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You have to use an OR comparator, to connect two inputs to a single output.

@Rod,

In the mean time, have done some reading about the cia-402.

• The

  0x6065

  : following error window is not used or set by linuxcnc.
• Velocity mode in combination with a tuned linuxcnc pid could be a try out.

@Tia,
if you want to access my machine remotely i can give you access
We could verify iff all is installed ok. Like the libclothoid is in place etc.
But i think you already used the ./installer. It can be the installer failed at some step.
For the rest i don't know much about the cia-402.

No double posting. Thank you.

I have already configured in hal cycle start pause stop external buttons
and spindle start stop external buttons and when i start linuxcnc it reports that
these signals already used and can't used by XHC-HB04.
How can i use both the external buttons and XHC-HB04 together without conflict ?

Hallo und guten Tag, bin neu hier und habe eine Frage zu deskproto.
Auf welchem System benutzt du es ? habe es über Wine auf Zorin installiert, Startbildschirm von Deskproto öffnet sich auch, habe es lizensiert - jedoch kommt dann recht schnell die Meldung "deskproto antwortet nicht" mit den Optionen "Beenden erzwingen" oder "warten". Unter warten geht es leider gar nicht weiter sodaß mir nur bleibt das Program zu beenden- irgendeine Idee warum das so ist ? besten Dank und Gruß Marc

@Pcw,

Thanks for your effort. Not everything is installed by the makefile.
I think you need to look at the ./installer file, wich install's locally :

libclothoid3d
libscurve

segment.h is part off libclothoid3d and is installed in /usr/local/include

Then finally there is done a ldconfig.
I hope it works for you then.

 

Also i saw, that in the Identity Mode the Axis soft limits work fine, but in TCP-Mode the maschine runs into the joint hard limits.

For non trivial kinematics proper limit checking prior to execution time is currently not possible because the planner is totally ignorant of custom kinematics. Your best option would be to check for limit violations in cam or running your gcode in a simulation configuration.
Limit checking does work during execution (ie when the joint position actually exceeds the limit) but that will cause an immediate (emergency) stop.
Sometimes it may even be necessary to loosen axes limits to be able to reach the full work space.

Trying to modify qtdragon a bit and add hal pins for slides. Found an example on the forum for analog, but I need to do for encoders. Tried to redo the code, at first glance everything seems ok, values change, sliders react. But the problem appears if we change the value by encoder, say by 50%, then press the button 100%, and if after that we reduce the value by encoder again, it immediately jumps to 40% (I specified a step of 10%). As far as I understand the problem is that absolute values are used, but it is necessary to use relative values. But I am completely stuck on how to implement it in the code.

Good evening everyone, I'm having a problem, I don't know where I'm going wrong, I do the ST Linkv2 procedure and it does everything right, but it doesn't appear as a unit on the PC, when I go to connect it to the PC with pyocd it doesn't find the ST Link, I've already bought 3 different ST Links and all 3 do the same thing, I don't know if my pyocd installation is wrong or not, I've redone the installation several times, I don't know where the problem is.

Servus,

ich spiele schon länger mit dem Gedanken, auf LinuxCNC umzusteigen... jetzt habe ich gesehen, dass es das auch für den Pi4 gibt.... umsobesser

Die erste Frage ist nun aber, welche Steuerungsplatine sollte man hinter dem Raspi nutzen ? Aktuell habe ich Mach3... aber das mit der Echtzeit und alter gefällt mir nicht mehr!

Wer hat hier Tips für die Hardware zusammenstellug ? Handrad sollte auch noch her!

Grotius wrote:

Hi Rod,

The Cia-402 i have seen the source code. It does not much.
It sends and recieves position, velocity, torque  trough a can protocol?

Yes, the cia402 protocol defines a state machine to turn on a machine using a standard control word and a status word confirming current machine state. The attached PDF is a good summary

There are also a loosely defined  set of PDOs

What we really need is a component that just defines the turn on sequence and then a seperate homemod for drive homing. It may be possible to do the turn on in the homemod so there is only one module but it might then sit outside the hal lcec Ethercat loop so it may run one servo thread cycle behind.

The issue has been reported here: github.com/LinuxCNC/linuxcnc/issues/2753

Hi Andy,

I have been working on this ATC over 3 moths now. So far I released the magic smoke of two mesa cards, but the retrofit must continue.

Thank you for creating this component, It has tough me a lot in regards how linuxcnc and a CNC machine works.

It does makes more sense driving the ATC with G-code.

I discarded this idea, because you mention that carousel component was not designed to be used as an axis.
I guess we can scratch that lol

How would you go about it driving the ATC with G-code?

would you have a bunch of if statements?

for example:

if M6T1 then G53 G0 A2 (and the rest of the operations)
if M6T2 then G53 G0 A3 (and the rest of the operations)

Would I have to update the iocontrol with G-code every time the tool changes?

I have a lot of respect and admiration of your work.
is truly an honor that you respond to my question.

Thank you,

Hi Aciera,

sorry for reply a bit late. I was on vaccation. Thank you so so much for this incredible help! I downloaded it and played i bit arround and it looks realy good.

I changed the travel limits for the B-Axis, because the head can swivel from "looking" left and right into the z direction. This caused some trouble. I need to spend more time with it to know what needs to be "polished".

Also i saw, that in the Identity Mode the Axis soft limits work fine, but in TCP-Mode the maschine runs into the joint hard limits.

I hope in find time during the weekend to dig myself further into your example. Thanks again for the amazing help!

Kind regards,
Jochen

Alternatively this might be one case where it makes sense to define the toolchanger as an axis and drive it from pure G-code.