FLOAT_ARC_RADIUS,
    GM_FIELD_FLOAT_ARC_CENTER_X,
    GM_FIELD_FLOAT_ARC_CENTER_Y,
    GM_FIELD_FLOAT_STRAIGHT_HEADING,
The last field is the heading you need for your knife.
I published all of these state tags as interp.* pins including the heading so interp.heading is exactly what you need!

I was thinking recently now I am retired I should revisit this project. Maybe you can help and come along for the ride.
 
  • rodw
  • rodw's Avatar
Yesterday 01:10
Replied by rodw on topic Ethercat random jitter fix

Ethercat random jitter fix

Category: EtherCAT

1.69 was released two weeks ago. Its what you get from their repos with a current version of Debian Trixie.
gitlab.com/groups/etherlab.org/-/packages

The code should be here.
gitlab.com/etherlab.org/ethercat/-/tree/1.5.2?ref_type=tags

From 2013. wow! that's old! From that, I would think it was built from source from Sourceforge. But well before my involvement.
Just checking Etherlab's gitlab releases, the first version on gitlab repo was 1.53 in 2024 so must be from Sourceforge

From what I can see, its not an Ethercat issue because the Debian 10 version of  linuxcnc-ethercat (with Ethercat 1,52) works with no problems  on Debian 13.3 with Ethercat 1.69.
  • grandixximo
  • grandixximo's Avatar
Yesterday 00:03 - Yesterday 00:13
Replied by grandixximo on topic Ethercat random jitter fix

Ethercat random jitter fix

Category: EtherCAT

Ethercat 1.6.8 is the previous stable release, have you tried that? 1.6.9 is a bit new I think, maybe they changed something?

Do you have the code for lcec version that works on your debian 10? Can you share the .so ? 
  • bedouno
  • bedouno
Yesterday 23:31
HAL COMPONENT FOR was created by bedouno

HAL COMPONENT FOR

Category: HAL

dear friends , i am new imegrant from MACH3 to LINUXCNC, and hope to get engaged to the Real-Time environomrnt and its cabapilties to lead a tangential knife to my application. that MACH3 has this feature with suffecient performance, 
i am intending to develop same logic HALComponent to direct A-AXIS and now i am doing the math and trying to apply it to real-time C languge progrmming , i hope if there any help to guide and cooperate to accomplish it
here is the first approach 


component tangent_knife;
// inputs
pin in float vel_x;
pin in float vel_y;
pin in float acc_x ;
pin in float acc_y ;

pin in float current_angle;
pin in float threshold;
pin in float lookahead_time ;

// outputs
pin out float command_angle ;
pin out bit intervention_required;


function _;
license "GPL";
;;

#include <rtapi_math.h>

FUNCTION(_) {
    double target_angle;
    double future_vel_x, future_vel_y;
    double angle_diff;

    // 1.Simple Lookahead
    //  V_future = V_current + (Acceleration * Time)
    future_vel_x = vel_x + (acc_x * lookahead_time);
    future_vel_y = vel_y + (acc_y * lookahead_time);

    // 2. alculate ange
    if (fabs(future_vel_x) > 1e-6 || fabs(future_vel_y) > 1e-6) {
        target_angle = atan2(future_vel_y, future_vel_x);
    } else {
        target_angle = current_angle;
    }

    // calculating (Shortest Path)
    angle_diff = target_angle - current_angle;
    
    // normalization  -PI و PI
    while (angle_diff > PM_PI) angle_diff -= 2.0 * PM_PI;
    while (angle_diff < -PM_PI) angle_diff += 2.0 * PM_PI;

    if (fabs(angle_diff) > threshold) {
        intervention_required = 1;
   } else {
        intervention_required = 0;
    }

    command_angle = target_angle;
}
  • rodw
  • rodw's Avatar
Yesterday 21:28
Replied by rodw on topic Ethercat random jitter fix

Ethercat random jitter fix

Category: EtherCAT

Thought I'd ask here. User has upgraded from Debian 10 to latest Debian 13.3 and 2.10pre RIP config. Now Running grandixximos Ethercat driver but have not set syncToRefClock yet.

He reports:
With the same xml file, i/o and drive configuration, Debian 10 kernel 4.19 with ethercat 1.5.2 works fine, it has no latency at boot and hasn't given any problems. The current system has kernel 6.12 with ethercat 1.6.9 and has synchronization problems at boot, sometimes it doesn't see some drives on the bus, I'm forced to turn it off and on again. Would it be possible to use the current 6.12 kernel and linuxcnc 2.10, with ethercat 1.5.2?

I copied the lcec_conf and lcec.so files into the respective bin and rtailib folders from the Debian 10 version that I have and which works well on my machines, with linuxcnc 2.9.0 pre1 and etherrcat 1.5.2. At boot time, the drives are now seen within 1-2 seconds of booting and are always found on the bus.

This has 5 axis servos and a few Beckhoff modules attached to EK1100 

Next step is to add syncToRefClock

It seems odd to me that today's Ethercat hal driver is not performing but rolling back to an older version of it works. It seems to me his problem is the driver, not the version of Ethercat.

Any ideas or advice?

 
  • PCW
  • PCW's Avatar
Yesterday 20:21

Mesa 7I76EU TB2 not working right (TB3 works fine) – need help diagnosing

Category: Driver Boards

Unless you changed the firmware, I doubt that that's the issue.
 (all cards are tested and shipped with standard firmware)
  • adhamamer
  • adhamamer
Yesterday 20:16

Mesa 7I76EU TB2 not working right (TB3 works fine) – need help diagnosing

Category: Driver Boards

You think it's worth it to give it another shot with flashing another firmware before returning it or do you advice against that?
  • PCW
  • PCW's Avatar
Yesterday 20:08

Mesa 7I76EU TB2 not working right (TB3 works fine) – need help diagnosing

Category: Driver Boards

The hal and ini file look sane so I would guess its some kind of hardware issue.
 So the card should be returned for evaluation
 
  • adhamamer
  • adhamamer
Yesterday 20:04 - Yesterday 20:06

Mesa 7I76EU TB2 not working right (TB3 works fine) – need help diagnosing

Category: Driver Boards

I tried on a Raspberry Pi 4 with image "image_2026-01-21-raspios-lcnc-2.9.8-trixie-arm64"
and on a Laptop with image "linuxcnc_2.9.8-amd64.hybrid"
and unfortunately i get the same results on both, with the simplest configs i can do, even in the test/tune tab in pnc wizard it acts the same way, Sorry guys i may be missing something really basic here, do you think it might be the firmware?

config name "GG" made on the laptop

Files attached

File Attachment:

File Name: GG.hal
File Size:8 KB

File Attachment:

File Name: GG.ini
File Size:3 KB

File Attachment:

File Name: qtvcp_postgui.hal
File Size:0 KB
  • leexi
  • leexi
Yesterday 19:25

probe basic lath to define a net spindle-index-en spindle.0.index-enable

Category: HAL

I am going to test this

net simulation-Zindex near.0.out => and2.0.in0
setp and2.0.in1 1
net index-logic-ok and2.0.out => tristate_bit.0.in

net spindle-index-en tristate_bit.0.out <=> spindle.0.index-enable

net spindle-index-en => tristate_bit.0.out-en

I hope this fix the Input-output connection signal form <=> spindle.0.index-enable
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