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  • programador
  • programador's Avatar
15 Jan 2025 14:22
Replied by programador on topic How do I control the speed and acceleration of the analog output of the 7i77 ?

How do I control the speed and acceleration of the analog output of the 7i77 ?

Category: Advanced Configuration

File Attachment:

File Name: Z3_2025-01-15-2.hal
File Size:8 KB

File Attachment:

File Name: Z3_2025-01-15-2.ini
File Size:3 KB
  • programador
  • programador's Avatar
15 Jan 2025 14:19 - 15 Jan 2025 14:22
Replied by programador on topic How do I control the speed and acceleration of the analog output of the 7i77 ?

How do I control the speed and acceleration of the analog output of the 7i77 ?

Category: Advanced Configuration

This reading is being shown on the display after the following modification

#net z-pos-fb <= hm2_7i96s.0.encoder.00.position # Disabled Line

net z-pos-fb <= hm2_7i96s.0.encoder.00.velocity #New Line

net z-pos-fb => joint.1.motor-pos-fb

#net z-vel-fb <= hm2_7i96s.0.encoder.00.velocity # Disabled Line

net z-pos-fb => joint.1.motor-pos-fb

net z-index-enable joint.1.index-enable <=> hm2_7i96s.0.encoder.00.index-enable

net z-pos-rawcounts <= hm2_7i96s.0.encoder.00.rawcounts

 
  • programador
  • programador's Avatar
15 Jan 2025 14:17
How do I control the speed and acceleration of the analog output of the 7i77 ? was created by programador

How do I control the speed and acceleration of the analog output of the 7i77 ?

Category: Advanced Configuration

I can't find a suitable configuration so that the analog output can control the correct movement of the punching machine's piston. How do I solve this?Summary of what I'm trying to control:The piston that hits the punches is hydraulic, but it has an actuator that controls its descent and ascent by applying analog voltage of -10 volts and +10 volts, where +10 volts goes up and -10 volts goes down. However, unlike a motor, when there is no voltage at all, the piston descends gradually. To keep it high, a voltage above 2 volts positive will always be necessary.Hardware information: the sensor that detects the movement of the piston hitting the punches is magnetic and provides an analog output voltage, being 0 volts when it descends completely and 8 volts when it rises completely. This position voltage is connected to the THCAD2 electronic board that converts it into frequency. This frequency is used in channel 0 of the 7i77 electronic board's encoder, which is configured as
setp hm2_7i96s.0.encoder.00.counter-mode 1
This reading is being shown on the display after the following modification
#net z-pos-fb <= hm2_7i96s.0.encoder.00.position # Disabled Linenet z-pos-fb <= hm2_7i96s.0.encoder.00.velocity #New Linenet z-pos-fb => joint.1.motor-pos-fb#net z-vel-fb <= hm2_7i96s.0.encoder.00.velocity # Disabled Linenet z-pos-fb => joint.1.motor-pos-fbnet z-index-enable joint.1.index-enable <=> hm2_7i96s.0.encoder.00.index-enablenet z-pos-rawcounts <= hm2_7i96s.0.encoder.00.rawcounts
I'm worried that the problem is because
net z-vel-fb
was disconnected since it is being used to report the position, will the 7i77 electronic board work without net z-vel-fb?

Below is information that may helpWhen I manually jog the Z axis to 1mm or 5mm, it makes no difference in the actual movement of the piston, it always moves the same and the Z axis calculation error appearsWhen I manually jog the Z axis to 1mm

  When I manually jog the Z axis to 5mm  Piston hitting the punches in the zero position

  Piston hitting the punches in the position after a 1mm jog

 
 Piston hitting the punches in the position after a 5mm jog  I have been working on this machine retrofit for over 2 years, unfortunately here in Brazil I have not found qualified labor to perform this service. If I cannot resolve this step I will have to give up on LinuxCNC. I am willing to pay if someone resolves this situation. Even so, I thank all the contributions from the Forum and Mr. Peter.
  • hellvetica
  • hellvetica
15 Jan 2025 14:09
Replied by hellvetica on topic Using G64 with M66 for smooth robot control

Using G64 with M66 for smooth robot control

Category: General LinuxCNC Questions

Yes i played with the python MDI interface but it seemed to me like I couldn't get precise timings for my moves.

