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Need to do more testing.

I think if you run the same toolpath at the same RPM but lower feedrate - i.e lower feed per tooth - you'll be able nail down whether the pattern is mechanical or motor/software.

If the pattern is the same - same 'pitch' - then it's probably the belt system that's causing it.  Either from the belt pitch, and you've got mechanical 'noise' from the pulley teeth, or you're seeing peaks/valleys from belt resiliance as it stretches and snaps back in to the cut.

That, plus flexibility in other components, will result in chatter and surface finish issues.

tommylight wrote:

Yes it is and that is unfortunate as the probing is done twice every time at very low speeds.
I am beating a dead horse, as i have insisted from the very start of PlasmaC that should not be implemented at all, only a single probe.
On a plate with over 200 pierces, probing time is in hours, no matter how fast the Z axis is.

It is probably an incorrect setting, my table only probes once.

@Rod

Yeah I agree, I hadn't went to the RTAI site in a long time and wasn't sure if by chance it had gone mainstream.  I checked earlier and no, it's still the task of compiling.  So, yeah you are right about the debs.

It really comes down to if he can get PREEMPT working or if he has to go with RTAI.  If RTAI, then it will be a not so fun source build... those kernel modules suck to deal with if they don't install right off.

Sandro wrote:

This is my full configuration. Please note this is for a hobby machine and I cannot take responsibility for any present or not present safety features. Use at your own risk.

Slave 0 is the Cat IO board which can be found on Aliexpress.
Slave 1 is a DVS 1.8 kW servo motor with 23 bit absolute encoder, which I am using as spindle. I have set the encoder to 17 bit incremental at the moment. The same XML configuration as for the Lichuan servos works for this one as well.
Slaves 2-4 are the Lichuan servos for my three axes.

I was having issues using the Lichuans in csp mode, due to quite a substantial following error. For this reason I have set them to csv mode. This way I was able to do some PID tuning and clamping down the error to a few microns. I was also playing arround with the parameters on the servo drives directly to improve on the following error further. Most parameters did not do a lot in my case. However, P08.15 "Load inertia ratio" helped a lot. For the axes X and Y I have currently set it to about 12 and for Z-axis to about 7.
 

i looked at your config and saw some errors: addf for all functions must be configured in the correct
сomponent execution order.(read, calculation functions, write). but in your config addf pid functions are executed after new data is already sent to ethercat (addf write...) thus you create a delay of several servo cycles...
the same applies to the rest of the addf. (motion, estope.. etc)

just a quick test. things look a lot more consistent. i just wanted something that would cut the same under different conditions. the cutting was 1/4 deep with a .020 step over at 50 IPM with the final pass @ 40 IPM the starting stock was 1 inch x 1 inch x 1/2 the hex is ,924 and took about a minute flat to cut. I'm' sure I can rough a little bit more aggressive and i light finish pass should help with a better finish. 

a step in the right direction for sure, i would think a belt drive machine is going to hit the wall at some point on surface finish.

 

PCW wrote:

Funny aside: We had to change the name of the THCAD on a invoice for a
shipment to Brazil as anything with the letters THC gets held up in customs...

I wonder why, they should check for stuff containing THC LEAVING the country!

FYI, i have used a Mesa 7i84 for the control panel on my Mazak, although i have a Mesa 7i73, would have needed a lot of level changes, especially since it uses an old +-12V MPG encoder.
Versatility is a very strong feature of Mesa cards, and i like that, a lot!

the reinstall might overwrite your ethercat conf file.
I don't think the linuxcnc hal driver will be affected.

Unfortunately the ethercat code has nothing to do with linuxcnc so we have no control over the features it offers.
(Other than to wite instructions which you ignore at your own peril ) 

I am pretty sure that RTAI is not supported  by ethercat debs. For starters, the debs use DKMS  so the kernel modules are compiled on yur computer so I suspect that requires a mainstream kernel to fetch the linux-headers source code.

