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I believe the real issue was the drive didn't like the PDOS I had in the xml.
Even though my original settings were one of the "Fixed PDO mapping" options from the manual (1704 & 1B02).
Anyway, I switched it to the "Variable PDO mapping" 1600 & 1A00 and the drive goes to OP mode and comes alive when I enable the machine!

Has anyone had success with setting up the CIA402 homing mode?

Make sure you include these .config options or it will fail:

1. @alan, in my build system with 6.1.2.y code, the patch causes the kernel build to fail
2. @rob, funny, I have never been asked for that for a long time PREEMPT_RT is always an option

Any ideas about 1 would be appreciated. ksysfs.c does not exist in my builder so I think I needs to directly set the konfig variables in the file I linked to earlier. I just don't know how yet.

For now, I have built it without the patch.

I just thought it was a little ironic as I posted about not being able to find any reference to any major hardware changes.

To give you a idea of what is required to run a tool changer, here is the component I wrote for MY machine. You could certainly simplify this code and improve it, but the basics are all there. You could rewrite this with a switch statement, but then you'd be forgoing the error checking scheme unless you want to nest lots of switch statements inside of the primary switch statement. 

Also you must have a g43 call on tool changes to get your tool offsets, no way around that. Most of this is easily fixed in the CAM software post processor, or if you ware writing code by hand, just copy/paste. I suppose if you wanted to create a macro for each tool that had the preamble in the gcode you could do so. 

 

In case anyone was excited by the motherboard UART header, apparently it's only accessible by the BIOS during boot, and is not available to the OS.

Instead of complaining about the docs, why don't you take the time to read thorugh them systematically? Thats what I did to get started.
I never look at an alternate source of information. It just confuses. Forget about AI and google. Thi s is such an old project with many versions of the docs, chances are it will return an obsolete page
.
There are probably thousands of pages of docs, when I started here, I thought it was one of the best documented project I had come across.
 

Thank you for your advice!

The THCAD is mounted inside of the plasma source near the control board.

I'm making the recommended change for a plastic box outside of the plasma source.

This is the first Thermal Dynamics equipment that I work.
I've worked with several Hyperthem plasma cutting systems. All of those got an THCAD inside working well.

The THCAD boards seems to be fine. I have to check the encoder inputs from 7i96s but appears to be usable.

I am making that change to the future plasma systems to guarantee the best care for the boards.

When I have the chance I will make the changes and update you.
Thanks

thanks a lot,It works fine in simulation. I will try to adapt it to my own system.

My axis.ini is as follows:
# EMC controller parameters for a simulated machine.

# General note: Comments can either be preceded with a # or ; - either is
# acceptable, although # is in keeping with most linux config files.

# General section

---

[EMC]

# Version of this INI file
VERSION = 1.1

# Name of machine, for use with display, etc.
MACHINE = LinuxCNC-HAL-SIM-AXIS

# Debug level, 0 means no messages. See src/emc/nml_int/emcglb.h for others
DEBUG = 0x7FFFFFFF
#DEBUG = 0

# Sections for display options

---

[DISPLAY]

# Name of display program, e.g., axis
DISPLAY = dummy

# Cycle time, in seconds, that display will sleep between polls
CYCLE_TIME = 0.100

# Path to help file
HELP_FILE = doc/help.txt

# Initial display setting for position, RELATIVE or MACHINE
POSITION_OFFSET = RELATIVE

# Initial display setting for position, COMMANDED or ACTUAL
POSITION_FEEDBACK = ACTUAL

# Highest value that will be allowed for feed override, 1.0 = 100%
MAX_FEED_OVERRIDE = 1.2
MAX_SPINDLE_OVERRIDE = 1.0

MAX_LINEAR_VELOCITY = 5
DEFAULT_LINEAR_VELOCITY = .25
DEFAULT_SPINDLE_SPEED = 200
# Prefix to be used
PROGRAM_PREFIX = ../../nc_files/

# Introductory graphic
INTRO_GRAPHIC = linuxcnc.gif
INTRO_TIME = 5

#EDITOR = geany
TOOL_EDITOR = tooledit

INCREMENTS = 1 in, 0.1 in, 10 mil, 1 mil, 1mm, .1mm, 1/8000 in

[FILTER]
PROGRAM_EXTENSION = .png,.gif,.jpg Grayscale Depth Image
PROGRAM_EXTENSION = .py Python Script

png = image-to-gcode
gif = image-to-gcode
jpg = image-to-gcode
py = python3

# Task controller section

---

[TASK]

# Name of task controller program, e.g., milltask
TASK = milltask

# Cycle time, in seconds, that task controller will sleep between polls
CYCLE_TIME = 0.001

# Part program interpreter section

---

[RS274NGC]

# File containing interpreter variables
PARAMETER_FILE = sim.var

# Motion control section

---

[EMCMOT]

EMCMOT = motmod

# Timeout for comm to emcmot, in seconds
COMM_TIMEOUT = 1.0

# BASE_PERIOD is unused in this configuration but specified in core_sim.hal
BASE_PERIOD = 0
# Servo task period, in nano-seconds
SERVO_PERIOD = 1000000

