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  • JT
  • JT's Avatar
20 Feb 2025 14:04
Replied by JT on topic Question about G49

Question about G49

Category: General LinuxCNC Questions

The RS274NGC_STARTUP_CODE IMHO is not really needed for anything because your preamble in the NC file will over write the startup code. If you run the Axis sim which does not have RS274NGC_STARTUP_CODE you can see the default start up codes G80 G17 G40 G20 G90 G94 G54 G49 G99 G64 G97 G91.1 G8 G92.2 M5 M9 M48 M53 M0 F0

JT
  • mc_cubus
  • mc_cubus
20 Feb 2025 13:50
Replied by mc_cubus on topic Issue with LinuxCNC Pins showing zero

Issue with LinuxCNC Pins showing zero

Category: EtherCAT

ok I tried setting the SDOs as specified in the manual, i.e.:
<!-- Example initCmds to map 0x1A00 to SM3 (0x1C13) -->
                        <!-- 1) Clear existing SM3 assignments -->
                        <InitCmd>
                          <Transition>PS</Transition>
                          <Comment>clear sm pdos (0x1C13)</Comment>
                          <Timeout>0</Timeout>
                          <Ccs>1</Ccs> <!-- CoE command -->
                          <Index>0x1C13</Index>
                          <SubIndex>0</SubIndex>
                          <Data>00</Data>  <!-- zero => no assigned PDOs -->
                        </InitCmd>
                        <!-- 2) Add 1A00 as the first PDO to SM3 -->
                        <InitCmd>
                          <Transition>PS</Transition>
                          <Comment>add pdo 0x1A00 to sm3</Comment>
                          <Timeout>0</Timeout>
                          <Ccs>1</Ccs>
                          <Index>0x1C13</Index>
                          <SubIndex>1</SubIndex>
                          <Data>1a00</Data>  <!-- This is the hex index of the PDO (0x1A00) -->
                        </InitCmd>

                        <!-- 3) Set the new count of assigned PDOs to 1 -->
                        <InitCmd>
                          <Transition>PS</Transition>
                          <Comment>download pdo 0x1C13:00 index => 1</Comment>
                          <Timeout>0</Timeout>
                          <Ccs>1</Ccs>
                          <Index>0x1C13</Index>
                          <SubIndex>0</SubIndex>
                          <Data>01</Data>  <!-- 1 assigned PDO in SM3 -->
                        </InitCmd>

Now, when running linuxcnc I get:
Waiting for component 'lcec' to become ready..........................Failed to execute SDO download: Input/output error
LCEC: slave 0.IFC2411Sensor: Failed to execute SDO download (0x1c13:0x00, size 1, byte0=0, error -5, abort_code 06010002)
LCEC: failed to configure slave 0.IFC2411Sensor sdo 1c13:00
Failed to execute SDO download: Input/output error
LCEC: slave 0.IFC2411Sensor: Failed to execute SDO download (0x1c13:0x01, size 2, byte0=26, error -5, abort_code 00000000)
LCEC: failed to configure slave 0.IFC2411Sensor sdo 1c13:01
.Failed to execute SDO download: Input/output error
LCEC: slave 0.IFC2411Sensor: Failed to execute SDO download (0x1c13:0x00, size 1, byte0=1, error -5, abort_code 00000000)
LCEC: failed to configure slave 0.IFC2411Sensor sdo 1c13:00

LCEC: slave 0.IFC2411Sensor: Failed to execute SDO download (0x1c13:0x00, size 1, byte0=0, error -5, abort_code 06010002)

LCEC: failed to configure slave 0.IFC2411Sensor sdo 1c13:00

LCEC: slave 0.IFC2411Sensor: Failed to execute SDO download (0x1c13:0x01, size 2, byte0=26, error -5, abort_code 00000000)

LCEC: failed to configure slave 0.IFC2411Sensor sdo 1c13:01

LCEC: slave 0.IFC2411Sensor: Failed to execute SDO download (0x1c13:0x00, size 1, byte0=1, error -5, abort_code 00000000)

