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I just need someone to test my CAM web app for bugs, feedback, and feature requests. Willing to add post processors to the software if its not there. The app is at plasmadesk.com no sign up works when u visit.

Hello everyone,

After successfully getting the EtherCAT configuration for the A6 750W up and running, I ordered the remaining servos for my milling machine.
A word of warning in advance: I had a lot of trouble with German customs. If the value of the goods exceeds €150, you have to react quickly and submit all the necessary documents to DHL Express, otherwise the delivery will be sent straight back to China.

The servos ordered this time are not the A6 750W but the A6 400W (A6-EC400H2A1-M17-STO). I thought I would just have to duplicate the entries in Ethercat.xml and only adjust the slave idx=.
That doesn't work. The A6 400W use completely different addresses.
Here is an excerpt from the Ethercat configuration:

A6 750W
=== Master 0, Slave 0 ===
SM0: PhysAddr 0x1000, DefaultSize  256, ControlRegister 0x26, Enable 1
SM1: PhysAddr 0x1400, DefaultSize  256, ControlRegister 0x22, Enable 1
SM2: PhysAddr 0x1800, DefaultSize   12, ControlRegister 0x64, Enable 1
  RxPDO 0x1600 ""
    PDO entry 0x6040:00, 16 bit, ""
    PDO entry 0x6060:00,  8 bit, ""
    PDO entry 0x607a:00, 32 bit, ""
    PDO entry 0x60ff:00, 32 bit, ""
    PDO entry 0x607c:00, 32 bit, ""
    PDO entry 0x6098:00,  8 bit, ""
    PDO entry 0x6099:01, 32 bit, ""
    PDO entry 0x6099:02, 32 bit, ""
    PDO entry 0x609a:00, 32 bit, ""
SM3: PhysAddr 0x1c00, DefaultSize   28, ControlRegister 0x20, Enable 1
  TxPDO 0x1a00 ""
    PDO entry 0x6041:00, 16 bit, ""
    PDO entry 0x6061:00,  8 bit, ""
    PDO entry 0x6064:00, 32 bit, ""
    PDO entry 0x606c:00, 32 bit, ""
    PDO entry 0x6077:00, 16 bit, ""

A6 400W
=== Master 0, Slave 1 ===
SM0: PhysAddr 0x1000, DefaultSize  256, ControlRegister 0x26, Enable 1
SM1: PhysAddr 0x1400, DefaultSize  256, ControlRegister 0x22, Enable 1
SM2: PhysAddr 0x1800, DefaultSize   12, ControlRegister 0x64, Enable 1
  RxPDO 0x1701 ""
    PDO entry 0x6040:00, 16 bit, ""
    PDO entry 0x607a:00, 32 bit, ""
    PDO entry 0x60b8:00, 16 bit, ""
    PDO entry 0x60fe:01, 32 bit, ""
SM3: PhysAddr 0x1c00, DefaultSize   28, ControlRegister 0x20, Enable 1
  TxPDO 0x1b01 ""
    PDO entry 0x603f:00, 16 bit, ""
    PDO entry 0x6041:00, 16 bit, ""
    PDO entry 0x6064:00, 32 bit, ""
    PDO entry 0x6077:00, 16 bit, ""
    PDO entry 0x60f4:00, 32 bit, ""
    PDO entry 0x60b9:00, 16 bit, ""
    PDO entry 0x60ba:00, 32 bit, ""
    PDO entry 0x60bc:00, 32 bit, ""
    PDO entry 0x60fd:00, 32 bit, ""

This means I have to rewrite the xml for the A6 400W.
As soon as I'm done and the configuration is running, I'll upload it here.

regards

Andre

I have had loong time before network tunning done this ... it is basic stuff for latency reduction at any hardware

I will do the kill of EEE and I will share the resaults in comming weeks .. thanks for hint !

regards 

Your English seems fine to me, better than plenty of people from America actually.

Is your issue resolved?

