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I would suggest commenting out the offending line till you can get LinuxCNC to load. Then check what pins mb2hal created. I question whether mb2hal actually creates mb2hal.spindle-set-speed, usually I see pins something like mb2hal.0.1 where the first number is the transaction number and the second is the element number.

Or am I missing something? Is there a method to have mb2hal create labeled pins?

Not aware of any Mesa suppliers in UK, but these i used a lot:
Portugal: www.eusurplus.com
Germany: www.welectron.com

Not all drives are cia402 compatible. Yours probably isn't.
you need to share more info eg.
ethercat pdos > pdos.txt 
ethercat sdos > sdos.txt
and also try using lcec_configgen > configgen.xml (but there are some optional command line switches) It may create your XML for you.

Thanks for sharing! This is great stuff. My mill is from the same time period, so same problems as yours I guess. It's a 1989 Maho MH600E.

One thing though, would you mind sharing your actual config files? That whould be the absolute best way to help us others who are also trying to wotk out how to make this work. And since my machine have much the same issues as yours I'm hoping to be able to have a closer look at a config file which is actually working, and have solved this problem.

Thanks for sharing! I hope you see this and are willing to share your config files too!

Cheers

just want to say that i am following closely on this as i am thinking of doing the same retro in the coming years on a mill turn like the intergrex. very interesting. i have 7 big cnc machines all 5ton plus machines running in my machine shop and love it. pretty keen to get into mill turn at some stage but don't really want to use the old controllers. they keep dying and i seem to have so much more machine once its got linuxcnc on it. but a mill turn is a big job!

if you want to swap notes on messenger or something hit me up probably best from my website beckcnc.co.nz.

i would love to chat this looks awesome

cheers

hey guys

just wanted to report back on this dual feedback thread

I have a large cnc with 0.1mm backlash on the z axis.  so i put a scale on it and the results are awesome

i have accuracy within 0.002mm (compared to the scale accuracy at least assuming that is  good)

i tried both 1 PID loop and 2 PID loops that have the outputs summed together.

with the single loop i had the velocity PID input coming from the motor rotary encoder and the final position from the linear encoder.  and it worked but was really rough and kept bouncing back and forth with the 0.1mm backlash  

the two summed loops are really smooth and awesome  the trick is the first loop has the high resolution encoder on servo drive and that has really good performance and of course no backlash.  and I can change all the normal PID values except Integral  and the 2nd PID loop only has the linear encoder input.  and only PID setting is Integral.  so i get nice and smooth motor but still backlash from first loop and then once the axis gets close the Integral moves the last 0.1mm over a second or so.
so by the time i am cutting the machine is perfectly where it should be.  this is probably not so good for high speed surfacing stuff for that you need to remove the physical backlash.  but for a slightly slower machine its awesome.

have a look at this thread where i show some more photos of it.  its working most days now and running hard in production.


forum.linuxcnc.org/show-your-stuff/58689...ing-running-linuxcnc

cheers

 

Hi everyone,I'm looking for some help from the community with configuring a Lenze drive setup to work with LinuxCNC via the(lcnc-ethercat) driver.The Hardware:

• Axis module: Lenze ECSxM
• Communication module: Lenze EMF2192IB (EtherCAT)

The Issue: I am trying to configure the axis module control using the standard CiA402 profile. However, during diagnostics, I ran into some mapping issues:

1. When running the

   ethercat pdos

   command, the core CiA402 profile indices like

   0x6060

   (Modes of Operation) and

   0x6061

   (Modes of Operation Display) are missing. From what I’ve gathered in the Lenze documentation, these parameters seem to be strictly hardcoded into SDOs.
2. When running

   ethercat sdos

   , the master only returns unnamed indices strictly within the

   0x2000

   to

   0x5801

   range. Nothing above this pool is visible (objects from

   0x6000

   onwards are missing entirely).

Given this situation, I have a few questions for the experts here:

1. Is it actually possible to get the ECSxM + EMF2192IB combo running properly under the standard CiA402 profile in LinuxCNC? Does a native driver/component for

   ethercat-cia402

   support this particular hardware?
2. If the standard profile isn't supported out of the box due to Lenze's proprietary layout, what is the best way to handle the control? Do I need to manually map the Lenze-specific SDOs/PDOs (from the

   0x2000

   -

   0x5000

   range) into HAL, or should I write a custom XML config to handle PDO Mapping via SDO download?
3. If anyone has successfully configured this or has a working

   ethercat-conf.xml

   example for this generation of Lenze inverters, could you please share it?

Any advice, pointers, or examples would be greatly appreciated!Cheers!

deltafox24 wrote:

Have you tried running RS485 through this module? I just can't seem to get it to work.

I got it going once in a test config but then never again after I built a full config. I suspect you need to set higher timeout on the serial port but have not played again.

Honestly it sounds like you should be using a Darlington OPTO in place
of the low CTR PC817, say a LTV-815 or similar.

( PC817 mas a minimum CTR of 50% vs the LTV-815's 600% minimum )

Yes! that is a win, especially if combined with the new G28 that allows rehoming
a single axis. That would really simplify combined axis/spindle operations.

Alright, bit of progress. I did some testing and managed to get the PC817 module working — at least for now.

The module has a 302Ω resistor on both the input and output side. When the LED turned on, the output voltage only dropped to about 21V, so the servo driver wasn't seeing it as a proper low signal.

I tried putting another resistor in parallel with the one already on the output side, and bingo — reverse works. With a 3k resistor in parallel, the output drops to around 14V. With a 1.5k, it drops to about 10V. Both values make the servo reverse properly.

So my question now is, what's a safe resistor value to leave in there permanently? I don't want to damage anything, but I need it to work reliably. What would you guys recommend?

Hal files are loaded in sequence as listed in the ini file, is the ordering there set correctly?
Check for typos in the pin names.
Check the ordering of hal files as if you call on a pin that has not yet been loaded, it will fail.

I started testing this and failed to recreate the issue on a sim, used the parallel port config included with LinuxCNC and while testing life got in the way and had no time to continue testing.
Thank you for reporting back.

Hallo timo,

vielen Dank für Deine Info. Ich habe die Endschalter auch in der ini abgeschatet.,

nach Anweisung von ACIERA..

Damit kann ich erst mal arbeiten.

viele Grüße Karlhe

I am in need of some help. In mb2hal.ini transaction 02, I can not get the set speed working. The crash message states that " mb2hal.spindle-set-speed does not exist ". I have stated it in the custom_postgui.hal file. I am wanting to have the " run speed slider " populate the set speed parameter in the drive.
Transactions 00 and 01 work fine

Any ideas would be appreciated.