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  • jimwhiting
  • jimwhiting
21 Aug 2024 14:56
Replied by jimwhiting on topic ATC: carousel.comp with Servo drive

ATC: carousel.comp with Servo drive

Category: General LinuxCNC Questions

I'm just starting the same task.

Leadshine EL8 drive with absolute encoder on a Haas SL-10 retro fit. (12 pocket carousel).

 
  • iforce2d
  • iforce2d
21 Aug 2024 14:55
Replied by iforce2d on topic Remora - Rpi Software Stepping Using External Microcontroller via SPI

Remora - Rpi Software Stepping Using External Microcontroller via SPI

Category: Computers and Hardware

I came across this a while ago, have not looked into it though:
github.com/praktronics/rpi5-rp1-spi

Sounds like it's probably a bit late now to help you out much, but just thought I would mention it anyway.
  • Todd Zuercher
  • Todd Zuercher's Avatar
21 Aug 2024 14:52
Replied by Todd Zuercher on topic Re-enable drives after a fault

Re-enable drives after a fault

Category: General LinuxCNC Questions

Automatically re-enabling after a drive fault sounds like a really bad idea to me. What if the following error was caused by a runaway that was about to happen for some reason (such as a broken encoder wire or some other problem with the servo)? I think the better solution is to cave-in and either buy a better servo motor with integrated brake or devise a way to add a brake to your joint.

I've worked with machines that simply used a small air cylinder to push in/pull out a pin to stop the rotation of the servo motor within 1/4 turn of when the pin is engaged. The precise position was already lost due to the following error, so merely stopping the motion from continuing should be good enough. Or if more precise control is needed maybe something like a pawl or dog clutch that you could disengage when the drive is enabled with smaller teeth giving more precise location.
  • PCW
  • PCW's Avatar
21 Aug 2024 14:51 - 21 Aug 2024 15:32
Replied by PCW on topic Mesa Configuration Tool

Mesa Configuration Tool

Category: Configuration Tools

Looks like the PWM enables are missing also, for example:

net joint-1-enable <= joint.1.amp-enable-out
net joint-1-enable => pid.z.enable
net joint-1-enable => hm2_[MESA](BOARD).0.pwmgen.01.enable

(the red part is missing)
  • my1987toyota
  • my1987toyota's Avatar
21 Aug 2024 14:23 - 21 Aug 2024 14:25
Replied by my1987toyota on topic What's the Oddest Machine You Have Powered with LinuxCNC

What's the Oddest Machine You Have Powered with LinuxCNC

Category: Off Topic and Test Posts

For a second there I thought I had misspelled the title or something. LOL
Sounds like a cool machine Todd.
  • Freak
  • Freak
21 Aug 2024 14:21
Replied by Freak on topic STMBL pseudo absolute resolver behaviour

STMBL pseudo absolute resolver behaviour

Category: General LinuxCNC Questions

Hi freemore, I'll publish my stmbl implementation soon, this week probably. You will get more info in the stmbl matrix chat.
  • Freak
  • Freak
21 Aug 2024 14:17
Replied by Freak on topic STMBL pseudo absolute resolver behaviour

STMBL pseudo absolute resolver behaviour

Category: General LinuxCNC Questions

Hi everyone,I recently fixed an issue with the original state machine for simulating absolute encoder behavior, as I forgot to post it here earlier. I've now implemented a simple state machine class that's been working well for me. In the future, I plan on adding this to my robot configuration repository.Please note that I don't receive notifications when topics are updated in this forum, so I apologize if I respond late.Here's how it works with the INI file:
...
[JOINT_1]
TYPE = ANGULAR
UNITS = degree
MAX_VELOCITY = 77.0
MAX_ACCELERATION = 199.0
MIN_LIMIT = -160
MAX_LIMIT = -5
HOME_ABSOLUTE_ENCODER = 2
HOME_OFFSET = -90.0
HOME = -90.000
HOME_SEQUENCE = 0
...

In the Hal file I have:
loadusr -Wn pseudo_abs_encoder ./pseudo_abs_encoder.py num_chans=6
...net m0abs_enc_posfb pseudo_abs_encoder.encoder-position-0
net m0abs_enc_offset pseudo_abs_encoder.offset-0 => sum2.3.in0
net m0abs_enc_posfb => sum2.3.in1
net m0posfb sum2.3.out => joint.0.motor-pos-fb

net m1abs_enc_posfb pseudo_abs_encoder.encoder-position-1
net m1abs_enc_offset pseudo_abs_encoder.offset-1 => sum2.4.in0
net m1abs_enc_posfb => sum2.4.in1
net m1posfb sum2.4.out => joint.1.motor-pos-fb

net m2abs_enc_posfb pseudo_abs_encoder.encoder-position-2
net m2abs_enc_offset pseudo_abs_encoder.offset-2 => sum2.5.in0
net m2abs_enc_posfb => sum2.5.in1
net m2posfb sum2.5.out

net m3abs_enc_posfb pseudo_abs_encoder.encoder-position-3
net m3abs_enc_offset pseudo_abs_encoder.offset-3 => sum2.6.in0
net m3abs_enc_posfb => sum2.6.in1
net m3posfb sum2.6.out => joint.3.motor-pos-fb

net m4abs_enc_posfb pseudo_abs_encoder.encoder-position-4
net m4abs_enc_offset pseudo_abs_encoder.offset-4 => sum2.7.in0
net m4abs_enc_posfb => sum2.7.in1
net m4posfb sum2.7.out => joint.4.motor-pos-fb

