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depronman wrote:

I didn’t spot it in the bios but equally wasn’t looking for it. Is it normally in the same area of the bios screen that legacy mode and secure boot reside ?

 

That sounds like it... Trusted computing. Boot priority. Those are some areas I'd think of checking. If it is nowhere, then it probably does not have CSM.

One naughty bios in one of my systems a while back showed: CSM = disabled. It could not be enabled. The manual said it can be enabled if you install a graphics card. I tried that and it worked. Which was a problem because it had only one PCIe slot and I wanted something else in it; I had no need for a graphics card on that system.

We created a file using the proconf Wizard.
We compared it to ours because ours was created with an older version.
We noticed some differences.
Then we imported the differing lines into our HAL file, which successfully removed the errors, but the axes still move slowly automatically.
In the HAL file, we marked the sections we took from the other configuration with #####Test######
Items we commented out are marked with two ##.

depronman wrote:

Can’t find anything in the bios related to csm

Not all bios seem to have that.

If bios has CSM and it is turned off, I have no luck booting anything in legacy bios mode, I get:
"No boot media found"

My hazy memory is slowly refreshing. It seems I manually created a small bios boot partition (legacy mode) or efi partition (uefi mode). I never investigated why I had to do that; whether:
1. The automatic partitioner failed to create it, or
2. Some option I had selected prevented it from creating it automatically.

Posting a screenshot of what it is creating at the stage it asks you to confirm the partitioning might be helpful. I'm not sure whether there is an easy way to take a real screenshot of that, you might have to snap a photo of it.

Hallo zusammen,

ich suche Unterstützung beim Aufbau und der Inbetriebnahme eines LinuxCNC-Systems – nicht nur ehrenamtlich, sondern gerne auch gegen Bezahlung (€).

Kurz zu meinem aktuellen Stand:
Ich habe bereits ein 4-Achs-System aufgebaut (ohne Spindel), betrieben mit Mesa-Hardware und Schrittmotoren. Das System läuft grundsätzlich, jetzt möchte ich jedoch eine Nummer größer planen und perspektivisch auf EtherCAT mit Servomotoren umsteigen.

Je mehr ich mich allerdings einlese und anschaue, desto klarer wird mir, dass ich das wahrscheinlich nicht komplett alleine sauber umgesetzt bekomme. Daher suche ich jemanden, der mich beim Konfigurieren und der Inbetriebnahme von LinuxCNC mit EtherCAT-Servos unterstützt.

Geplanter Ablauf:

• Aktuell bin ich noch bei der Auslegung der Motoren und der Auswahl der passenden Servoregler
• Sobald die Hardware da ist, möchte ich zunächst ein Testsystem am Desktop aufsetzen
• Ziel ist:
  • Motoren, Endschalter und Homing-Schalter korrekt in LinuxCNC einbinden
  • Eine saubere Dokumentation, wie die Motoren später kalibriert werden müssen
  • Sicherstellen, dass die Verfahrwege exakt stimmen, sobald die Mechanik fertig ist

Der Zeitrahmen für das Projekt liegt bei ca. 3–6 Monaten.

Örtlich & Zusammenarbeit:
Ich komme aus dem Großraum Stuttgart.

• Bei Nähe: Gerne persönliche Zusammenarbeit, Hardware kann ich bei Bedarf vorbeibringen
• Bei größerer Entfernung: Remote-Setup ist für mich völlig okay (VPN / Remote-Zugriff auf den Linux-Rechner + Videoübertragung)

Aktuell ins Auge gefasste Anbieter (EtherCAT-Servos):

• OMC Stepperonline – A6 Serie
  • www.omc-stepperonline.com/de/1000-w-ethe...67-a6-ec1000h2b1-m17
• JSS Motor – JSS715N Serie
  • www.jssmotor.com/de/jss715n-series-1000w...otor-and-servo-drive
• Koco Motion – EL8 Serie
  • www.kocomotion.de/produkt/el8-series-eth.../?tab=technical-data
• Leadshine – EL8 Serie
  • www.leadshine.com/products/servo/servo-drive/el8-series.html

Meine Frage an euch:

• Hat jemand Lust und Zeit, mich bei diesem Projekt zu unterstützen?
• Oder könnt ihr mir jemanden empfehlen, der Erfahrung mit LinuxCNC + EtherCAT + Servos hat?

