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  • Grotius
  • Grotius's Avatar
19 Mar 2025 10:31
Replied by Grotius on topic scurve trajectory planner

scurve trajectory planner

Category: General LinuxCNC Questions

@Arciera,

The abstract proposes forward transformation (projection) to the xz plane.
Indeed the problem does not arise when there is no z value.
And yes we are directly fitting in 3d space.

The problem isn't there, when you do a plane fit. This is in fact a 2d fit solution in 3d space,
including forward & inverse transformation steps. We did this using the 2d clothoid lib in our
previous planners.

Maybe we can think about this problem and how to solve it using a 3d space fit.

You can state that this is a clothoid wich makes a full torsion turn, wich has no reason to do so.
  • I think the ceres is giving it a initial torsion value, and goes on with the torsion during fit iterations until a endpoint fit is found.
  • Why does it use this full torsion only in certain space corner directions? Is there a reason we don't know yet?
  •  
@Mennil,

The clothoid3d uses a non-linear solver to find the xyz endpos for the clothoid fit.
The solver will iterate to the desired endpoint in shortest way, naturally.

It's very unlikely for the ceres solver to give us a self intersecting result as shown in your picture,
unless we give incorrect input angles.

And it's unlikely we have infinite solutions regarding the 4-clothoid-spline fit.

 

The codebase ruled out self intersecting clohoids by making improvements to the abstract:  Abstract bug fixes
  1. In eq45, page 7, the Delta Theta is calculated by: Thetai4 - Thetai0.
    The clothoid Delta Theta produced by this substraction, is not alway's correct.
    When the incorrect value is used, it shows a self intersecting clothoid.     Eq.45 input Angles are in the range [0,-2pi], [0,2pi]. Substraction can lead to a incorrect
    Delta Theta.     To solve this issue, we convert back the thetai[x] into a xy vector.
    From here the signed angle between 2 vectors is calculated.

    This ensures a correct Delta Theta value.     Problably this is also the reason why in the abstract forward & inverse transformations are used.
    In this codebase forward & inverse transformations are obsolet
  • Aciera
  • Aciera's Avatar
19 Mar 2025 10:29
Replied by Aciera on topic G33.1 synchronized tapping problem

G33.1 synchronized tapping problem

Category: General LinuxCNC Questions

Also note that [JOINT_4] FERROR=10 and MIN_FERROR=1 may seem a bit large but are due to a lag in the simulated encoder feedback from the Mitsubishi controller I use here.
  • UrKibin
  • UrKibin
19 Mar 2025 10:28
Replied by UrKibin on topic CINCINATTI MILACRON ARROW 500 (BDS4 + VFS5) WITH MESA 7i77 + 6i25 WITH LINUXCNC

CINCINATTI MILACRON ARROW 500 (BDS4 + VFS5) WITH MESA 7i77 + 6i25 WITH LINUXCNC

Category: Milling Machines

Hi all,

I tried one axis first to be safe.

If encoders are disabled in HAL file, I can move the y-axis freely. no shaking. everything is smooth.

But if encoders are enabled, I have varying results.

a lower scale (819.2) - joint 1 following error
a higher scale (4096) - no error but shaking occurs

May PID settings are
P - 50
I - 0
D - 0

Ballscrews are around 10mm

Regards,
Kibin

 
  • meister
  • meister
19 Mar 2025 10:28
Replied by meister on topic scurve trajectory planner

scurve trajectory planner

Category: General LinuxCNC Questions

my home directory is still there, puh, but

/usr/local/src/
/usr/src

and much much more other file are gone,
now i can re install my system and hope that nothing important is lost

WTF
  • Aciera
  • Aciera's Avatar
19 Mar 2025 10:25
Replied by Aciera on topic G33.1 synchronized tapping problem

G33.1 synchronized tapping problem

Category: General LinuxCNC Questions

I have found a workaround for the issue described above using hal commands.
Here is my config including the hal component I use to disconnect the encoder position value and the modified orient component to rehome to index before orienting the spindle:

