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  • Aciera
  • Aciera's Avatar
20 Feb 2025 13:14
Replied by Aciera on topic scurve trajectory planner

scurve trajectory planner

Category: General LinuxCNC Questions

So the gamma11 and gamma21 depend on the start values, however there is another problem.
I'm running single_clothoid_fit and I changed kappa10 from 0 to 0.1 and now everything is off:

 
  • denhen89
  • denhen89's Avatar
20 Feb 2025 12:59
Replied by denhen89 on topic (LPT) Debian 12 Latency spikes/unexpected real time delay. Looking for solution.

(LPT) Debian 12 Latency spikes/unexpected real time delay. Looking for solution.

Category: General LinuxCNC Questions

Its just unbelievable... why god damn it cant work..
What i did:
1. fresh install of debian 12
2. downloaded every file from onelaboratories.us/abc/
3. went to downloads folder and opened a terminal
4. first i tried "I think that placing these deb files in a separate folder and entering: sudo apt update && sudo apt install ./*.deb will be the easiest way"
NOT WORKING - if i remeber correctly, something is missing
5. then i tried this: sudo dpkg -i (package name here without brackets)
5.1: i started with: sudo dpkg -i linux-headers-5.4.290-rtai-amd64_5.4.290-rtai-amd64-1_amd64.deb
5.2: sudo dpkg -i linux-image-5.4.290-rtai-amd64_5.4.290-rtai-amd64-1_amd64.deb
5.3: sudo dpkg -i rtai-modules-5.4.290_5.3.3-linuxcnc_amd64.deb
5.4: sudo dpkg -i linuxcnc_2.9.4_amd64.deb

Dont ask me why in this sequence. I just did that because no where its described with which deb to start.
As you can see on the pictures there are things missing.
I then tried to open Latency test fom the drop down (xfce) menu but nothing happend, then i opened terminal and wanted to open it through command.You can see the result on the last pictures.

Guys, please tell me what i did wrong.
  • rodw
  • rodw's Avatar
20 Feb 2025 12:58
Replied by rodw on topic Issue with LinuxCNC Pins showing zero

Issue with LinuxCNC Pins showing zero

Category: EtherCAT

I suspect some SDOs need to be set. Not sure if I am reading the right manual but on P 104 it says
In object 0x1C13, it is selected which PDOs are to be transferred. The PDO mapping objects are selected.
  • Aciera
  • Aciera's Avatar
20 Feb 2025 12:49 - 20 Feb 2025 13:06
Replied by Aciera on topic scurve trajectory planner

scurve trajectory planner

Category: General LinuxCNC Questions

See my last post, looks like dogleg is not solving for gamma11 and gamma21.

[edit]

Just checked and it does seem to be adjusting gamma11 and gamma 21 but it always ends up being zero which does not quite look right to me.
  • Grotius
  • Grotius's Avatar
20 Feb 2025 12:46
Replied by Grotius on topic scurve trajectory planner

scurve trajectory planner

Category: General LinuxCNC Questions

@Arciera,

I made a test : clothoid_compound_no_fit();

This visualises the problem quite good. This example uses no fit for endpoint. So the clothoid compound
behaves as a natural attached curve.

eq44 is reviewed and i added the for loop check calculations as in the paper.
However the tresholds results there are ok.
eq45, i can not find any typo's.

eq45 is sub off eq44_G123. Yes eq45 is in the loop.

With the 6 resulting gamma values it should then satisfy G1, G2 and G3 continuity.
Yes. eq45 is called for xy and for z.

Then yi1 is called like : y11 for z
Then yi1 is called like : y21 for xy.

This to avoid code duplication.
  • Aciera
  • Aciera's Avatar
20 Feb 2025 12:45 - 20 Feb 2025 12:47
Replied by Aciera on topic scurve trajectory planner

scurve trajectory planner

Category: General LinuxCNC Questions

Actually the problem might be in the dogleg algo, seems odd to me that gamma11 and gamma21 are zero.