LCEC: failed to configure slave 0.IFC2411Sensor sdo 1c13:00

I suspect that the Sensor comes up with a default (locked) PDO assignment, since ethercat pdos -p 4 says:
ethercat pdos -p 4
SM0: PhysAddr 0x1000, DefaultSize 1024, ControlRegister 0x26, Enable 1
SM1: PhysAddr 0x1400, DefaultSize 1024, ControlRegister 0x22, Enable 1
SM2: PhysAddr 0x1800, DefaultSize    0, ControlRegister 0x64, Enable 1
SM3: PhysAddr 0x1818, DefaultSize   24, ControlRegister 0x20, Enable 1
  TxPDO 0x1a00 ""
    PDO entry 0x6000:01, 32 bit, ""
  TxPDO 0x1a30 ""
    PDO entry 0x6010:01, 32 bit, ""
  TxPDO 0x1a80 ""
    PDO entry 0x6030:01, 32 bit, ""
  TxPDO 0x1ae0 ""
    PDO entry 0x7000:01, 32 bit, ""
  TxPDO 0x1ae8 ""
    PDO entry 0x7001:01, 32 bit, ""
  TxPDO 0x1af0 ""
    PDO entry 0x7002:01, 32 bit, ""

And also with $ ethercat upload -p 4 0x1C13 0x00 --type uint8 one can see which PDOs are assigned to the 0x1C13 object and all are already assigned to it.

I am trying to figure out if the problem lies on the Sensor side or I did something wrong with LinuxCNC configuration.
  • Aciera
  • Aciera's Avatar
20 Feb 2025 13:46 - 20 Feb 2025 14:01
Replied by Aciera on topic scurve trajectory planner

scurve trajectory planner

Category: General LinuxCNC Questions

We also might want to call it a fail if max_iterations have been reached:

Solution found after 1000000 iterations: gamma10 = -0.000148, gamma20 = 0.000011, s1 = 66.624893
 


Strange that it thinks it has succeeded when the residual is still way off (looks like its happy to have found a local minimum or something):
 
  • gmouer
  • gmouer
20 Feb 2025 13:43
Replied by gmouer on topic 5i25T Setup with PathPilot

5i25T Setup with PathPilot

Category: PathPilot

Ever get the newer hostmot driver working in pathpilot? I have the same issue, a 5i25T. I see the pathpilotmanager.py, the pci ID is easy to change there but won't work without the newer hostmot driver.

Any info on what was done would be greatly appreciated !

Thanks !
  • Grotius
  • Grotius's Avatar
20 Feb 2025 13:30
Replied by Grotius on topic scurve trajectory planner

scurve trajectory planner

Category: General LinuxCNC Questions

@Arciera,

Yes, kappa10 is start curvature in z direction.

Gamma11 = y11, is the rigid property of the clothoid. if 0, then straight line. When 0.001 then clothoid begins to curve in a direction depending the sign off y11.

and now everything is off:
Keep also an eye on the GNU plot display max values. "set xrange [-20:80]\n"

 
  • Grotius
  • Grotius's Avatar
20 Feb 2025 13:23
Replied by Grotius on topic scurve trajectory planner

scurve trajectory planner

Category: General LinuxCNC Questions

@Arciera,

I found the buggybug.
File Attachment:
. Was not alien obstruction.

Glad in eq14 we can choose 2 interpolation models:
1. eq14_drift (archived)
2. eq14_gauss

It turns out nr. 1 works good and shows correct clothoid compound.
So nr.2 contains a buggybug. Will try to find it now.
  • TangentAudio
  • TangentAudio
20 Feb 2025 13:18
Replied by TangentAudio on topic Beckhoff EL5101-0011 vs plain EL5101

Beckhoff EL5101-0011 vs plain EL5101

Category: EtherCAT

Thanks, Hakan. That's how I have my servo drives set up. Maybe I'll do that as a first step just to get it going for now.
  • Aciera
  • Aciera's Avatar
20 Feb 2025 13:14
Replied by Aciera on topic scurve trajectory planner

scurve trajectory planner

Category: General LinuxCNC Questions

So the gamma11 and gamma21 depend on the start values, however there is another problem.
I'm running single_clothoid_fit and I changed kappa10 from 0 to 0.1 and now everything is off:

 
  • denhen89
  • denhen89's Avatar
20 Feb 2025 12:59
Replied by denhen89 on topic (LPT) Debian 12 Latency spikes/unexpected real time delay. Looking for solution.

(LPT) Debian 12 Latency spikes/unexpected real time delay. Looking for solution.

