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Good day
Wasn't sure there to post this thread, since is a bit off the Linuxcnc topic but was hoping to get some pointers at least.
problem is related to the current drive protocol that is used in the old Yaskawa cacr-ir series servopacks. it uses Rs-422 protocol with 48khz PWM modulation on the u / V phase to drive the servos. These Servopacks are becoming harder and harder to repair and to buy , prices are sky high.
Will be tapping into the wires shortly to see if I can get some readings from them , wondering if any one on this forum offers Raspery pi or similar programming / development services? Hoping to make a simple dual chanel PWM to 0-10VDC convertor. so I can use regular 0-10VDC command on more modern servopacks.
For more details see:
s3.amazonaws.com/Icarus/DOCUMENTS/Yaskawa_Manuals_48.pdf

Thank you kindly to all..


 

Du kannst nur ein POSTGUI_HALFILE definieren.

diese Zeile oben löschen:
und diese in deiner 'postgui_call_list.hal' hinzufügen:
Dann schau'mer weiter.

Hello Leo

It has been a while and I've opted out of modbus and using ethercat now. This is the last backup I have found. Does this help you?

Hello everyone

I am getting the same error with a new install of LCNC 2.9.3 on amd64. (Also affects my 2.9.2 install)

sudo apt update

W: An error occurred during the signature verification. The repository is not updated and the previous index files will be used. GPG error: download.opensuse.org/repositories/science:/EtherLab/Debian_12 ./ InRelease: The following signatures were invalid: EXPKEYSIG A94819A7CB97A204 science:EtherLab OBS Project
W: Failed to fetch download.opensuse.org/repositories/scien...ebian_12/./InRelease  The following signatures were invalid: EXPKEYSIG A94819A7CB97A204 science:EtherLab OBS Project
W: Some index files failed to download. They have been ignored, or old ones used instead.

sudo apt install  linuxcnc-ethercat


[code]E: Failed to fetch download.opensuse.org/repositories/scien...0bca-1%2b3.1_all.deb  404  Not Found [IP: 195.135.223.226 80]
E: Failed to fetch download.opensuse.org/repositories/scien...ca-1%2b3.1_amd64.deb  404  Not Found [IP: 195.135.223.226 80]
E: Failed to fetch download.opensuse.org/repositories/scien...ca-1%2b3.1_amd64.deb  404  Not Found [IP: 195.135.223.226 80]
E: Unable to fetch some archives, maybe run apt-get update or try with --fix-missing?

Etherlab repository not valid anymore? Any ideas?

Edit: I have found rods image here which works:
drive.google.com/file/d/1gEQzgHsj_LjHiGB...k1Z/view?usp=sharing[/url

Hello.
I am working on a project that involves controlling a stepper motor in linuxcnc. I wanted an ethercat configuration so I bought a TMCM-1310 from trinamic and a sanyo denki SF2424 motor. I managed to install ethercat using the instructions provided by rodw. But I am new to linuxcnc and I have no idea of how to create the .ini, .hal and ethercat-conf. My current configuration is giving me this error and I do not know how to proceed:

Print file information:
RUN_IN_PLACE=no
LINUXCNC_DIR=
LINUXCNC_BIN_DIR=/usr/bin
LINUXCNC_TCL_DIR=/usr/lib/tcltk/linuxcnc
LINUXCNC_SCRIPT_DIR=
LINUXCNC_RTLIB_DIR=/usr/lib/linuxcnc/modules
LINUXCNC_CONFIG_DIR=
LINUXCNC_LANG_DIR=/usr/lib/tcltk/linuxcnc/msgs
INIVAR=inivar
HALCMD=halcmd
LINUXCNC_EMCSH=/usr/bin/wish8.6
LINUXCNC - 2.9.3
Machine configuration directory is '/home/joao/linuxcnc/configs/Stepper'
Machine configuration file is 'my_machine.ini'
INIFILE=/home/joao/linuxcnc/configs/Stepper/my_machine.ini
VERSION=2.9.3

check_config:
  Unspecified [JOINT_0]MAX_VELOCITY,     default used: 1.0
  Unspecified [JOINT_0]MAX_ACCELERATION, default used: 1.0

