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 I am using byte2bot and currently trying to use homing. I pressed the limit switch, but it still doesn’t trigger the homing. 
Regardless of whether I press the limit switch or not, it always returns TRUE.(Like the attached picture.)
Here are my HAL and INI files.

Hi Kam,
thanks

the warning and BadWindow stuff can be ignored

Cheers
Olli

controlword and statusword are part of the cia402 standard. We write to control word and read the results in status word. Just look at the examples and make sure you have the ones that connect to cia402.comp.

Use AI to get a tutorial on cia402 state machine. your manual is saying there is a 32 bit value (2 x 16 bit values) and it rx (receives a value) so it is an S32 in pin in hal
 

cool entered those. no change. (which i assume is expected)

I am looking at these hex things. where do i find the values? in the drive manual it lists them and then says the range.

eample:

<pdoEntry idx="6040" subIdx="00" bitLen="16" halPin="cia-controlword" halType="u32"/>
<pdoEntry idx="6060" subIdx="00" bitLen="8" halPin="opmode" halType="s32"/>

 

yeh these
Vendor Id: 0x00000083
Product code: 0x00000006

I actually registered here to say: Wow, really impressive work with the trajectory planner! looking forward to see it evolve.

We put the clothoid fitting algo in a seperate thread.

Creating a lockless, thread-save producer-consumer queue has a lot of pitfalls, I would recommend looking at this implementation  Lock-Free Single-Producer - Single Consumer Circular Queue    or in C  

 Besides that can I ask if the points raised by hmnijp ( smoothed polyline segmentation causing deviations, page 3) are addressed with the use of clothoid-curves? I guess to really have jerk limiting you not only need to be smooth in the time domain but also in the path, thus the use of clothoid(?)

For my 9x20 spindle, I used optical sensors and cut 65 teeth into a thin disk. With two carefully offset sensors I get 260 quadrature counts and haven't had any problems threading 120-150 rpm. A third optical sensor provides the index from a deeper tooth.

I ordered an omron encoder off eBay ($20) that will be a lot cleaner. When I get around to installing it I will probably 3d print gears for a small belt running around spindle and encoder. If you go this route don't go over board on pulses per revolution. 1024 ppr will be more than enough for threading.

The most difficult part of my 9x20 conversion was the modifications to fit a small ball screw under the cross slide good luck!

so vid is vendior id and pid is product?

== Master 0, Slave 0 ===
Device: Main
State: PREOP
Flag: +
Identity:
Vendor Id: 0x00000083
Product code: 0x00000006
Revision number: 0x00020001
Serial number: 0x1001007d
DL information:
FMMU bit operation: no
Distributed clocks: yes, 64 bit
DC system time transmission delay: 0 ns
Port Type Link Loop Signal NextSlave RxTime [ns] Diff [ns] NextDc [ns]
0 MII up open yes - 3318981850 0 0
1 MII up open yes 1 3318984170 2320 560
2 N/A down closed no - - - -
3 N/A down closed no - - - -
Mailboxes:
Bootstrap RX: 0x0000/0, TX: 0x0000/0
Standard RX: 0x1800/256, TX: 0x1c00/256
Supported protocols: CoE
General:
Group:
Image name:
Order number: R88D-KN02H-ECT
Device name: R88D-KN02H-ECT G5 Series ServoDrive/Motor
CoE details:
Enable SDO: yes
Enable SDO Info: yes
Enable PDO Assign: yes
Enable PDO Configuration: yes
Enable Upload at startup: no
Enable SDO complete access: yes
Flags:
Enable SafeOp: yes
Enable notLRW: no
Current consumption: 0 mA

Yes, I only shared the main hal file.
You need to run Ethercat slaves -v and get the vid and pid for your drive.
the main registers will be in the cia402.comp example. Mainly the registers with the 0x6000 addresses
The 2000's are vendor specific. So do the basics, then add in the vendor specific ones you need from your drive manual.

Note my drives have 4000 encoder counts per rev and on a 5mm pitch balls screw gives a scale of 800 per mm

note the byte data is in lo high format  so 0x0102 will be formatted as 02 01 when setting SDOs

ok, that was my error. now it says failed to execute sdo download.
i think this is cause of course i dont have your servos/config (only one drive connected).

So i guess now i need to edit it to match my own?

My bad
Okay so when I was looking up the schematics and pcb files I realised that I had inserted the Tang nano in the wrong direction ,  when I fixed that tand powerd the bob a bright red led light up on the w5500 module and the Lan link was connected to the host,  when I pressed test gui button the select target popped up for udp 192.168.10.194.   pressed ok  and tested wled selecting the 3 boxes lit up the wled on the bob and tested all colors worked like a charm. There was this warning in the terminal (dont know if it is important)  connection via: UDP
IP: 192.168.10.194
PORT: 2390
WARNING: can not set timeouts: timed out
qt.qpa.xcb: QXcbConnection: XCB error: 3 (BadWindow), sequence: 449, resource id: 10551690, major code: 40 (TranslateCoords), minor code: 0

RIO-TestGui is great. Next step power the 5axis bob and setup some test hardware and usb power the China Bob. Great work Olly. Me super excited. Thank you Robert and Oliver for your quick responses.

Cheers
Kam

tried your file, i get this

Note: Using POSIX realtime
lcec_conf: ERROR: unable to open config file ethercat-conf.xml
./VMNmillQT.hal:15: waitpid failed lcec_conf lcec_conf
./VMNmillQT.hal:15: lcec_conf exited without becoming ready
Could not open command file 'shutdown.hal'
23902
Stopping realtime threads
Unloading hal components
Note: Using POSIX realtime

I bought 8 NPN NO switches, I tested with only one switches, I set it to max-x, I was able to get HALShow to recognise the switch. I made a short clip to show it working:



Thank you all for your helps... I have learned a lot so far, still much more go to, but without this forum, I would not be able to get this far.

Best regards,

...behai.

 

It was intended to be placed in CONFIGURATION FOLDER/qtvcp/screens/qtdragon_hd/languages/ but there is a bug.

Place it in CONFIGURATION FOLDER/qtdragon_hd/languages/ until I fix the bug.

Chris

Thanks Pete

I've added your post to the RPi sticky in the Installing Linuxcnc Section.