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Well Linux just gets more attractive every day.

 

I guess you didn't watch the presentation or pay close attention.

The driver for the Mesa PCI\PCIe cards are loaded during the startup of Linuxcnc.

Linux has no issues loading kernel modules for supported hardware that are added after installation, if this was not the case live versions of Linux wouldn't work, installers for Linux would fall over.

If you have ever read the output of dmesg you would see very clearly that the kernel detects the installed hardware and loads the kernel modules as required, or the hardware may have support compiled into the kernel. With the caveat that the kernel "knows about the hardware". There is absolutely no need for the hardware to be present during installation. For hardware that is "hot swappable" the hardware is not required to be attached/inserted/present during boot, it is detected when inserted, and no this is not limited to just USB devices.
I'm quite astonished at the amount of information you post that is wrong. This is quite a distressing matter as one day someone will take your advice as true and have a very bad experience. You really need to reassess your level of knowledge and take some time out and sit back and learn.
When you are not being wrong you are not addressing the subject matter and being unhelpful.
As I've suggested before read a book and learn.

Linux loads hardware modules at boot time, no matter if it was plugged in during install or not.
Proprietary modules/drives will nor be loaded during install nor after, they will have to be installed separately, like NVIDIA or AMD ROCM drivers.
Linux is extremely good with this as you can even add hardware while the PC is running, granted that hardware does not require BIOS initialization, and it will happily load required modules, like USB video grabbers, and in some cases SATA and PCI-E stuff like hard drives and NVME if set to "hot plug" in BIOS.
I recall having to reboot the windows PC to be able to use the USB stick you just inserted...ah the trauma!!!

FF1 can be tuned further to flatten the ferror plot

Once this is done, you can usually add some I term

If a SSR seems on all the time, it may be that you have the polarity backwards

Getting back to this project.  Servo enables are working now, and started the drive tuning.  Was wondering if someone could take a look at the attached images and provide any recommendations.  Drives are moving smoothly with the tuning parameters, but wondering if there is further improvement to be made in the servo tuning.  I also have an issue where the torch enable signal is being sent all the time.  I have not fully debugged this yet in the wiring, but any suggestions on if there is a configuration issue that could cause this?  The LED on the SSR on the board does light up when the torch pulse is toggled to on.  

Without FF1/FF2 Tuning:
 

With FF1/FF2 Tuning:

I think its something like:

loadrt mux_generic config="ss2,ss2"

addf mux-gen.00 servo thread
addf mux-gen.01 servo thread

And the main created pins are:

mux-gen.00.sel-bit-00
mux-gen.00.in-s32-00
mux-gen.00.in-s32-00
mux-gen.00.out-s32

mux-gen.01.sel-bit-00
mux-gen.01.in-s32-00
mux-gen.01.in-s32-00
mux-gen.01.out-s32

The select pin for both would connect to the angle jog enable
so the two muxes select either the output of anglejog (when
anglejog is selected) or the raw MPG count (when anglejog is not
selected)  The outputs of the muxes go to the appropriate
joint jog count pins.

Hi,
I have one stepperonline A6 running, just on a test bench for now but it is working well.
Internal homing of the drive is now also working, even tough i am not sure how i got that going.
I tried using the homemod from Marco two weeks ago without success, then reinstalled everything, tried it with the untested one from rod, this also did not work then halcompiled the one from Marco again and all of a sudden it worked without any issues.

The only issue i have now is that the servo is not running smooth anymore since i reinstalled LCNC and the ethercat drivers, no idea where that is coming from, but i think i read in another thread that there is a solution to that just got to find that thread again.

I can share the ini hal and xml if anyone needs that.

EDIT:
I dont think that the difference from the A6 to the EL8 is that big, both are CIA402 so both should work with the same homemod etc., correct me if i am wrong? 

If you don't get a good response here you might be better off raising an issue with
the developer at github.com/linuxcnc-ethercat/linuxcnc-ethercat
I think he got one Omron MX2 himself and that's why it is supported directly.

just a playful child

the platform (zynq/vivado) is actually quite cool and if i hadn't approached it like the other fpga's, it would have been much easier.

if a linux is already on it, you only need a usb-serial adapter and you can configure the network.
the bitfile can then be copied and started via scp/ssh.

The downside of these things is that vivado is very slow and the FPGAs are very expensive when new.

and you should have 100gb of space on your disk

Be you man or be you God ?

Hi all!

first of all, great work! I managed to get everything running just by reading all the great posts here! All the nice HowTo´s and so on... 

But now i got stuck...

what do i have?

i´m running a RPi 5 with LinuxCNC (latest Preempt Version) 
a Mesa 7i76EU (everything working)
a Pendant WHB04-6 (everything working)
and some Beckhoff EtherCat modules (everything working)
and last i got my self an EtherCat Module for the Omron MX2 (partial working)

I can´t figure out how to drive the Omron MX2, there is some mismatch in the type of the controlword
my ethercat xml has only the Modulelist, no special entries like syncmaster and so on... 

the Device shows up in the HalShow under lcec, all "Pins" are viseble, ethercat slaves shows the device... so i think its just a small config problem in the xml

maybe someone out here who has it running...

Thanks for looking / helping...

Cheers Einar 

 

PCW wrote:

I would think that could be done with 2 mux2 components
(1 for X and 1 for Z) that select between anglejog outputs
when anglejog is enabled and direct MPG counts when
anglejog is not selected.

Agreed I will need two, one for X and one for Z, however mux2 works with floating point numbers, and the MPG counts are S32, so I don't think I can use mux2

mux_generic seems like it should work because you can select the data type, however I need a little help configuring mux_generic:
  - I assume I would add it to the servo-thread?   loadrt mux_generic config="??????"
  - the other pins are a bit fuzzy, looks like I need to specify:
     mux-gen.00.in-s32
     mux-gen.00.out-s32
    
I'm not sure how to:
a)  assign encoder-counts and angle_x to the two inputs of the multiplexer?
b)  route the output of the multiplexer to axis.x.jog-counts?
c)  define the control bit that will select the desired input? 

   Your help is appreciated.

So both motors are triggered and do move (jolt) when I enable the machine in linuxcnc. Looks like a central command goes to both motors to move. Powering the esab machine without linuxcnc is fine. No movement. Will check the voltage and report back.

Overrides are just set via physical up and down buttons, or via GUI in my setup.

New machine will sue encoders to have physical knob.

If easiest, a pop up warning that overrides are set, and buttons to cancel program, or proceed, would be very useful.