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@tuxcnc
How is using the jogwheel in velocity mode rather than position mode not a solution to this problem?

It is an extremely elegant solution to this problem, that works very well. If you don't think so then you obviously don't understand how this works.

This is not solution, even if it is enough for somebody:

When FALSE (the default), the jogwheel operates in position mode. (...) When TRUE, the wheel operates in velocity mode

@tuxcnc
What is the point of that post?
I'm sorry but your incessant arguing just for arguments sake is starting to _really_ grate on my patience.

andypugh wrote:

linuxcnc.org/docs/stable/html/man/man9/motion.9.html
 

This is not solution, even if it is enough for somebody:

When FALSE (the default), the jogwheel operates in position mode. (...) When TRUE, the wheel operates in velocity mode

Hello,
I have a few follow-up questions:
Is it normal for `spindle.0.index-enable` never to switch to TRUE with M19?
Is it normal for `orient.0.is-oriented` to remain FALSE even though the spindle is perfectly oriented?
Under what conditions is `ORIENT_OFFSET` actually used?

Use 'joint.N.jog-vel-mode' as advised by andypugh.

I got this error. I reduced the acceleration slightly, and after that I produced 20 parts without any errors. Today the same error appeared again. I then restarted the same program, and so far there have been no errors.

 

on another part I get this error
 
ps:

I reduced the maxj quite a bit, but there is no change. I think it is related to the synchronized movement of the spindle.
 
 

Certainly looks like your home pose is way off.

1. The lower arm is not vertical so your homing parameters for joint2 must be off.

2. Joint 4 is off as well it has to be either straight down or horizontal (with the lower arm being vertical)

3. Also joint0 is not oriented correctly, the upper arm is not aligned with the base (Although this is less problematic than the misalignment of joint2 and joint4 )

4. As you noticed the pose in the first drawing and the most recent ones are different. You can choose either one but you will need to adjust your 'side offset' accordingly. In your picture the wrist is obviously offset in the positive y-direction but the coordinate values show a _negative_ Y value, that needs to be fixed in the DH parameters:

 

So, in order to go forward you need to:
1. choose which home pose you want to use and derive the DH parameters accordingly
2. set up your homing parameters so the arm joints are actually in the chosen home pose when all joints are at 0°
 

Holzwurm56 wrote:

Ich will meine Drehmaschine auf eine modernere Steuerung umrüsten. Jetzt läuft sie unter Mach3 und 2 Printerports. Ich habe aus alten
Zeiten noch eine Mesa 7I96 und habe mir aus dem Forum von Tommylight LM22.1 mit LCNC2.10 runtergeladen. Wichtig sind für mich 2 Handräder damit ich auch quasi-konventionell drehen kann. Hat jemand so etwas schonmal gebaut und kann mir ein paar Tipps geben? Oder gibt
es unter LCNC eine bessere Lösung? Die 7I92 scheint ja eben sehr aktuell und beliebt zu sein?
Ich habe die Frage im englischsprachigem Forum gestellt, weil mir das mit den Google-Übersetzer
doch etwas umständlich ist, stelle ich die Frage auch nochmal hier.
MfG
Hans
 

also gemacht hab ich das schonmal, zwar nicht mit mesa aber funktionieren tut es auch mit mesa und mehreren handrädern:



musst nur schauen das du 2 encoder eingänge auf deiner mesa karte aktivieren kannst, da kann dir im nofall PCW helfen.

 

I did finally get my spindle to work. I removed everthing from the spindle control cabinet and replaced them with a KBSI-240D signal isolator paired w/ a KBMM-125 DC drive. Relatively simple wiring, I can put together a simple diagram if needed. Now I'm working on trying to get RPM feedback from the existing tach.

Yes, this is very interesting.

and after reading

forum.linuxcnc.org/ethercat/58227-how-go...ion-control?start=20

From: NWE

this Make me feel that 1,000,000ns thread is slow for ethercat
But as the same time I start to fill myself in the place of look ahead reading paradigm where I can make interpolated circles as fast as my control system can respond on time without lose the path

Thinking in real world G0 at 200IPM and I never machine a part beyond 100 IPM, and high precision, this is not my goal, I guess I will need a controlled temp room for this propose and this is not my field. +-0.003inch it is fine.

My question is Ethercat is enough at 1khz thread to keep the path? ,or should I look for a 500,000 servo thread. Or less?

I have a system full LCNC and Ethercat control, my concern is, how to reach a 200IPM max speed and 0.0001 min resolution in a repeatable and stable motion system, I think now about what is on my control and what is not, what variables I can candle and what I cannot handle, and what is on my budget and what is not.
And as well I fill lack of experience and acknowledge on a perhaps non mature control method. Compared with analog or pulse and direction methods

compared with pulse and direction method mesa card at 100 or 200 kHz is enough for a 200 or 300 ipm at 0.0001inch min resolution. Where even with my parallel port 10kHz I was not far from my needs. And under this method I feel that I can handle all variables that the system have, and I can keep them under control.

But in the other hand I feel ethercat is the future, clean wiring, a lot information from servos and VFDs, closed loop etc. and every day you can find more and more equipment that offering this control method.

Someone has been working with smaller servo thread than 1,000,000ns.
someone on a multi thread CPU has been isolated the ethercat servo thread In one CPU thread, as the same is done with LCNC, Is that possible? Can be helpful?

Please share your experiences.

I use UHU DC servo controllers. They compare the actual position with the target position. If the deviation is too large—for example, if I crank faster than the axis moves—the controller goes into a fault state and stop the axismoving.

tuxcnc wrote:

There are many reasons why you should not use MPG for turning, but I will give you just one - you can turn the handle faster than the axis is moving, in other words, when you are done turning, the axis will continue to move until it reaches the commanded position.

LinuxCNC MPG inputs can be configured to stop moving as soon as the MPG stops. (Because this is such an obvious problem)

joint.N.jog-vel-mode

at

linuxcnc.org/docs/stable/html/man/man9/motion.9.html

It might be worth looking through the PRs as I think that there is other work ongoing in this area.

github.com/LinuxCNC/linuxcnc/pull/3718

After homing in joint mode (idintity) i add second screenshot from world! but i moved B a little bit to go away from 0.0
in my ini:
 
RS274NGC_STARTUP_CODE = G21 G90 G94
#RS274NGC_STARTUP_CODE = G21 G10L2P0 x19.2 y5.5 z9.4 a0 b90 c0 (debug, ini: startup offsets set)

ALPHA-0 = 0
A-0 = 0
#D-0 = 330.2
D-0 = 328.93

ALPHA-1 = 1.570796
A-1 = 0
#D-1 = 121.92
D-1 = 0

ALPHA-2 = 0
A-2 = 203.2
#A-2 = 198.12
D-2 = 121.92
#D-2 = 0

ALPHA-3 = 1.570796
A-3 = 0
D-3 = 203.2

ALPHA-4 = -1.570796
A-4 = 0
D-4 = 0

ALPHA-5 = 1.570796
A-5 = 0
D-5 = 55.88


thanks for your help!

Lets verify your home pose:

1. Home the arm
2. Activate 'Identity' mode
3. Remove all offsets (MDI: g10 l2 p0 x0 y0 z0 a0 b0 c0)
4. Move all joints except joint_4 to zero (MDI: g0 x0 y0 z0 a0 b0 c0)
5. Take a screenshot of the axis gui window
6. Take a picture from the side (ie the Y direction) of your robot
7. Post the two images