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Hi Arciera,

I will make a repository for this. Then testing is easy.

Just found a exception. At page 5, where va1 & va2 are calculated.

This are arc related vectors, 90 degrees in between. And also need the arc normal.

However the proof function uses a example arc where the arc start, arc center, arc end are colinear.
The result is a arc normal vector [0,0,0] wich is not good.

So i think we have to ship the arc's containing the normal unit vector. Just as we do inside lcnc's
trajectory planner.

Edit : Now i shipped the arc normal into the funtions and things work for eq29, eq30.

Link to repository

Edit:
Now at the point :

eq29_proof(); -> interpolate arc
eq30_proof(); -> calculate derivates.
eq31_v1_proof(); -> calculate vector v1 & v2
eq31_v2_proof();
eq35_proof(); -> forward transformation 2 segments (did just one test, it does rotate the segments.).

And layoff the chatgtp it's not good for your health

That is fine, as long as there are entries under /dev everything is fine.

beauxnez wrote:

I deleted xhc-whb04b-6.hal still an error
I no longer have the problem of " MOTION: num_joints is 33, must be between 1 and 16" 
I post you the .ini and .hal files in 

 

File Attachment:

File Name: NVEM_2025-02-13.hal
File Size:4 KB

 

File Attachment:

File Name: NVEM_2025-02-13.ini
File Size:3 KB

LINUXCNC_EMCSH=/usr/bin/wish8.6
LINUXCNC - 2.9.0~pre1+git20230208.f1270d6ed7
Machine configuration directory is '/home/manu/linuxcnc/configs/NVEM'
Machine configuration file is 'NVEM.ini'
INIFILE=/home/manu/linuxcnc/configs/NVEM/NVEM.ini
VERSION=1.1
PARAMETER_FILE=linuxcnc.var
TPMOD=
HOMEMOD=
TASK=milltask
HALUI=halui
DISPLAY=qtvcp qtplasmac
COORDINATES=X Y Z
KINEMATICS=trivkins coordinates=XYZ
Starting LinuxCNC...
Starting LinuxCNC server program: linuxcncsvr
Loading Real Time OS, RTAPI, and HAL_LIB modules
Starting LinuxCNC IO program: io
Starting HAL User Interface program: halui
linuxcnc TPMOD=tpmod HOMEMOD=homemod EMCMOT=motmod
Found file(REL): ./NVEM.hal
Shutting down and cleaning up LinuxCNC...
Removing HAL_LIB, RTAPI, and Real Time OS modules
Removing NML shared memory segments

Debug file information:
Note: Using POSIX realtime
motmod: already exists
./NVEM.hal:6: waitpid failed /usr/bin/rtapi_app motmod
./NVEM.hal:6: /usr/bin/rtapi_app exited without becoming ready
./NVEM.hal:6: insmod for motmod failed, returned -1
8403
Stopping realtime threads
Unloading hal components
Note: Using POSIX realtime

 

The error gives a hint - motmod: already exists

Looks like you are loading it twice in your hal file. Try removing the 2nd line. From above EMCMOT=motmodloadrt [KINS]KINEMATICS
loadrt [EMCMOT]EMCMOT base_period_nsec=[EMCMOT]BASE_PERIOD servo_period_nsec=[EMCMOT]SERVO_PERIOD #num_joints=[KINS]JOINTS[TRAJ]SPINDLES
loadrt [EMCMOT]EMCMOT base_period_nsec=[EMCMOT]BASE_PERIOD servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS num_spindles=[TRAJ]SPINDLES

LeslieTroyer wrote:

Im confused --
RPI5 - linuxcnc 2.9.2 (from iso on linuxcnc download page)  I get same results on linux on a x86 system
I have a Novusun V5 that I loaded with ....Remora-RT1052-cpp/blob/main/Firmware/remora-rt1052-3.1.3.bin
I've run halcompile on remora-nv in Remora-NVEM-main/LinuxCNC/Components/Remora-nv

i can ping 10.10.10.10
I can tfpt put the python processed config.txt ...  I cant load tftpy for some reason so save & use the file created in /tmp

using the remora-nvem-basic when I take it out of E-Stop I get 
Bad payload = 0

any suggestions 

thanks 
Les

For the RT1052 use the remora-eth-3.0 component that is included in that repo.

Remora-RT1052-cpp/LinuxCNC/components/Remora-eth at main · scottalford75/Remora-RT1052-cpp · GitHub

The c-axis component does not have, as orient does, a pin to indicate that it has reached the commanded position. I need to know when the spindle is in position in order to activate an output. Any idea how to do this?

P I went down to 10 and it was still the same, I don't know if it can be called oscillation, maybe I called it wrong, the axis accelerates and when it reaches a speed above 8.3 m/min there is a loud sound as if the servo lost its position and was trying to make up for it. Should I record a video or halscope? What pins should halscope show when moving? I will add that I made a mistake with 3.3V, it happens at 6.6 V because I have a 2:1 screw servo ratio

Maybe you guy's can also verify the output.

What would be the quickest way to get this installed for testing things?

Not sure if this helps but 'hal_manualtoolchange.py' is a userspace hal component that needs its pins connected to iocontrol in hal so it can create the popups when a change is requested and pass the information on to iocontrol when the change is completed:

I did read about the incremental moves for X and Y, but seems like that doesn't work for the lathe I am using.

Interesting idea about the Fanuc.

Yes this has fixed it! Thanks again.

I configured the spindle orientation with m19, it worked well, but I have a problem that even though I set the same degree every time, it finds different positions of the spindle, for example I give m19r0 it finds a point and stops, but I do the same command again and it doesn't find the same point it goes to another point and stops, in other words it keeps changing the degree 0 of place, sometimes it does this several times in the same place, out of nowhere it goes to another point and if I do it a few more times it stays there. At this point, out of nowhere he changes the point again, can you help?

How low did you adjust P?
 What is the oscillation frequency?

Could you share with me your configuration to use the servo that controls the spindle and also to use it with the C axis?

Lowering P does nothing further, at this point oscillation occurs and F error is displayed. Pastes my configuration files for reference. I tried to power the 7i77 from a separate power supply, it didn't change anything.