Solution found: gamma10 = 0.000000, gamma20 = -0.000000, s1 = 198.587624
 


Could it be that we are only solving for variable s1 instead of [gamma11, gamma21, s1]?
  • programador
  • programador's Avatar
20 Feb 2025 12:40
Replied by programador on topic How to configure the 7i77 board to do Home Axi Z?

How to configure the 7i77 board to do Home Axi Z?

Category: Advanced Configuration

Good morning Mr. PCW
Thank you very much for your feedback and your suggestion.
You are right, I understand.
There is a lot of good documentation on this forum about the "comp" component.
I will try to do it in another, faster way, because I loved the documentation about the "comp" component, but it will take me a few months to understand and write code for this purpose.
So I will just create a logic using halui to raise the Z axis when starting the machine, unfortunately that is the limit of what I know how to do at the moment and it would be the fastest way.
Thank you for all your collaboration.
  • Aciera
  • Aciera's Avatar
20 Feb 2025 12:38
Replied by Aciera on topic scurve trajectory planner

scurve trajectory planner

Category: General LinuxCNC Questions

I don't think these gamma values look right:
yi1: 0.000000 
yi2: -0.000001 
yi3: 0.000001 
yi4: -0.000000 
yi1: -0.000000 
yi2: -0.000000 
yi3: 0.000000 
yi4: -0.000000
  • JB-Motoring
  • JB-Motoring
20 Feb 2025 12:32
Replied by JB-Motoring on topic +-10v setup 7i97 & .ini

+-10v setup 7i97 & .ini

Category: General LinuxCNC Questions

Heya Seth,

would you maybe provide me the other files of your config? So I could take a look on how to set my machine up?

This would realllly help me out- it's been a while since my last setup :D!

THanks for any help!!!!

BR
  • Aciera
  • Aciera's Avatar
20 Feb 2025 12:21
Replied by Aciera on topic scurve trajectory planner

scurve trajectory planner

Category: General LinuxCNC Questions

I can't quite tell from your repo so you may already have but just in case:
Remember that we need to run eq 45 with the gamma11, gamma21 and s1 values found with dogleg. With the 6 resulting gamma values it should then satisfy G1, G2 and G3 continuity.

 
  • Aciera
  • Aciera's Avatar
20 Feb 2025 12:10
Replied by Aciera on topic scurve trajectory planner

scurve trajectory planner

Category: General LinuxCNC Questions

This is really a milestone for us !!!

Indeed! Congratulations.

However if you look closely at the individual clothoid curve transitions there is a tiny change in curvature.


Is eq 45 in the loop yet?
  • Traken
  • Traken
20 Feb 2025 12:07 - 20 Feb 2025 12:19
Replied by Traken on topic Servo Oscillation Issue at ±6.6V 5i25 + 7i77, Analog Control

Servo Oscillation Issue at ±6.6V 5i25 + 7i77, Analog Control

Category: Basic Configuration

It checks your method and shows no error. I will try to turn on linuxcnc and control from the servopack to read a higher speed and exclude the encoder reading.
Because it still seems to me that it is not related to the encoder reading but to the analog power supply.
What still surprises me is that if I drive the axle in the positive direction, I can achieve 10 m/min, and if I drive the axle in the negative direction, 8.3 m/min.
  • mc_cubus
  • mc_cubus
20 Feb 2025 11:37
Issue with LinuxCNC Pins showing zero was created by mc_cubus

Issue with LinuxCNC Pins showing zero

Category: EtherCAT

Hello Everyone,
I'm have an IFC2411 confocal sensor (Micro-Epsilon) on my EtherCAT network. The sensor is recognized and appears in OP state:
0  0:0  OP  +  ECOMODUL
1  0:1  OP  +  PD4-Ex-E-65-1 EtherCAT Drive (CoE)
2  0:2  OP  +  ECAT-2513 4-Port EtherCAT Junction(IN/OUT1)
3  0:3  OP  +  ECAT-2513 4-Port EtherCAT Junction(OUT2/OUT3)
4  0:4  OP  +  IFC2411
I can do an SDO read of 0x6000:01 and get non-zero distance values—proving the sensor is physically measuring and returning data internally:
ethercat upload -p 4 0x6000 0x01 --type uint32
0x001d6fe3 1929187