 

File Attachment:

File Name: Drehachse.tar.gz
File Size:10 KB

Some notes:
- Rotary (Caxis) is on Joint 4, uses a stepgen with settings from ini [JOINT_4] section
- Spindle also uses stepgen but with setting from ini [SPINDLE_0]
- Startup mode is rotary with joint.4 homing to index (ie joint.4.index-enable is connected in HAL)
- 'M419' moves rotary to 0 position, sets hal pin to freeze joint.4.pos-fb  and calls M119 to set stepgen values as set in  ini [SPINDLE_0] and disconnect 'joint.4.index-enable' to avoid breaking sinchronized motion as outlined in my last post
- 'M420' orients the spindle to 0° (using index to rehome first) sets hal pin to reconnect the encder to joint.4.pos-fb  and calls M120 to set stepgen values as set in  ini [JOINT_4] and reconnect the 'joint.4.index-enable' pin
  • meister
  • meister
19 Mar 2025 10:24
Replied by meister on topic scurve trajectory planner

scurve trajectory planner

Category: General LinuxCNC Questions

WTF

the installer script from the first post have removed all user writable files on my system
File Attachment: 

git clone https://codeberg.org/skynet/linuxcnc_scurve_compact
cd linuxcnc_scurve_compact/cmake
./installer
....
rm: cannot remove 'src/python3.11/Parser/Python.asdl': Permission denied
rm: cannot remove 'src/python3.11/Grammar/python.gram': Permission denied
rm: cannot remove 'src/kugel.scad': Permission denied
rm: cannot remove 'src/MXM': Permission denied
CMake Warning:
Ignoring extra path from command line:

".."


CMake Error: The source directory "/" does not appear to contain CMakeLists.txt.
Specify --help for usage, or press the help button on the CMake GUI.
make: *** No targets specified and no makefile found. Stop.
make: *** No rule to make target 'install'. Stop.
Current directory after build_cmake: /usr/src/MXM/linuxcnc_scurve_compact/cmake
./installer: line 9: cd: configs: No such file or directory
./installer: line 10: ./run_axis_9: No such file or directory
Current directory after run_lcnc: /usr/src/MXM/linuxcnc_scurve_compact/cmake
installer finished.
odippel@odippel:/usr/src/MXM/linuxcnc_scurve_compact/cmake$
odippel@odippel:/usr/src/MXM/linuxcnc_scurve_compact/cmake/../.$ cd /usr/src/MXM/
odippel@odippel:/usr/src/MXM$ ls -l
total 0
  • MennilTossFlykune
  • MennilTossFlykune
19 Mar 2025 09:53
Replied by MennilTossFlykune on topic scurve trajectory planner

scurve trajectory planner

Category: General LinuxCNC Questions



www.sciencedirect.com/science/article/pii/S0010448518304305
  • Murphy
  • Murphy
19 Mar 2025 09:49 - 19 Mar 2025 09:50
Replied by Murphy on topic Remora - ethernet NVEM / EC300 / EC500 cnc board

Remora - ethernet NVEM / EC300 / EC500 cnc board

Category: Computers and Hardware

Thanks cakeslob, i put back in the filter gain. when I monitor Spindle.0.speed-in, it also dips in speed. Even with the spindle off its still moving.
G-code G96  D1500 s200 M3 sets it 1500rpm suface speed 200. When you move X in and out the spindle should adjust.  