CORBETT wrote:

Rod, I was proud of that sticky... but you were the one that got it up there to start with.

Sorry, I noticed several people were trying to mix this and the repositories together and needlessly getting into trouble because of that.
Plus the ethercat driver source should be coming from this repository because its maintainrd and has had a lot of changes
github.com/linuxcnc-ethercat
It has a buildbot that publishes itself on the ethercat repos.

Thank you very much for this work. I have tried X times to compile kernels without ever succeeding.

thanks again for your work

Ok, I might go with that then, thanks.

I own a Scorbot-ER-3 Robotic Arm. I have LinuxCNC 2.9 running on a HP envy h8-1534. I tried to run the Scorbot example and get this error code:Print file information:
RUN_IN_PLACE=no
LINUXCNC_DIR=
LINUXCNC_BIN_DIR=/usr/bin
LINUXCNC_TCL_DIR=/usr/lib/tcltk/linuxcnc
LINUXCNC_SCRIPT_DIR=
LINUXCNC_RTLIB_DIR=/usr/lib/linuxcnc/modules
LINUXCNC_CONFIG_DIR=
LINUXCNC_LANG_DIR=/usr/lib/tcltk/linuxcnc/msgs
INIVAR=inivar
HALCMD=halcmd
LINUXCNC_EMCSH=/usr/bin/wish8.6
LINUXCNC - 2.9.0~pre1+git20230208.f1270d6ed7
Machine configuration directory is '/home/robocidalmaniac/linuxcnc/configs/by_machine.scorbot-er-3'
Machine configuration file is 'scorbot-er-3.ini'
INIFILE=/home/robocidalmaniac/linuxcnc/configs/by_machine.scorbot-er-3/scorbot-er-3.ini
VERSION=1.1
check_config: Unchecked: [KINS]KINEMATICS=scorbot-kins
PARAMETER_FILE=sim.var
TPMOD=
HOMEMOD=
TASK=milltask
HALUI=halui
DISPLAY=axis
COORDINATES=X Y Z A B
KINEMATICS=scorbot-kins
Starting LinuxCNC...
Starting LinuxCNC server program: linuxcncsvr
Loading Real Time OS, RTAPI, and HAL_LIB modules
Starting LinuxCNC IO program: io
emc/iotask/ioControl.cc 786: can't load tool table.
Starting HAL User Interface program: halui
linuxcnc TPMOD=tpmod HOMEMOD=homemod EMCMOT=motmod
Found file(REL): ./scorbot-er-3.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 non-realtime
Traceback (most recent call last):
  File "/usr/lib/python3/dist-packages/serial/serialposix.py", line 398, in _reconfigure_port
    orig_attr = termios.tcgetattr(self.fd)
                ^^^^^^^^^^^^^^^^^^^^^^^^^^
termios.error: (5, 'Input/output error')

During handling of the above exception, another exception occurred:

Traceback (most recent call last):
  File "/usr/bin/scorbot-er-3", line 56, in <module>
    serial = serial.serial_for_url(
             ^^^^^^^^^^^^^^^^^^^^^^
  File "/usr/lib/python3/dist-packages/serial/__init__.py", line 90, in serial_for_url
    instance.open()
  File "/usr/lib/python3/dist-packages/serial/serialposix.py", line 332, in open
    self._reconfigure_port(force_update=True)
  File "/usr/lib/python3/dist-packages/serial/serialposix.py", line 401, in _reconfigure_port
    raise SerialException("Could not configure port: {}".format(msg))
serial.serialutil.SerialException: Could not configure port: (5, 'Input/output error')
./scorbot-er-3.hal:15: waitpid failed scorbot-er-3 scorbot-er-3
./scorbot-er-3.hal:15: scorbot-er-3 exited without becoming ready
13959
Stopping realtime threads
Unloading hal components
Note: Using POSIX non-realtime