Category: General LinuxCNC Questions

Its just unbelievable... why god damn it cant work..
What i did:
1. fresh install of debian 12
2. downloaded every file from onelaboratories.us/abc/
3. went to downloads folder and opened a terminal
4. first i tried "I think that placing these deb files in a separate folder and entering: sudo apt update && sudo apt install ./*.deb will be the easiest way"
NOT WORKING - if i remeber correctly, something is missing
5. then i tried this: sudo dpkg -i (package name here without brackets)
5.1: i started with: sudo dpkg -i linux-headers-5.4.290-rtai-amd64_5.4.290-rtai-amd64-1_amd64.deb
5.2: sudo dpkg -i linux-image-5.4.290-rtai-amd64_5.4.290-rtai-amd64-1_amd64.deb
5.3: sudo dpkg -i rtai-modules-5.4.290_5.3.3-linuxcnc_amd64.deb
5.4: sudo dpkg -i linuxcnc_2.9.4_amd64.deb

Dont ask me why in this sequence. I just did that because no where its described with which deb to start.
As you can see on the pictures there are things missing.
I then tried to open Latency test fom the drop down (xfce) menu but nothing happend, then i opened terminal and wanted to open it through command.You can see the result on the last pictures.

Guys, please tell me what i did wrong.
  • rodw
  • rodw's Avatar
20 Feb 2025 12:58
Replied by rodw on topic Issue with LinuxCNC Pins showing zero

Issue with LinuxCNC Pins showing zero

Category: EtherCAT

I suspect some SDOs need to be set. Not sure if I am reading the right manual but on P 104 it says
In object 0x1C13, it is selected which PDOs are to be transferred. The PDO mapping objects are selected.
  • Aciera
  • Aciera's Avatar
20 Feb 2025 12:49 - 20 Feb 2025 13:06
Replied by Aciera on topic scurve trajectory planner

scurve trajectory planner

Category: General LinuxCNC Questions

See my last post, looks like dogleg is not solving for gamma11 and gamma21.

[edit]

Just checked and it does seem to be adjusting gamma11 and gamma 21 but it always ends up being zero which does not quite look right to me.
  • Grotius
  • Grotius's Avatar
20 Feb 2025 12:46
Replied by Grotius on topic scurve trajectory planner

scurve trajectory planner

Category: General LinuxCNC Questions

@Arciera,

I made a test : clothoid_compound_no_fit();

This visualises the problem quite good. This example uses no fit for endpoint. So the clothoid compound
behaves as a natural attached curve.

eq44 is reviewed and i added the for loop check calculations as in the paper.
However the tresholds results there are ok.
eq45, i can not find any typo's.

eq45 is sub off eq44_G123. Yes eq45 is in the loop.

With the 6 resulting gamma values it should then satisfy G1, G2 and G3 continuity.
Yes. eq45 is called for xy and for z.

Then yi1 is called like : y11 for z
Then yi1 is called like : y21 for xy.

This to avoid code duplication.
  • Aciera
  • Aciera's Avatar
20 Feb 2025 12:45 - 20 Feb 2025 12:47
Replied by Aciera on topic scurve trajectory planner

scurve trajectory planner

Category: General LinuxCNC Questions

Actually the problem might be in the dogleg algo, seems odd to me that gamma11 and gamma21 are zero.

Solution found: gamma10 = 0.000000, gamma20 = -0.000000, s1 = 198.587624
 


Could it be that we are only solving for variable s1 instead of [gamma11, gamma21, s1]?
  • programador
  • programador's Avatar
20 Feb 2025 12:40
Replied by programador on topic How to configure the 7i77 board to do Home Axi Z?

How to configure the 7i77 board to do Home Axi Z?

Category: Advanced Configuration

Good morning Mr. PCW
Thank you very much for your feedback and your suggestion.
You are right, I understand.
There is a lot of good documentation on this forum about the "comp" component.
I will try to do it in another, faster way, because I loved the documentation about the "comp" component, but it will take me a few months to understand and write code for this purpose.
So I will just create a logic using halui to raise the Z axis when starting the machine, unfortunately that is the limit of what I know how to do at the moment and it would be the fastest way.
Thank you for all your collaboration.
  • Aciera
  • Aciera's Avatar
20 Feb 2025 12:38
Replied by Aciera on topic scurve trajectory planner

scurve trajectory planner

Category: General LinuxCNC Questions

I don't think these gamma values look right:
yi1: 0.000000 
yi2: -0.000001 
yi3: 0.000001 
yi4: -0.000000 
yi1: -0.000000 
yi2: -0.000000 
yi3: 0.000000 
yi4: -0.000000
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