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Hi, 
here is my configuration.
It works. I use XYYZ.

But please note, maybe someone here can give me a tip.
The servos need a few seconds before they are ready.
After starting Linuxcnc, it takes 3 seconds for the X-axis to be ready.
Then another 3 seconds for the YL-axis to be ready.
Then another 3 seconds until the YR axis is ready. 
Then another 3 seconds until the Z axis is ready.
If I press the machine ON button too early, the error I described occurs and one axis does not move during homing.

Maybe someone knows what the problem is, or is there a way to only turn on the machine when all servos are ready? 

 

cnbbom wrote:

The Kernel Headers are not available for download. Is it necessary, or can I use the one I have here?

The ones on the server are the ones you provided, so yes. 
But you don't need them unless you are compiling from source. 
And this link works for me... www.linuxcnc.org/dists/trixie/base/binar...ai-amd64-1_amd64.deb

What's the error? Spindles are often a source of electrical noise. Do you see the error even if the spindle hardware is not connected?

Getting myself in a mess wrt to a machining job on a three axis mill and three tools that get manually changed.
Spindle has a quick change system that accepts ISO type holders. Each tool has its own backend.
I have been setting the three tools by calling T1M06, T2M06 etc  in the MDI, putting the appropiate tool into the spindle and then touching it down on a setting gauge, until it registers zero, clicking the Tool touch off button. Repeat for the other two tools after calling for the tool change.
Then I take one of these tools, and use the Z touch off button to touch off onto the work piece datum.  
Can then check the tools individually, by changing to the tool, running G43 in the MDI, and Issuing G0 Z0.
The Z figure in the DRO, is zero and the tool is at the workpiece daum height. So far so understandable.
At this point things get a bit shakey if say I want to pull T1 tool out of its holder another 10mm because I've not allowed enough clearance between the collet nut and the  workpiece.
If I adjust the tool, and put it back over the setting gauge, which is at the same fixed point on the machine it was at the start, and re tool touch it off and call G43, the z height reading on the DRO is zero again, but the actual z position wrt to the workpiece  is around 12mm off from being where I expected it to be.

I think I am missing a bit of the puzzle somewhere, as I cannot see mistake I am making.

Thanks

It would be good if there were more reports from people who have now installed RTAI without freezing, restarting, or crashing. Because now I realize that something between RTAI and my CPU doesn't work, and the problem is getting the spindle to work through automatic control. For now, I can use the spindle manually on its keyboard since, for the first time, I can control the machine with RTAI.

Im struggling to understand why it works for both of you. I have 2 different machines and a laptop and it works on none of them. All 3 computers running 2.9.3.

You changed nothing but line 24 ?

Hello Hartwig,

I am using the 7i97T exactly for that. But for the automatic toolcanger, wich hast some hydralic pistions, I will need extra I/Os.

-The 7i97T is for the movment of the axis, spindle and encoders.
-The 7i84s is for the control of the toolcanger.

Do you unterstand?

@3404gerber thanks for your all response. Finally I was able to make it working. Added spi_clk_div=32 in remora-spi arguments.
But it was never required earlier. I am using raspberry pi 4b.

Finally, I managed to get these results working as shown in the photos, however there is a problem: if I enable spindle pwm, spindle cw, and amplify enable vm, an error screen appears.

Hello Mbrandt,

why are you not using a 7i97T only? It has the I/O for the control of six seperate axes itself.

Best regards

Hartwig

Do you mind sharing your working configuration?
Im not sure about 60FD

The Home_Sequence was removed on purpose because of the dual y axis (im only trying to get X working atm).

A6_abs_homing is just the cia402 homecomp from collinbardini renamed.

I'll try to make them executable.

I duplicated a set of code that worked in Axis 2.8.1 andi ran on it in 2.9.7.

'test.ngc'

%
G0 X1
o<myfile> call
M05
M30
%

'my file.ngc'

o<myfile> sub
g0 X10
o<myfile> endsub
M2

'%SYMBOLS AT BEGINNING AND END'
Near line 4 of /home/cnc/Desktop/test.ngc:
Failed to find sub 'Omyfile" before EOF

'NO % SYMBOLS'
Near line 4 of /home/cnc/Desltop/test.ngc:
EOF in file:/home/cnc/Desktop/test.ngc seeking o-word: o<myfiles from line: 3

The searched for file is completely different. Not sure what that signifies?

Hi,
I find your ethercat_2025-12-29.xml interesting.
Could the Z signal from the encoder also be sent via 0x60FD?
The HOME_SEQUENCE is missing in the [JOINT] section of your .ini file.

I can't say whether your HOMEMOD = a6_abs_homing is correct.
I use HOMEMOD = cia402_homecomp.
I'm not familiar with any of the other parameters in [Display] to [EMCIO]; they probably belong to probe_basic.

Interested!

Cost?

Hi grandixximo,
Congratulations and big thank you for taking on this long pending task of adding scurve velocity to linuxcnc.
By the mathematics of circular arc blending (used by Rob Ellenberg) in the current linuxcnc planner, there cannot be finite jerk at the transition from a line to a circle or vice-versa. Circular arc blending uses circular arcs to blend the path between two lines or lines and arcs.
To limit jerk at the transition, you need to use a different geometrical primitive than a circular arc.
Grotius has used clothoids and the implementation is available in his clothoid3d library: codeberg.org/skynet/libclothoid3d
Others have used splines. For example opencn uses hermite splines: mecatronyx.gitlab.io/opencnc/opencn/CNC_...tric_Operations.html
Apart from G2/C2 continuity at the junctions, these curves are parameterizable by path length, a property used extensively in the look-ahead optimization.
Once again thank you for taking on this task.
-automata