We're trying to pick up moving objects from a conveyor belt and MDI seems to have a delay.
Also, we want our robot to be VERY fast and we're going to be pushing it to its limits. MDI doesn't seem to fit into that.
  • Aciera
  • Aciera's Avatar
15 Jan 2025 13:59
Replied by Aciera on topic Using G64 with M66 for smooth robot control

Using G64 with M66 for smooth robot control

Category: General LinuxCNC Questions

Have you thought about using the python interface to issue MDI commands to the queue instead of running a parametric gcode program?
  • liutas4x4
  • liutas4x4
15 Jan 2025 13:45 - 15 Jan 2025 13:46
Replied by liutas4x4 on topic Connecting to FANUC αi-B βi-B (62XX) series servos to LinuxCNC system?

Connecting to FANUC αi-B βi-B (62XX) series servos to LinuxCNC system?

Category: Driver Boards

Yes.

But B-series.
  • hellvetica
  • hellvetica
15 Jan 2025 13:19
Replied by hellvetica on topic Using G64 with M66 for smooth robot control

Using G64 with M66 for smooth robot control

Category: General LinuxCNC Questions

The positional values are determined by a camera running object detection.

We're using it for a pick and place system so sometimes the entire move is known ahead of time (when object is being placed) but sometimes i want to change the target depending on camera feedback.
  • CNC_Bot
  • CNC_Bot
15 Jan 2025 12:58
Replied by CNC_Bot on topic Has Anyone used DeskProto

Has Anyone used DeskProto

Category: CAD CAM

Hello, I have been using Deskproto on Linux for years now, with a 4 axes CNC6040 (in fact the 4th axe is a rotation axe). It works great, it is stable. The support is good. The price seems OK for the value (hobbyist version). My setup is Blender + Deskproto. For carving, I use Aspire. I have not checked the latest version of Deskproto, which does carving. I have done a number of projects with very satisfatory results, on wood but also brass and titanium.
  • mat1370
  • mat1370
15 Jan 2025 12:55
Replied by mat1370 on topic Linuxcnc-ethercat: undefined symbol: ecrt_slave_config_sdo

Linuxcnc-ethercat: undefined symbol: ecrt_slave_config_sdo

Category: Installing LinuxCNC

thanks it worked for me,
only one thing: first i found where is the location of libethercat.so files for me.
i mean these three files: libethercat.so.1, libethercat.so.1.1.0, libethercat.so

then i copied them to the /lib/x86_64-linux-gnu/

then by running your edited make file the problem solve.
  • Aciera
  • Aciera's Avatar
15 Jan 2025 12:53 - 15 Jan 2025 12:58
Replied by Aciera on topic LinuxCNC with OKUMA OSP MX-55VA

LinuxCNC with OKUMA OSP MX-55VA

Category: Basic Configuration

Please don't create multiple threads about the same topic as it will invariably create confusion. I have deleted your other thread.
Thanks

[edit]
Moved the above post over from the deleted thread.
  • Aciera
  • Aciera's Avatar
15 Jan 2025 12:43
Replied by Aciera on topic Using G64 with M66 for smooth robot control

Using G64 with M66 for smooth robot control

Category: General LinuxCNC Questions

Where are you reading those positional values from and how far in advance are they known?
  • programador
  • programador's Avatar
15 Jan 2025 12:29 - 15 Jan 2025 12:30
Replied by programador on topic home axis problem

home axis problem

Category: AXIS

Good morning, to no home index, try this code in the INI file, but be careful, there may be severe collisions if you exceed the machine limits.
HOME_USE_INDEX = NO
  • hellvetica
  • hellvetica
15 Jan 2025 12:23
Using G64 with M66 for smooth robot control was created by hellvetica

Using G64 with M66 for smooth robot control

Category: General LinuxCNC Questions

Hi, I've been using linuxcnc to control my delta robot arm through HAL pins and M66 commands.
This is my GCODE
(AXIS,stop)

