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Great project both of you!Seeing forward to what you are doing both of you.Will you share a bit more 4ndr344?Preparing for the same task. Have a mechanical fine Junior and intentionally had the idea about ethercat, but a “hot swap” looks interesting.  
 

10.10.10.10

1: lo: <LOOPBACK,UP,LOWER_UP> mtu 65536 qdisc noqueue state UNKNOWN group default qlen 1000
    link/loopback 00:00:00:00:00:00 brd 00:00:00:00:00:00
    inet 127.0.0.1/8 scope host lo
       valid_lft forever preferred_lft forever
    inet6 ::1/128 scope host noprefixroute
       valid_lft forever preferred_lft forever
2: eno1: <BROADCAST,MULTICAST,UP,LOWER_UP> mtu 1500 qdisc fq_codel state UP group default qlen 1000
    link/ether 88:ae:dd:0e:5a:e5 brd ff:ff:ff:ff:ff:ff
    altname enp2s0
    inet 10.10.10.100/24 brd 10.10.10.255 scope global noprefixroute eno1
       valid_lft forever preferred_lft forever
    inet6 fe80::aef9:50aa:d0b3:e84d/64 scope link noprefixroute
       valid_lft forever preferred_lft forever
3: wlp0s20f3: <BROADCAST,MULTICAST,UP,LOWER_UP> mtu 1500 qdisc noqueue state UP group default qlen 1000
    link/ether f8:9e:94:e0:d1:1b brd ff:ff:ff:ff:ff:ff
    inet 192.168.1.101/24 brd 192.168.1.255 scope global dynamic noprefixroute wlp0s20f3
       valid_lft 86188sec preferred_lft 86188sec
    inet6 2600:6c50:6700:a52:6150:dce7:5b4a:82f0/64 scope global temporary dynamic
       valid_lft 570909sec preferred_lft 85782sec
    inet6 2600:6c50:6700:a52:fa9e:94ff:fee0:d11b/64 scope global dynamic mngtmpaddr noprefixroute
       valid_lft 570909sec preferred_lft 570909sec
    inet6 fe80::fa9e:94ff:fee0:d11b/64 scope link noprefixroute
       valid_lft forever preferred_lft forever
 

Recordable speed, max. 10 m/s
Repeatability accuracy ± 10 µm
output voltage 0 ... 10 V
magnetic sensor BTL5-A11-M0060-P-SA224-KA02
Do you have any recommendations?

Recordable speed, max. 10 m/s
Repeatability accuracy ± 10 µm
voltage output 0 ... 10 V
magnetic sensor BALLUFF BTL5-A11-M0060-P-SA224-KA02
i.pinimg.com/736x/0a/a2/73/0aa27385f70978632362caf60b549c21.jpg
Do you have any recommendations?

Da ich zu Hause Den G-Code erstelle ….
Zeichen mit Freecad …Sheetcam 
überprüfe ich das Ergebnis mit qtplasmac_I_metric
fahre dann da mit zu meiner Halle und schneide soweit so gut geht , sehr gut aber was merkt ist dieser EStop Label !
Egal welche Estop Einstellung ich  nehme das Label  habe ich immer ob 0 , 1 oder 2 !
Kann man das ändern ?

King regarde
Juergen

Great idea. I'll probably post more on this when i get closer to testing it. The 5HP vfd showed up yesterday.

Thank you for a very quick reply!

I will take some more photos and check that cable going to the drive board next time I'm around.

Based on your suggestion, I feel like it's worth to do the budget way to show that all bits are working!

Regarding drivers, I think the steppers might be able to take ~80V but I can't find the datasheet (will give it another go some time) but since it's not going to run in an industrial setting, the highest possible speed is not really required, so TB6600 might be enough

Good point, Rodw.

Part of my interest in the GPIO was to use encoders for screw mapping or closed loop control, thinking the more ethercat components i buy(controller budget) the less the retrofit budget for the mill.

However a serious deficiency in motion control cannot be compensated for in motion hardware and vise versa. 

I now have an Ethercat IO module next to me (arrived this morning along with some cat 6e patch leads) but due to me being a clown it seams the connection module for the ethernet cables is a discreet entity, and that will arrive tomorrow along with a 2x channel encoder interface.

On rout from china is an Rtelegent ECT60 Ethercat closed loop stepper driver that should be compatable with the 4x nema 34ish encoder equipped steppers i removed from my first cnc retrofit project. If i can bully them into working together i will order 3 more. 

As for the Ethercat IO and encoder inputs i have aquired some Beckhoff modules.

EK1100 Ethercat coupler  (don't forget this bit )
EL2609 18x 24v digital output 
and possibly the wrong encoder interface for TTL grrrr
 

 

Okay thank you ill try it now

Since I create the G-Code at home ....

Characters with Freecad ...Sheetcam

I check the result with qtplasmac_I_metric

Then drive with me to my hall and cut as far as possible, very good but what notice is this EStop label!

No matter what Estop setting I take the label I always have whether 0, 1 or 2!

Can you change that?

King regard

Juergen
 

Following the link to the kernel's git, Its interesting to see a string of commits about printk before the last 3 commits Phoronix mentions.
printk has been one of the most troublesome RT issues to solve so I would say that has been the enabler.
From memory printk prints error messages from the kernel to the console which is very slow and causes issues for RT
Its exciting...

Your latency looks fine for ethercat. To me it does not make sense to adopt ethercat and use another system for I/O. Use a ethercat I/O module

spumco wrote:

Thanks Rod.

When I first tried using this H2+ LCNC was in the middle of the python2/3 fiasco and I was struggling between Deb 10/11 and the r8125 drivers.
 

Me too and why I fled Debian 10 in favour of building from source on Bullseye. I had to build the wifi driver. Now that PC points to Seb's buildbot. It uses ethercat so not so sensitive to network latency. HArdkernel say building the NIC driver gives a lot better performance. I may have done that.

Well i have some results, but I'm not sure what they mean in real terms beyond the recomendations in the documentation. I would be curious to know how they compare to other peoples results.  

DUT                       base thread  (us)                  servo thread (us)

RPI 4b sd card       -24.7 (sdev2.5) +79.1        -149.2 (sdev5.4) +148.6
RPI 5   sd card       -23.6 (sdev 1.0) +19.3         -30.6  (sdev2.1) +31.6
RPI 5   NVME         -13.1 (sdev0.9) +12.1          -15.7 (sdev2.1) +16.3



 
(left running for 7 hours, result above unchanged)

Going by linuxcnc.org/docs/stable/html/install/latency-test.html  the sub 15 microsecond base jitter provided by the RPI 5 with NVME should allow software stepping and the hardware seems capable from this crude test.. And yes i did take a photo of the screen because i am a luddite.
 

@tommylight
I using pulse train servo system with encoder feedback to 7i95, the question for open loop system is to gain some insight in linuxcnc.
@PCW
Changing P to 500 cause system to oscillate so I adjust it down to 0.1-0.2 still cause an audible hums. Is that a sensible P term? Or should I go lower?