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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.

That is a not known problem.

Running code means MDI Macros or commands, or AUTO programs?

How do your code end? 
I recommend M2 as stop

It appears based on the orient man page that index should not be needed
since orient effectively does a mod(turns) operation on the rising edge of orient enable.
That does not seem to be working, so probably the first thing to investigate.

That's what I thought.  But not sure why it isn't doing the math.

Setting index-enable isn't automatic via hal or an m-code, I've just been manually doing it while troubleshooting to see if it makes a difference.  And I haven't done it after commanding M19 but before it stops.

The only thing setting index-enable does is reduce the number of turns orient makes before (mostly) stopping.

That could work. But why do you choose a 47 ohm 1W resistor? That sounds so small. As a pull up I normally choose more in the 1k range

yeah, did you fix the other 2? the first one is you didnt install the nvmpg component, and the second one is the halfile for that usb pendant isnt present

but yes thats how you connect the x thing probably

Hi I want to add estop function to my CNC. So I want to link the estop to input 4 of my mesa 7i96s. The idea of the estop is because I want to link it to the alarm of my stepper drivers. So the circuit would look like this

 


So when the estop is pressed or the alarm of one of the controllers switches. I want Linuxcnc to stop.
I tried this with a default PNCCONF and it works. But when I try it on my original hal file without using pncconf. It doesn't work.  what I did was to copy the line 

# --- ESTOP-EXT ---
net estop-ext     <=  hm2_7i96s.0.inm.00.input-04-not

in my original hal file. But it doesn't have any effect. But in the Halmeter I can see the changes. Do I have to add anything more to add an additional  input?

It appears based on the orient man page that index should not be needed
since orient effectively does a mod(turns) operation on the rising edge of orient enable.
That does not seem to be working, so probably the first thing to investigate.

also

Oddly, orient position error is always 0 (orient.0.poserr).

Shows some logical error somewhere

Need to look and the encoder position and orient.command before and after the
orient enable rising edge.

Note that using index at the wrong time here could cause the problem you see:
That is, clearing the position with index after orient has latched its offset would
cause similar issues to the ones you are having so I would disable index operations to do the
"check encoder position and orient.command before and after the orient enable rising edge"
test
 

It's not overshooting; PID tuning isn't the issue, at least right now.

On my mill, I have to set index-enable once before the first orient.  From then on orient never rotates the spindle more than 1/2 turn one direction or the other for the remainder of the LCNC session without having to reset the index.

The problems on the lathe are

• I have to set index-enable every time I orient, otherwise it unwinds all the way until spindle revs = 0, and
• It only goes one direction: whichever direction takes spindle revs back to 0

My understanding of orient, based on my mill's behavior and reading the MAN file (and forum posts), is that something should be doing some math so that orient knows which way to turn, and that it only needs to move until spindle revs equals a whole number (ie. at the encoder z-position) plus however many degrees are programmed in the R-value.

Side note - I also found that ORIENT_OFFSET in the INI file doesn't take in to account multiple spindles.  There's no way to have separate offsets for my main and sub... not important right now but may become annoying down the road.

I first found a lot of advise to use mplayer. Could not make it do anything. (LinuxCNC 2.9.4 Debian 12 Bookworm PREEMPT-RT ISO) download from 9th Feb 2025

The qtvcp lines in the *.ini made a picture with several cameras I tried.

I guess it's  expected that unless you use index during orient the unwind would happen.
As far as tuning goes are you saying it does not get close enough for the desired position?

If this was the case I would add some I term

Note that you should be able to use the PID's maxerror and maxerrori to limit
the correction velocity in the position loop. This should allow higher P  and I terms
without overshoot.