The ethercat pdos -p 4 says:
SM0: PhysAddr 0x1000, DefaultSize 1024, ControlRegister 0x26, Enable 1
SM1: PhysAddr 0x1400, DefaultSize 1024, ControlRegister 0x22, Enable 1
SM2: PhysAddr 0x1800, DefaultSize    0, ControlRegister 0x64, Enable 1
SM3: PhysAddr 0x1818, DefaultSize   24, ControlRegister 0x20, Enable 1
  TxPDO 0x1a00 ""
    PDO entry 0x6000:01, 32 bit, ""
  TxPDO 0x1a30 ""
    PDO entry 0x6010:01, 32 bit, ""
  TxPDO 0x1a80 ""
    PDO entry 0x6030:01, 32 bit, ""
  TxPDO 0x1ae0 ""
    PDO entry 0x7000:01, 32 bit, ""
  TxPDO 0x1ae8 ""
    PDO entry 0x7001:01, 32 bit, ""
  TxPDO 0x1af0 ""
    PDO entry 0x7002:01, 32 bit, ""

However, in LinuxCNC’s HAL pins (e.g.
lcec.0.IFC2411Sensor.ifc2411-distance
), the value stays at 0.
halcmd show pin lcec.0.IFC2411Sensor
Component Pins:
Owner   Type  Dir         Value  Name
    37  s32   OUT             0  lcec.0.IFC2411Sensor.ifc2411-counter ==> ifc2411-counter
    37  s32   OUT             0  lcec.0.IFC2411Sensor.ifc2411-distance ==> ifc2411-distance
    37  s32   OUT             0  lcec.0.IFC2411Sensor.ifc2411-frequency ==> ifc2411-frequency
    37  s32   OUT             0  lcec.0.IFC2411Sensor.ifc2411-intensity ==> ifc2411-intensity
    37  s32   OUT             0  lcec.0.IFC2411Sensor.ifc2411-shutter ==> ifc2411-shutter
    37  s32   OUT             0  lcec.0.IFC2411Sensor.ifc2411-timestamp ==> ifc2411-timestamp
    37  bit   OUT          TRUE  lcec.0.IFC2411Sensor.slave-online
    37  bit   OUT          TRUE  lcec.0.IFC2411Sensor.slave-oper
    37  bit   OUT         FALSE  lcec.0.IFC2411Sensor.slave-state-init
    37  bit   OUT          TRUE  lcec.0.IFC2411Sensor.slave-state-op
    37  bit   OUT         FALSE  lcec.0.IFC2411Sensor.slave-state-preop
    37  bit   OUT         FALSE  lcec.0.IFC2411Sensor.slave-state-safeop


The slave is defined in ethercat_conf.xml as follows:
<slave idx="4" name="IFC2411Sensor" type="generic" vid="0x00000607" pid="0x62ece209" configPdos="true">
            