Ich freue mich über jede Rückmeldung.

Viele Grüße
Muecke

Can’t find anything in the bios related to csm

Not wanting to derail the original topic but my work around of installing 2.9.7 and then using the package manager to update to 2.9.8 failed

2.9.7 install from the iso ok other than a slight problem with a profile error on the desktop package. This did not affect anything
connected WiFi ok
apt package manager reported broken packages that needed fixing before linuxcnc would update to 2.9.8
fix broken packages didn’t work
so I’m some what stuck with my workaround

Thanks for the reply NWE
I’ve downloaded the iso 5 or 6 times and burned it to many different pen drives using various versions of Rufus and bletcher (I think that’s what called)
My friend also downloaded the same iso and burned it to a pen and installed onto a NUC without issue. He lent me the pen and that one failed at the same point
Also tried on numerous PC’s and numerous hard drives both ssd and mechanical hdd

I’ll give your theory on partitions a try tomorrow
Thanks

Paul

I'm sorry
I think you misunderstood me.
I am using the component and trying to understand how the process works from a control technology perspective.
Are the servos initialized and their status checked first, and then the homing process started, or is the homing process started without checking?
What happens if a servo is not ready?
What happens if a servo does not start the homing process or starts it with a long delay (watchdog)?
How is monitoring performed if a coupled axis on a gantry does not start moving during homing?
Since Linuxcnc has no control over this type of homing, these error cases should be monitored, otherwise the machine could be damaged.

In my opinion, the homing process should be initialized first.
Then check whether all servos are in the correct operating mode.
Then start the homing process.
During the homing movement, monitor whether the axes are synchronized (gantry).

 

I understand that you resolved the SPI issue when the RPi was the SPI master and was talking to the Octopus, but for the Ethernet config the Octopus board is the SPI master talking to the W5500 chip. So I would first try to reduce the SPI speed by changing the line I mentioned before.

depronman wrote:

I downloaded the 2.9.8 latest version from the first link in the download page
Burned this iso to a pen drive under windows using Rufus latest version
Live preview works fine
Graphic install consistently fails at the point of installing GRUB

 
 

It's a bit hazy in my memory what I did the ocational time I ran into that. I recall fixing it by choosing a different partitioning scheme during installation.

edit:
One day it was simply not working (grub install failed) and I finally started over with a different pen drive then it just worked. My pen drive was not quite up to snuff. Also confirm your downloaded iso contains no errors.

I just made logical changes in ldscript, by looking at 3 scripts in repository. I think you are good in programming so you can make out something by looking at those scripts.
FYI... I am using ben-jacobson repository for remora_stm32f4xx_pio. He has working on nucleo_f446 board.
No spi issue was resolved. Since I was using RPI4, I have to include spi_clk_div=32 as argument to make spi working.
Other issue with tmc was resolved by changing spi to spi2 and assigning new interrupt.

Hi,

I had a quick look to the platformio.ini and it seems consistent. For the ldscript I'm afraid I'm not the right person to look at it, as I have absolutely no experience with this. Did you already try to reduce SPI speed, as you had issues with SPI communication? I think this line set it to 45MHz in EthComms.cpp:

spiHandle.Init.BaudRatePrescaler        = SPI_BAUDRATEPRESCALER_2; 

I wrote that firmware to the board.
I used the discovery option and accepted the component changes.
This still make zero sense:

What is the PID output controlling, torque or velocity?

From the video it looks like you are controlling torque, in which case
you either need cascaded PID loops (inner  velocity --> torque and
outer position --> velocity loops) or a single loop with a large amount of D term

I would first  try adding D term to your existing setup. the more D term you add,
the more P term will be stable. 

A torque loop --> position loop with no D term, that is, the restoring force
is only proportional to displacement  is  basically a pendulum...