You might also want to disable IPv6 on the card, otherwise there are
some discovery packets sent. After the card is up, I use the following
command to turn of IPv6:

sysctl -w net.ipv6.conf.eth1.disable_ipv6=1

It is indeed a long list.
Where in the world is this table going to be built?
I noticed RS485 specified for servos which is not suitable.
I share others concerns about gantry weight but don't know table size.
I have built complete plasma controllers that were shipped to the customer previously and selected motors and gearboxes etc.
ref: 
In the absence of PM;s here, you can contact me in the first instance via the email on my YouTube channel
www.youtube.com/@MrRodW
 

"Run" top menu option, Start debugging. There will come a green play button, step button and some more at some point.
Click left of the line number to add breakpoint. Right-click variable and add to watchlist. And much more

Great thank you for your support.
How do you debug in your platformio project?

I will create my usbject once I made some progress
Meanwhile I remove pin SYNC0 and SYNC1 but its not working anymore with the original project, i will need to adapt with yours 

My latest video is 28 minutes of pure gold for those needing to minimize network and system latency on Debian Bookworm and Trixie

The info assembled here is scattered and its never been available in one place. Also, many articles on the internet refer to obsolete applications no longer in Debian Bookworm or Trixie (for good reasons).

This video covers how to:
1. Configure the GRUB kernel settings
2.  CPU Governor set to performance
3. NIC coalescence disabled for Intel network cards
4. Network driver correctly installed and configured
5. CPU core isolated for LinuxCNC Real time process.
6. IRQ for Network card identified and set to Isolated core
7. Outlines why irqbalance should NOT be installed

Also, whilst kernel documentation states energy efficient ethernet is disabled by default but this is not always the case. Whilst some NIC's allow it to be disabled with GRUB parameters, there is no standard so different network interfaces need different treatment with hard to find parameters. We show how to create a service that disabled all NIC's. This requires a configuration file attached (to be used in conjunction with the video) that I have attached as a convenience here.

This has been one of the hardest LinucCNC tutorials I have ever put together. Please provide feedback here and as comments on the Youtube video. Enjoy!

 

Sure, let's do that.

Best to start your own thread I guess.
I propose you do it in two steps
1. get encoder working
2. ethercat.
 

Hello @Hakan
I received the board and it worked smoothly with the firmware inside.
However I have a lot of issue to edit, mainly I think due to chinese chars that are not converted correctly.

The TIM2 CH1 and CH2 are quite easily accessible. Do you want to help/assist me in order to build the new firmware ?

I think i can take you firmware and edit it, I feel almost capable, however regarding the eeprom etc I'm totally lost.

Maybe we can try step by step?

Anyone?
Probably got terrified of the long (and not very useful) list.
The list should be something like:
-e-stop chain
-limit and home switches (with sensor input relays for full isolation)
-extreme limit switches for DC brushed motor machines (to prevent mayhem in case of runaway)
-Mesa boards wiring to drives, input relays, output relays, and maybe MPG
-power section
-list of connectors and pinouts
-...
Thing is, we can not make a schematics for you without having every exact detail about your machine setup and wiring, that is something you have to provide.
Or do you want us to come up with the wiring and base your machine on that?
-
Personally, i write things on paper and take pictures of those papers for archiving, while the papers go with the machine.

Oh, that works great, thank you very much. I even made a small function that checks the active HAL pin against the widget every time the encoder signals, but your method is much more elegant.

New question: how to connect a button to a HAL pin? I want to add an MPG on/off button. I created a HAL pin in the handler file and created IndicatedPushButton. In the button properties, I added HAL.set_p(’mpg.mpg-enable’,’1’) to true_python_cmd_string. But I got an error:

  File "<string>", line 1
    HAL.set_p(’mpg.mpg-enable’,’1’)
              ^
SyntaxError: invalid character '’' (U+2019)

Can you find anyone near you that knows a bit about wiring?
That would be very helpful.