            <syncManager idx="3" dir="in">
                <!-- Channel 1 distance 1 TxPDOMap OV1 -->
                <pdo idx="1a00">
                  <pdoEntry idx="6000" subIdx="01" bitLen="32" halPin="ifc2411-distance" halType="s32"/>
                </pdo>
                <!-- Channel 1 intensity 1 TxPDOMap OV1 -->
                <pdo idx="1a30">
                  <pdoEntry idx="6010" subIdx="01" bitLen="32" halPin="ifc2411-intensity" halType="s32"/>
                </pdo>
                <!-- Channel 1 shutter TxPDOMap OV1 -->
                <pdo idx="1a80">
                  <pdoEntry idx="6030" subIdx="01" bitLen="32" halPin="ifc2411-shutter" halType="s32"/>
                </pdo>
                <!-- Counter TxPDOMap OV1 -->
                <pdo idx="1ae0">
                  <pdoEntry idx="7000" subIdx="01" bitLen="32" halPin="ifc2411-counter" halType="s32"/>
                </pdo>
                <!-- Time stamp TxPDOMap OV1 -->
                <pdo idx="1ae8">
                  <pdoEntry idx="7001" subIdx="01" bitLen="32" halPin="ifc2411-timestamp" halType="s32"/>
                </pdo>
                <!-- Frequency TxPDOMap OV1 -->
                <pdo idx="1af0">
                  <pdoEntry idx="7002" subIdx="01" bitLen="32" halPin="ifc2411-frequency" halType="s32"/>
                </pdo>
            </syncManager>
        </slave>

The .hal file contains the following mappings:
#PDOs to HAL Pins mapping for IFC2411 Confocal Sensor
net ifc2411-distance <= lcec.0.IFC2411Sensor.ifc2411-distance
net ifc2411-intensity <= lcec.0.IFC2411Sensor.ifc2411-intensity
net ifc2411-shutter <= lcec.0.IFC2411Sensor.ifc2411-shutter
net ifc2411-counter <= lcec.0.IFC2411Sensor.ifc2411-counter
net ifc2411-timestamp <= lcec.0.IFC2411Sensor.ifc2411-timestamp
net ifc2411-frequency <= lcec.0.IFC2411Sensor.ifc2411-frequency

I have the feeling that I am overseeing something trivial and would be thankful for any kind of help!

Cheers,
  • Grotius
  • Grotius's Avatar
20 Feb 2025 11:12
Replied by Grotius on topic scurve trajectory planner

scurve trajectory planner

Category: General LinuxCNC Questions

@Arciera,

Today i started coding the clothoid compound fit using the gsl solver. It worked right away.
I think because yesterday we did it succesfully for just one clothoid.

This is really a milestone for us !!!

What we see here is a 3d clothoid spline, build from 4 individual clothoids, given start, end posture.

Given the abstract :
"Space corner smoothing of CNC machine tools through developing 3D general clothoid"
by Qun-Bao Xiao, Min Wan, Yang Liu, Xue-Bin Qin, and Wei-Hong Zhang.
Published in Robotics and Computer Integrated Manufacturing, Volume 64, 2020.


However if you look closely at the individual clothoid curve transitions there is a tiny change in curvature.
Somewhere in the code is a buggybug. 
File Attachment:
  and or alien obstruction.
I think in eq45 where the constrains of the joints are calculated must be something signed to "-" ?
// Start point.
double xs = 0.0;
double ys = 0.0;
double zs = 0.0;

// Target point.
double xe = 520.05;
double ye = 266.50;
double ze = 125.50;

// Start angles, end angles.
double degrees_xy_start = 45.0;
double degrees_xy_end = 0.0;
double degrees_z_start = 0.0;
double degrees_z_end = -45.0;

  
Converged after 315 iterations
Solution found: gamma10 = 0.000000, gamma20 = -0.000000, s1 = 198.587624
endpoint x: 520.050004 y: 266.500006 z: 125.499999
  • denhen89
  • denhen89's Avatar
20 Feb 2025 11:06
Replied by denhen89 on topic (LPT) Debian 12 Latency spikes/unexpected real time delay. Looking for solution.

(LPT) Debian 12 Latency spikes/unexpected real time delay. Looking for solution.

Category: General LinuxCNC Questions

I am planning to do a fresh debian 12 install and delete everything what is currently on the system.
Do i understand correctly, after Debian 12 is installed, i need to do this:
sudo dpkg -i (package name here without brackets)
for each deb that is here onelaboratories.us/abc/ and after that reboot and choose the rtai kernel in grub?
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