# section for main IO controller parameters

---

[EMCIO]

# Name of IO controller program, e.g., io
EMCIO = io

# cycle time, in seconds
CYCLE_TIME = 0.100

# tool table file
TOOL_TABLE = sim.tbl
TOOL_CHANGE_POSITION = 0 0 0
TOOL_CHANGE_QUILL_UP = 1

# Hardware Abstraction Layer section

---

[HAL]

# The run script first uses halcmd to execute any HALFILE
# files, and then to execute any individual HALCMD commands.
#

# list of hal config files to run through halcmd
# files are executed in the order in which they appear
HALFILE = core_sim.hal
HALFILE = sim_spindle_encoder.hal
#HALFILE = axis_manualtoolchange.hal
HALFILE = simulated_home.hal
HALFILE = check_xyz_constraints.hal
#HALFILE = cooling.hal

# list of halcmd commands to execute
# commands are executed in the order in which they appear
#HALCMD = save neta

# Single file that is executed after the GUI has started.  Only supported by
# AXIS at this time (only AXIS creates a HAL component of its own)
#POSTGUI_HALFILE = test_postgui.hal

HALUI = 

# Trajectory planner section

---

[TRAJ]
COORDINATES = X Y Z
LINEAR_UNITS = inch
ANGULAR_UNITS = degree
MAX_LINEAR_VELOCITY = 4
DEFAULT_LINEAR_ACCELERATION = 100
MAX_LINEAR_ACCELERATION = 100
POSITION_FILE = position.txt

[KINS]
KINEMATICS = trivkins
JOINTS = 3

# Axes sections

---

[AXIS_X]
MAX_VELOCITY = 4
MAX_ACCELERATION = 100.0
MIN_LIMIT = -10.0
MAX_LIMIT = 10.0

[AXIS_Y]
MAX_VELOCITY = 4
MAX_ACCELERATION = 100.0
MIN_LIMIT = -10.0
MAX_LIMIT = 10.0

[AXIS_Z]
MAX_VELOCITY = 4
MAX_ACCELERATION = 100.0
MIN_LIMIT = -8.0
MAX_LIMIT = 0.12

# Joints sections

---

[JOINT_0]
TYPE = LINEAR
HOME = 0.000
MAX_VELOCITY = 5
MAX_ACCELERATION = 50.0
BACKLASH = 0.000
INPUT_SCALE = 4000
OUTPUT_SCALE = 1.000
FERROR = 0.050
MIN_FERROR = 0.010
MIN_LIMIT = -10.0
MAX_LIMIT = 10.0
HOME_OFFSET = 0.0
HOME_SEARCH_VEL = 20.0
HOME_LATCH_VEL = 20.0
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = NO
HOME_SEQUENCE = 1
HOME_IS_SHARED = 1

[JOINT_1]
TYPE = LINEAR
HOME = 0.000
MAX_VELOCITY = 5
MAX_ACCELERATION = 50.0
BACKLASH = 0.000
INPUT_SCALE = 4000
OUTPUT_SCALE = 1.000
FERROR = 0.050
MIN_FERROR = 0.010
MIN_LIMIT = -10.0
MAX_LIMIT = 10.0
HOME_OFFSET = 0.0
HOME_SEARCH_VEL = 20.0
HOME_LATCH_VEL = 20.0
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = NO
HOME_SEQUENCE = 1

[JOINT_2]
TYPE = LINEAR
HOME = 0.0
MAX_VELOCITY = 5
MAX_ACCELERATION = 50.0
BACKLASH = 0.000
INPUT_SCALE = 4000
OUTPUT_SCALE = 1.000
MIN_LIMIT = -8.0

# Normally the Z max should be 0.000!
# The only reason it's greater than 0 here is so that the splash screen
# gcode will run.
MAX_LIMIT = 0.12

FERROR = 0.050
MIN_FERROR = 0.010
HOME_OFFSET = 1.0
HOME_SEARCH_VEL = 20.0
HOME_LATCH_VEL = 20.0
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = NO
HOME_SEQUENCE = 0
HOME_IS_SHARED = 1
 

Here is my config for OMRON R88D-KN04H-ECT. With this config I can change driver mode - velocity or position.
Change vid="0x00000083" pid="0x00000007" to you value.
Default driver in velocity mode <sdoDataRaw data="09"/>, in position mode mast be <sdoDataRaw data="08"/>

Cant do this anymore bye all wrote:

Just got info from 2 suppliers that there are 16GB RPi 5 for sale. No mention of any other hardware updates.

8 gb should be heaps. I havenever used more than 4 gb

Stand by. Trying to make a new pi5 image with all of our learnings
 

The GUI is independent of the kinematics the custom panel on the right side is not strictly required for the functionality.

Oh, it's you again. You do certainly have a talent of making people NOT want to help you.
forum.linuxcnc.org/38-general-linuxcnc-q...89-which-ui?start=30

Just got info from 2 suppliers that there are 16GB RPi 5 for sale. No mention of any other hardware updates.