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This gets most of what you want I think...

@PCW-
I thought about using orient.comp with it's own PID to do just what you suggested (get it close before re-linking the main PID), but caxis.comp interferes with orient (I think).

Cooking up a 3rd get-it-close PID is a fantastic idea.  I'll have a go at it.

@Aciera-
Writing a python comp for me was more than I'd expected (or deserve), but I suspect it'd take longer to explain things and bring me up to speed than to just whip something up.

I'll try to digest what the comp is doing and test it out.

Thank you both very much.
 

Yes, the G5x button works when long pressed, thanks.

Well, I thought you could call up a calculator-like window, something like that:

 

As for the component (Bit of a rushed job as I'm short on time right now):
Save this as 'unhome_comp.py' in a folder named 'python' in your machine config and mark as 'executable':

add this line to the [HAL] section of your ini file:
Start your config and open the 'Show HAL configuration' tool and 'watch' the 'unhome-comp.unhome-rotary' pin, setting it to TRUE should unhome the joint number set in the python script in the line 'joint = 0'.

 

I succeeded, I am at the part "sudo halcompile --install esp32udp.comp" what should I do?
  it's not very clear for a novice

 

You might use a different PID (with different tuning) during the "recovery" period
so the correction is gentle, that and a 'near' component to determine when to go
back into full servo mode.

So

hand mode: drive disabled, LinuxCNC motor position feedback looped
back from motor position command (via mux)

recover mode: drive enabled,  LinuxCNC motor position feedback looped
back from motor position command (via mux) Special PID used with bounded
error and no FF so correction velocity is limited

exit from recover mode when encoder feedback is "near" position command

Hello from Florida. What is this snow you speak of? LOL

It doesn't work for me by using the mouse. Were you using the keyboard?

@Aciera,

LCNC manual on the python module is, I'm sure, adequate for someone with coding experience, but like many other manual sections it assumes a certain level of familiarity with the subject.  The explanations are meaningless without some sort of foundation:

Import the linuxcnc module.

What does 'import' mean? What is the linuxcnc module and where is it?

If you've got the patience, could you walk me through creating a python component, or pointing me towards a resource with novice-level explanations?

Or just directing me to a complete example of a python component and how to get LCNC to use it?

Thanks, I feel like I'm back at Day 1 with LCNC.

Press and hold the G54 button, the menu will show.
I don;t understand how you would use a pop up calculator for the G5x button - can you explain?

Perhaps the drivers aren't fully isolated from the computer?
Some VFDs create a lot of noise too, mine turned on the lights (with touch sensor) in the living room before I placed a filter for example.

Have you tried to dry run the NC?
Did the PC really crash or just the USB port doesn't work?
Can you reach it vias SSH?
Replugging the keyboard/mouse?

But opening up stepconf every time gets really old really fast.

(ask how I know)

I did some tests and ended up with a working comp. All it does is sending the registers to the drivers and then taking a velocity command as input and giving a position feedback as output. For now the settings are set by defining registers values as parameters, which isn't the easiest way to do it. It would probably not be too difficult to code a GUI to change the registers values according to more "readable" parameters. The comp also uses the bcm2835 library, which isn't compatible with RPI5 as far as I know. I'd like to change the code to directly write to spidev one day.

Here is a short video showing 3 motors moving: Link to youtube video
Edit: added a second video with physical axis attached to the drivers: Link to youtube video

The 4 drivers are connected in daisy chained mode and communicate with the Pi at 3.125MHz. All the read, write and PID stuff is done in the servo thread set at 1ms. Just using 4 pins for SPI and 1 as enable, there are plenty left for the other functions.

But there is more to explore; the TMC5160 has an encoder input and rather than reading the internal step counter, one could read the encoder counter as position feedback. There are also reference inputs that can be used directly on the board, and the possibility to do sensorless homing. A 50$ RPi, a couple of 15$ stepper driver and some cheap 3.3V->24V level shifter; could become a interesting poor man's closed-loop-stepper CNC controller.

The pan/rotate button works like a charm, thank you very much!

G5x button only show G54, no drop down menu at all. And when the program is running, if you press ABS or DTG button, G54 becomes inactive.

About the REF button - if the calculator window will be called - that would be very handy.

Btw, if there is a way for the G5x button to also call something like a calculator with big buttons, that would be perfect!

Yes, changing the sign on the scale flips over the following PINs:
   (all begin with hm2_7i92.0.encoder.00.)
   position
   velocity-rpm
   velocity
the change has no effect on:
   count
   rawcounts

As it turned out, I fixed it another way. I had the ESD button connected to the encoder-B  DB-25 P11 (14) input. I moved the ESD to my BOB #2 and left no input for encoder-B. This flipped the encoder.00 inputs to all positive and I was able to leave the encoder scale at +180..

Now I can thread again, so problem solved! Thanks for the help!