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I would widen the following error limits in the ini file
so you can see the behavior (be careful of runaways)

Have you verified that you can control the motor with the PWM signal?

Regarding the Frego paper, only the closed form solution needs to start from the straight line, the numerical calculation works for all cases.
However, the paper only gives the recipe how to calculate a 3D clothoid given the starting values. It does not explain how to fit 2 or more of them together to connect 2 points in space with given start and end conditions. So the new paper is the way to go as it also explains this part.

like Aciera said. tilde means the object is in the transformed coordinate system and the numbers of ' show the order of the derivative in respect to curve lengths s. In this case they are from the boundary condition trajectories (lines or arcs) so you get the expression from multiplying equation (26) or (27) with the transformation matrix. Well 26 is easy as 0 stays 0.

Ok that's cool. But is iocontrol.0.emc-enable-in already the location for the estop. So when the net connection is made. Does the event trigger the estop?

In the meantime I solved the issue. I connected the Raspberry Pi gpio output pin to motion.digital-in-00 and now I can read this RPI output pin with M66. No need for a macro anymore...

My guess: this is probably not certifiable real E-stop behaviour. It works for me, but for "real machines" dedicated safety circuits are probably required and all this is more for User interface not to actually switch things off.

Maybe someone can confirm if this guess is correct?

Not the answer to your question, but from other equipment (real big stuff) I have the experience that it can be helpful to be able to tell which driver tripped and which E-stop was pressed.
Yesterday I checked half of my wiring just to notice that I had pulled the mushroom button that deactivates the spindle drive.

I would have thought you need then to connect the estop-ext to some pin (estop-ext beeing the "wire" it must be connected to some pin of the hal)

(beware half knowledge ahead!

estop-ext is something that you make up for a name (it might as well be the_blue_wire grey-dog or any other name); hm2_7i96s.0.inm.00.input-04-not is the input pin of the 7i95 card created by some software that others made.

I think you need to also connect your estop-ext to the corresponding hal pin of a software that someone made. A pin name that is existing somewhere in the system.

There are two lines in my hal file. They are not together so I had to use CTRL-F to find both.
Basically

• read: "net" (make a connection with an imaginary wire) "estop-ext" (I want to name the wire estop-ext so that I remember in two years what it was for) <= (for Info the signal comes form somewhere and goes into said wire) parport.0.in-11-in-not  (the connection goes to the input pin 11-of parport 0 and the signal is on when the input is not energized)

...for you instead of parport.0.input-11-not it should be hm2_7i96s.0.inm.00.input-04-not ...

• read: 'net' (make a connection with an imaginary wire) "estop-ext' (this wire was alread invented, so just connect the other end of it) => (for info when the wire has a signal it is transported from said wire to somewhere) iocontro.0.emc-enable-in (input of some software called iocontrol.0.emc)

E-stop pulled:

• the parport pin is high, so the parport.0.pin-11-in-not is low (red dot in HAl watch)
• The iocontrol.0.emc-enable-in is high (yellow dot in HAL watch)
  • Machine can work

E-stop pressed

• the parport parport.0.pin-11-in-not is high (yellow dot)
• the iocontrol.0.emc-enable-in is low (red dot )
  • power button on axis user interface is greyed out and nothing moves

Sorry for beeing long winded, but I hope you can make sense out of it. And I will be able to follow my own advice on Saturday!




 

Can someone help me with HAL configuration?
I'm getting joint follow error. I tried removing all the encoder feedback lines. Either linuxcnc won't start or it will start and shows join0 follow error. Could someone give me how to make a minimal HAL for openloop testing with non standard firmware generating pwm signals on 7i76?

 

I am having the same issue with MesaCT not seing the FW placed in the folder, I think. 
I am fairly certain, have looked it over many times, that the FW is in the right folder. But it doesn't show up in MesaCT. 

When connected to internet, I can indeed download FW and flash the board in question (7i96s). I already did that once with the default FW. 
But I am looking to install a custom FW that's not part of that downloadable package. 

Any ideas? Perhaps, if not asking too much, the custom FW could be added so it's downloadable, too - as that feature works well?

The FW is this one, PCW uploaded it in another thread - it adds homing to the index pulse of a servo:
 
 

OK thank you your suggestion worked with a 1k resistor.

The wavy line above the letter is a 'tilde'
So that is the second derivative of 'z-tilde' at 's0' and the second derivative of 'x-tilde' at 's0'.

'z-tilde' and 'x-tilde' are elements of 'P-tilde' which is the trajectory point after transformation:

 
 

www.youtube.com/shorts/UV3KBl6E2hw

Hi JT I mostly only read your guide. I'll watch the video now and try it. Thank you.

Hello!
Can anybody share a whole config to see all the files?
Because now i have issues with # _tool_in_spindle not defined
In the toolchange.ngc must be global variables, or local...?
Because in the python folder files new pins looks like they are local...
I just want to try to add the manual tool change to the ATC if the tool number bigger than the magazine like in this example , but there are global variables

Running a code file in AUTO, as accomplished many times before.

Code generated by CamBam from a FreeCad stl model.
Code end is M30.

One problem was that when the machine stopped, the line-of-code highlight also disappeared.
But, on reflection, I could have inspected the cutter position on the DRO and estimated the last successful line reasonably closely.
Then do a "start-from-here", CAREFULLY.

Is there any way to get the machine to record each code line as it is completed ?
Just line number that is overwritten each line would be sufficient.
Then I could read that location after a stop to identify bad code.