PARAMETER_FILE=
TPMOD=
HOMEMOD=
TASK=
HALUI=
DISPLAY=
COORDINATES=
KINEMATICS=trivkins
Starting LinuxCNC...
Starting LinuxCNC server program: linuxcncsvr
Loading Real Time OS, RTAPI, and HAL_LIB modules
Starting LinuxCNC IO program: io
[EMCIO] CYCLE_TIME not found in /home/joao/linuxcnc/configs/Stepper/my_machine.ini; using default 0.100000
libnml/buffer/shmem.cc 320: Shared memory buffers toolCmd and toolCmd may conflict. (key=1004(0x3EC))
libnml/buffer/shmem.cc 320: Shared memory buffers toolSts and toolSts may conflict. (key=1005(0x3ED))
libnml/buffer/shmem.cc 320: Shared memory buffers emcError and emcError may conflict. (key=1003(0x3EB))
emc/iotask/ioControl.cc 786: can't load tool table.
linuxcnc TPMOD=tpmod HOMEMOD=homemod EMCMOT=motmod
Found file(REL): ./my_machine.hal
Shutting down and cleaning up LinuxCNC...
Removing HAL_LIB, RTAPI, and Real Time OS modules
Removing NML shared memory segments

Debug file information:
Can not find -sec RS274NGC -var PARAMETER_FILE -num 1
Can not find -sec TASK -var TASK -num 1
Can not find -sec DISPLAY -var DISPLAY -num 1
Can not find -sec TRAJ -var COORDINATES -num 1
Can not find -sec DISPLAY -var INTRO_GRAPHIC -num 1
Can not find -sec DISPLAY -var INTRO_TIME -num 1
Note: Using POSIX realtime
LCEC: lcec_conf is not loaded
LCEC: exiting
LCEC: returning -EINVAL
lcec: rtapi_app_main: Invalid argument (-22)
./my_machine.hal:3: waitpid failed /usr/bin/rtapi_app lcec
./my_machine.hal:3: /usr/bin/rtapi_app exited without becoming ready
./my_machine.hal:3: insmod for lcec failed, returned -1
11122
Stopping realtime threads
Unloading hal components
Note: Using POSIX realtime

I do have the master and slaves configuration:
Master0
  Phase: Idle
  Active: no
  Slaves: 1
  Ethernet devices:
    Main: fc:45:96:84:19:28 (attached)
      Link: UP
      Tx frames:   1145777
      Tx bytes:    68746748
      Rx frames:   1145776
      Rx bytes:    68746688
      Tx errors:   0
      Tx frame rate [1/s]:    122    119    119
      Tx rate [KByte/s]:      7.1    6.9    7.0
      Rx frame rate [1/s]:    122    119    119
      Rx rate [KByte/s]:      7.1    6.9    7.0
    Common:
      Tx frames:   4236392
      Tx bytes:    254184032
      Rx frames:   4236369
      Rx bytes:    254182652
      Lost frames: 23
      Tx frame rate [1/s]:    122    119    119
      Tx rate [KByte/s]:      7.1    6.9    7.0
      Rx frame rate [1/s]:    122    119    119
      Rx rate [KByte/s]:      7.1    6.9    7.0
      Loss rate [1/s]:          0     -0      0
      Frame loss [%]:         0.0   -0.0    0.0
  Distributed clocks:
    Reference clock:   None
    DC reference time: 0
    Application time:  0
                       2000-01-01 00:00:00.000000000

=== Master 0, Slave 0 ===
Device: Main
State: PREOP
Flag: +
Identity:
  Vendor Id:       0x00000286
  Product code:    0x00001001
  Revision number: 0x00000000
  Serial number:   0x00000000
DL information:
  FMMU bit operation: no
  Distributed clocks: yes, delay measurement only
  DC system time transmission delay: 0 ns
Port  Type  Link  Loop    Signal  NextSlave  RxTime [ns]  Diff [ns]   NextDc [ns]
   0  MII   up    open    yes             -   1655340570           0           0
   1  MII   down  closed  no              -            -           -           -
   2  N/A   down  closed  no              -            -           -           -
   3  N/A   down  closed  no              -            -           -           -
Mailboxes:
  Bootstrap RX: 0x1000/268, TX: 0x110c/32
  Standard  RX: 0x1200/8, TX: 0x1210/8
  Supported protocols: FoE
General:
  Group: T
  Image name:
  Order number: T
  Device name: T
  Flags:
    Enable SafeOp: no
    Enable notLRW: no
  Current consumption: 0 mA

Any insights would be helpful
thanks in advance

Hallo liebe cnc Freunde,,

ich habe noch einmal versucht meine maschine mit ease probe  zu erstellen.