  • Aciera
  • Aciera's Avatar
19 Mar 2025 09:24 - 19 Mar 2025 09:28
Replied by Aciera on topic scurve trajectory planner

scurve trajectory planner

Category: General LinuxCNC Questions

Ah yes I have noticed those. Seems to me that it does not occur for fillets in the XY plane.
[edit]
which makes me think, are you still transforming the space corner to the XY plane to fit the clothoid as in the paper or are you skipping that step (as I believe you wanted to at some point). If you are fitting directly in 3d than that may have something to do with it.
  • Grotius
  • Grotius's Avatar
19 Mar 2025 08:54
Replied by Grotius on topic scurve trajectory planner

scurve trajectory planner

Category: General LinuxCNC Questions

Hi,

Here is the so called overfit. To show it better i made a cube.ngc test file.
  • The problem is clearly visible.
  • Its a full torsion turn of 2*M_PI over the clothoid fit.
  • It looks for the clothoid lib the solution is valid but unwanted for us.
overview:
 
closup cube corner:
 
  • JTknives
  • JTknives's Avatar
19 Mar 2025 08:24 - 19 Mar 2025 13:03
Replied by JTknives on topic BRIX i7-7557, unexpected guts.

BRIX i7-7557, unexpected guts.

Category: Computers and Hardware

I pulled the big SSD and installed QTpladmaC and disabled the normal bios stuff. Then ran a test with and without hyper threading on. You can tell which is which from the top left core count. Is one better than the other? Also no cores are isolated. These are at 500sec run times


  • rodw
  • rodw's Avatar
19 Mar 2025 08:09
Replied by rodw on topic switching from parport to mesa 7i96 -- check my assumptions

switching from parport to mesa 7i96 -- check my assumptions

Category: General LinuxCNC Questions

Just install 2.94 from the downloads page for either the pi or a PC. Just use pnccconf to make a basic config and confirm movement, then cut and paste your current details into it. Take care with that as there are few different things now than 2.7. Mainly the spindle pin is now spindle.0.on
  • Aciera
  • Aciera's Avatar
19 Mar 2025 07:55 - 19 Mar 2025 10:32
Replied by Aciera on topic G33.1 synchronized tapping problem

G33.1 synchronized tapping problem

Category: General LinuxCNC Questions

I might have found a clue as to what causes this problem with G33.

I just noticed on my test setup that synchronized motion (eg G33, G33.1) shows this erratic behavior if 'joint.n.index-enable' (where n is the joint for the caxis) is connected to the encoder index-enable and subsequently also to spindle.n.index-enable. This is used to home the caxis to index on startup.

In your rev 1.713 config you have
net SPIN0-INDEX-ENABLE <=> joint.2.index-enable

Seems to me like a bug in how joint index-enable is handled.

[edit]
I just confirmed this on my test bed (caxis is on joint 4):
1. start config and home all (joint 4 is set to home to index)
2. testing  g33 shows broken behavior (does a rapid move to target coordinate)
3. open 'hal configuration' tool and issue HAL command: 'unlinkp joint.4.index-enable'
4. testing  g33 shows expected behavior
5. issue HAL command: 'net c-index-enable joint.4.index-enable'
6. testing  g33 shows broken behavior (does a rapid move to target coordinate)
  • D Jensen
  • D Jensen
19 Mar 2025 07:16
Replied by D Jensen on topic Retrofitting a 1986 Maho 400E

Retrofitting a 1986 Maho 400E

Category: Milling Machines

Big note here: Philips and Maho named the axes differently to the current standard, so your manual may have Z and Y swapped. On My machine with the Heidenhain controller the top slide is the Y axis. I redid my manual to show that, but I may have missed a few places.
Looks like we are on the right path. Here is the page out of my manual for it. It looks exactly as I have been saying.
The feather key is item 6. I'd pull it right out in case it catches just retracting it 6 mm in the instruction. That holds the quill from spinning and sets it's maximum travel. It looks like you will have to set the Y axis full forward to get to it. The drain screw is also visible under there.
I'm not sure about Item 2. Mine has a clamping bolt somewhere there. Take the round black plate (from a previous photo) off the side to look in.
I think you will find the quill assembly nearly identical to the vertical assembly.

David
  • rodw
  • rodw's Avatar
19 Mar 2025 07:02
Replied by rodw on topic Beckhoff KL4032 VFD Spindle speed control

Beckhoff KL4032 VFD Spindle speed control

Category: EtherCAT

There is a driver for the omron MX2 VFD.  Or use RS485
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