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I selected full pre-emptible

I documented all my steps here to get it to work, as i needed a couple workarounds on LM
iamtherealbeef.com/content/linuxcnc-on-linuxmint-22/

Hello everyone, it's been a while since I've been here, I've tried several things since the last time and of course problems have arisen, thanks Aciera again.

I've tried using extrajoint and it works, after performing the home process limit3 is activated and then you just have to change the position value on the pin hal limit3.in, here only one complaint I haven't managed to get the joint to go to the HOME position = PosHome configured in the *.ini file, it always stays at the minimum position MIN_LIMIT.

I've also developed a real-time component that controls the cutting behavior, right now I use the MOTION motion controller not extrajoint which is what I want in the future, to know when the machine is in position I've used the motion.in-position signal, I've found that the joint.in-position signal doesn't switch for extrajoints, so I need to know when a movement has been executed.
For the latter I have thought about comparing the position that I establish in limit3.in with the joint.pos-fb position, here I have another question, how would it be possible to feedback the count of the driver encoder, for example the Ethercat drivers from Lichuan.

That's a known issue.
I've been building 6.12.11 kernels, for arm, but it needs a patch.

In case you aren't aware.
You'll also have to select Fully Preempt kernel, not low latency desktop, this option will only show up if you select enable expert under general.


[*] Configure standard kernel features (expert users)

(X) Fully Preemptible Kernel (Real-Time)

I'm giving it a go now, just to make sure I'm giving you the right info, if it works out I'll post a link to the debs. I'm building on Mint 21.3 Virginia.

Editing the above message appears to break it so replying instead - running uname -r it appears I have a skill issue and it returns 6.12.0, which is what I clearly accidentally had built. There may be issues in 6.12.0 that were resolved by 6.12.9 that resolve this, so a quick rebuild (well, not quick it takes forever) and I'll report back.

I've tried both RIP and building into a .deb and installing, but both ways it appears that it doesn't recognize the kernel has PREEMPT_RT enabled.

I have kernel 6.12.9 (although latency-test displays 6.12.0 for some reason?) and went through the menu config to set it for fully pre-emptable kernel and build it.

I'm on Linux Mint 22.1 and I can run simulations just fine in both RIP and the installed versions, but I run a mesa card and require HOSTMOT2 functioning properly which is where the issue arises.

Running latency-test results in some crazy huge numbers   and it specifies POSIX non-realtime in the terminal.

I'm not sure if there's an additional step that I've missed to ensure LCNC "sees" the kernel has the patch enabled - perhaps the string has changed? I tried searching the forum and only came across RPI results but not x86.

 

I'm sorry but I don't understand why and when you would need to push a button during a programmed tool change.
Usually a tool change in gcode defines the T word (eg T3 M6) and your python remap would then handle the ATC tool change.

Unfortunately, I remapped M6, and in my Python code due to certain reasons, I cannot use mdi mode.

Not sure what that means but in a remap you can add command to the queue like this:


[edit]
Are you maybe confusing python remaps with the python interface?
linuxcnc.org/docs/html/remap/remap.html
linuxcnc.org/docs/html/config/python-interface.html

I tried your config in mode 34 but instead of finding the index pulse it just zeroes the current position.
Although after that if I unhome a joint and then home it again it goes to the initial postion (even multiple turns if it was moved that much).

I have also tried with other homing modes but it results in the same situation.

Kind regards

It was the limits and stock offset in Fusion. Once I changed that it ran. I have a differential encoder for the spindle ordered so that's next. Thank you for all the help to get it running.

You modify cia402.0.pos-scale. It should be "increments per machine unit".
rodw mentioned earlier in the thread how to calculate it.
For example if the servo encoder has 4000 increments per revolution and the ball screw pitch is 5mm, you enter 4000/5 = 800 increments/mm.
That's close to line 50 in the cia402.hal file.
setp cia402.0.pos-scale 800
 

HI meister:

Thanks for your reply.

I will test that later.thank you very much

and I have a promblem about w5500 spi clk:
I tested the joint.n.f-error seem biger than mesa card,
my PID is: P=1000 I=0 D=0,when i jog x axis,the joint.0.f-error is about 0.05mm
if i set P=0,I=0,D=0,when i jog x axis Exceed about 800mm,the "joint 0 following error" pop up（I set FERROR=3）
The difference between the feedback value and the command value is getting bigger and bigger
I know when i used a low speed run the axis,the f-error is good for me, I'm just a little curious, it's related to the spi clock?

Thanks

Tim
 

Still have some tweaking to do but I think this is about how it'll be...

 

IMHO that bug has been fixed with a recent patch.
So using gmoccapy 3.4.9 should solve that.

Norbert

Congrats!

So... for future reference what settings/changes did you wind up making?

Ok. Your new code works a lot better.

With the given 9axis sim machine everything works as it should I think.

But, if you use a my 4axis testmachine (very high kinematic values) than you are able to stop the tp and also get trouble with the axis screen. But nevertheless. Under normal circumstances the 4axis testmachine works now also without axis screen problems.

Oh you are using 2.9.3 I'll ret again tonight.