Die probe_tab  maschine läuft, alle Achsen fahren, cnc programme  sind ausführbar.
Die easy probe panels sind sichtbar. Die Buttons lassen sich drücken, es passiert aber nichts.
Ich habe alles mögliche probiert, finde keine Lösung.

Viele Grüße karlhe


 

I have found an example of communication between RPi5 (RP1) and RP2040 over SPI:  rpi5-rp1-spi . Perhaps it can be useful?

Grotius wrote:

i Lcvette,

Yes, will check the mm to inches.

To test the scurve motion planner in linuxcnc i added a new repository, based on lcnc stable version 2.9.3.
Inside the repository we have the cmake framework to build one the current motion planner  "tpmod" and 
two a motion planner called "tpmod_scurve".
Conclusion: very compact code enviroment to test scurve motion planner.

Now to make the new motion planner work in linuxcnc, we have to add some logic because the new planner works a little
different then the current motion planner.

Main differences :
1. New motion planner loads gcode itself. Old motion planner, recieves gcode in chunks over the servo cycle.
2. New motion planner calculates "look ahead" before gcode execution, Old motion planner does this at runtime.

Possible difficulties:
1. New motion planner loads gcode itself, this can take a few seconds for big files. This could result in creating a multi-threading process.
2. The clothoid & spline fillets are not shown by lcnc gremlin on forehand. Validation and debugging is more difficult.

Next week i will add the code to make this work.

awesome!!  just let me know if you need anything from me, im willing to test things is need be on my end!  we are using VTK for the QtPyVCP gui backplotter so if you need any testing with that as well or way to figure how to draw updated plots we could have a look at that.  although i assume you are trying to solve how to feed the planners modifie gcode out instead of the file gcode.

thanks again for such awesome work Grotius!!

Not sure if this is the root of your problem but it's certainly possible.
The problem with '.wait_complete()' is that it does not work the way many of us think it does. It's not as simple as just slapping it in after an '.mdi()' because it's purpose is not to actually ensure that the command has been executed. Also many are not aware that it works with a timeout that has a built in default value of 5 seconds.
 
linuxcnc.org/docs/stable/html/config/pyt...inuxcnc_command_code

So '.wait_complete()' actually returns a value (-1 if timed out, RCS_DONE if the command has been executed successfully or RCS_ERROR if not).

If you now look at this snippet in your code as an example:

It becomes clear that whenever you are calling '.wait_complete()' you are really not doing much at all because no matter the return value you just continue anyway and if the MDI command takes more then 5 seconds your code also just carries on and changes the mode. So if '.wait_complete()' is not used to actually receive its return value and make decisions upon that value it's basically nothing more than a timer with the benefit of allowing code execution to go on before the timeout occurs if the mdi command either executed successfully (RCS_DONE) or failed (RCS_ERROR).

Have a look at this example from '/lib/python/qtvcp/qt_action.py':

 

[edit]
In your case it may be as simple as extending the timeout of the second '.wait_complete()' to say 200s, depending on how long 'vacuum.ngc' takes to complete as it clearly does not seem to be as simple a task as switching on a vac:

The subroutines folder is in place, but your message made me think that possibly the path in the ini file contains some error.

After checking, I saw that I missed 2 errors in the file path. Now it works fine.

Let's see what the next problem is...

Thank you.

  Hello, I have a parallel port Macro3 card and I would like to expand my IO. I have an EtherCAT IO with 16 inputs and 16 outputs, and my XML file is ready. Can you tell me how to make my program use HAL files and how to write them

Hey Erik, any progress?
I'm currently retrofitting the same model and thought I might ask you first before reinventing the wheel. It would be really nice to get automatic homing, as well as reverse jogging for slightly faster tool changes. Your machine does have the retractable pawl that allows reversing the turret, right?

Perhaps even better than a homing cycle would be to read the turret position on M6 instead of asking linuxcnc for the current tool number (and if for whatever reason the turret is not aligned, reverse until it is) and then proceed to the rest of the tool change routine.

Specific to gmoccapy

linuxcnc.org/docs/stable/html/gui/gmocca..._bottom_button_lists

Hello,
I use gmoccapy. When I turn on the machine, the computer starts first, then gmoccapy. How can I shut down Linuxcnc first and then the computer when I press an external key?
Can I do this with a button on the machine?

Its getting exciting for you.
 2 M Ohm resistor will give you a full scale  reading of 210 volts. (per the THCAD manual p 6)
The Thcad full scale is 10 volts so you have a 21:1 divider.