O500 WHILE [1]

( Main loop )
M66 E0 L0 ; Read from motion.analog-in-0 (X)
#1 = #5399 ; Store the read value in variable #1
M66 E1 L0 ; Read from motion.analog-in-1 (Y)
#2 = #5399 ; Store the read value in variable #2
M66 E2 L0 ; Read from motion.analog-in-2 (Z)
#3 = #5399 ; Store the read value in variable #3

G1 X#1 Y#2 Z#3 F1000 ; Move to the new position


; G4 P0.1 ; Wait a short time before the next read (optional)

O500 ENDWHILE
M30

I connect custom pins to the motion analog in pins and then set the xyz values in my python or c program.
This works great, but when I try to add G64 blending to make the robot keep its speed it doesn't work.
Obviously this is because the trajectory planner doesn't know the next target point until it's read by M66 in the next gcode loop, so I tried adding the next target point into the gcode as well with 6 analog inputs:
(AXIS,stop)
G64 P50
O500 WHILE [1]

; G4 P0.001 ; Wait a short time before the next read (optional)

( Main loop )
M66 E0 L0 ; Read from motion.analog-in-0 (X)
#1 = #5399 ; Store the read value in variable #1
M66 E1 L0 ; Read from motion.analog-in-1 (Y)
#2 = #5399 ; Store the read value in variable #2
M66 E2 L0 ; Read from motion.analog-in-2 (Z)
#3 = #5399 ; Store the read value in variable #3

M66 E3 L0 ; Read from motion.analog-in-3 (X)
#4 = #5399 ; Store the read value in variable #4
M66 E4 L0 ; Read from motion.analog-in-4 (Y)
#5 = #5399 ; Store the read value in variable #5
M66 E5 L0 ; Read from motion.analog-in-5 (Z)
#6 = #5399 ; Store the read value in variable #6

G1 X#1 Y#2 Z#3 F30000 ; Move to the new position

G1 X#4 Y#5 Z#6 F30000 ; Load next position


O500 ENDWHILE
M30

This only works for every other point, because when the gcode loops, the trajectory planner has no information about the next point.

What I would need is to load the next target point into the trajectory planner so that G64 can use it, but not go there with G1. I tried adding O500 continue between the G1s but then the gcode is smart and ignores the second G1.

Is there a way to do this?


 
  • programador
  • programador's Avatar
15 Jan 2025 12:18
Replied by programador on topic LinuxCNC with OKUMA OSP MX-55VA

LinuxCNC with OKUMA OSP MX-55VA

Category: Basic Configuration

Good morning, my friend. Unfortunately, there won't be a ready-made cake recipe. Each machine requires a different methodology. I would start by studying the electrical part of the machine, to find out how many inputs and outputs it has, then how many movements it has, and finally which devices will be used. With this, you can get an idea of ​​which electronic boards from the manufacturer Mesa  store.mesanet.com/ will be necessary for the Retrofit. If you post the electrical part on this forum, we can help you.
  • timo
  • timo
15 Jan 2025 11:13 - 15 Jan 2025 11:18
Replied by timo on topic Can the stepgen LPT work in conjunction with the mesa card?

Can the stepgen LPT work in conjunction with the mesa card?

Category: General LinuxCNC Questions

It is a PCIe Mesa 6i25 with 7i76 plug and go kit. I do not know when I updated Linux CNC last time on that device. Must be a two or three year old installation.

I do not think it will make a difference, besides the naming conventions in the hal files.

How I did it:
a) create a Machine configuration with stepconf
b) create similar Machine configuration with pncconf

Then I deleted the axis information from the pnconf generated file, for the motors that will run on the parallel port. I deleted all the axis information from the stepconf gnerated file, that will belong to the Mesa card.

Then I merged the two configs step by step by copying the "Mesa stuff" into the LPT configuration. (ended up with a convoluted hal and ini file that works and contains snippets of "both worlds")

Greetings Timo

p.s. I did not have mentionable prior experience, so it took a while to get it "free of startup errors", but no involved adjustments. Mainly removing double entries and correcting my own typos.
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