net m5abs_enc_posfb pseudo_abs_encoder.encoder-position-5
net m5abs_enc_offset pseudo_abs_encoder.offset-5 => sum2.8.in0
net m5abs_enc_posfb => sum2.8.in1
net m5posfb sum2.8.out => joint.5.motor-pos-fb

setp pseudo_abs_encoder.res-offset-0 0.1428
setp pseudo_abs_encoder.res-offset-1 0.6960
setp pseudo_abs_encoder.res-offset-2 0.1893
setp pseudo_abs_encoder.res-offset-3 -2.0864
setp pseudo_abs_encoder.res-offset-4 1.36027
setp pseudo_abs_encoder.res-offset-5 0.8230

setp pseudo_abs_encoder.scale-0 2
setp pseudo_abs_encoder.scale-1 2
setp pseudo_abs_encoder.scale-2 2
setp pseudo_abs_encoder.scale-3 5
setp pseudo_abs_encoder.scale-4 4
setp pseudo_abs_encoder.scale-5 4
  • Tinine
  • Tinine
21 Aug 2024 14:16
Replied by Tinine on topic PID Servo Loop rates

PID Servo Loop rates

Category: General LinuxCNC Questions

Hi Todd, 

Yes I can see that which is why I don't use the PC platform. 
I use microcontrollers for motion control and I can achieve ridiculously fast rates but I'm starting with a clean sheet and for fun, I have been playing with this 250Hz rate and pretty impressed. 
Granted, my applications typically involve bigger servos and associated transmission systems and so response time is not super critical but hey, I have never experienced such easy PID tuning. 

Craig 
  • Todd Zuercher
  • Todd Zuercher's Avatar
21 Aug 2024 14:10 - 21 Aug 2024 14:23
Replied by Todd Zuercher on topic What's the Oddest Machine You Have Powered with LinuxCNC

What's the Oddest Machine You Have Powered with LinuxCNC

Category: Off Topic and Test Posts

What do you mean by "oldest machine"? Do you mean what machine have we had running Linuxcnc for the longest or the actual physical machines? I know there are people out there who have CNCed ancient manual mills and lathes with Linuxcnc, so nothing I have would be any contest for them. But I do have machines that have been running Linuxcnc for more than 10 years.

Oops, I misread the question it is Odd not Old.  (maybe it is time to have my eyeglass prescription redone.)
The oddest machine I have under Linuxcnc control is an 8 spindle gang router with 8 separate Z-axis and spindles mounted on a 12ft long gantry (11 joints of movement).
  • PCW
  • PCW's Avatar
21 Aug 2024 14:07
Replied by PCW on topic Driver NUM GEC MK2S

Driver NUM GEC MK2S

Category: Driver Boards

Looks like the PWM enables are missing also:

net joint-1-enable <= joint.1.amp-enable-out
net joint-1-enable => pid.z.enable
net joint-1-enable => hm2_[MESA](BOARD).0.pwmgen.01.enable
  • Todd Zuercher
  • Todd Zuercher's Avatar
21 Aug 2024 13:57
Replied by Todd Zuercher on topic PID Servo Loop rates

PID Servo Loop rates

Category: General LinuxCNC Questions

If your PC has poor latency, a faster loop could be detrimental to your pid servo loop tuning. I can see how slowing your loop down so that the resolution of latency noise is a smaller relative to the thread speed could give better tuning results.
  • Tinine
  • Tinine
21 Aug 2024 13:39
PID Servo Loop rates was created by Tinine

PID Servo Loop rates

Category: General LinuxCNC Questions

Hi all,

I see that Linux CNC defaults to 1KHz PID rate. 
What do you lose when something like 250Hz is used. 

For the first time in decades, I have been experimenting with this 250Hz on one of my own developments and I found that tuning the loop was a breeze and I don't seem to lose anything. Historically I've been in the 1KHz to 4KHz range. I'm kinda liking this. 

​​​​​​Craig 
  • mooser
  • mooser
21 Aug 2024 13:37
Replied by mooser on topic Fuse for toroid transformer... sanity check

Fuse for toroid transformer... sanity check

Category: CNC Machines

Closing this off.
Completed and installed the new power supply. Ended up using a combination of what rodw suggested and some other info I eventually found online.

One main Fuse from the 120v line on the hot side (it also splits off into a 120v > 3.3v/5v/12v power supply for the other various circuits before hitting the toroid)
A thermister and a slo-blow fuse on each of the input coils which are in series to each other.
One fuse on each pair of the output to the stepper coils
Seems like overkill somehow but that's what's there.
M
  • my1987toyota
  • my1987toyota's Avatar
21 Aug 2024 13:23
What's the Oddest Machine You Have Powered with LinuxCNC was created by my1987toyota

What's the Oddest Machine You Have Powered with LinuxCNC

Category: Off Topic and Test Posts

 The title say it all. I am genuinely wondering. What is the oddest machine you have either seen or powered yourself
with LinuxCNC? So far mine has been
a Pick and Place machine
a CNC 4 axis foam cutter soon to be 5 axis

Not that odd I know. But still. I know there's got to be some really interesting ones out there.
I figured this topic could help new people who will probably wonder just how capable LInuxCNC is.
So come on, what do you got?
  • slowpoke
  • slowpoke
21 Aug 2024 13:07
Replied by slowpoke on topic Delay or debounce

Delay or debounce

Category: HAL

Maybe try this:
linuxcnc.org/docs/html/man/man9/debounce.9.html
 


I de-bounced only the input to the resume gate, so quick stops, slow starts. Works perfectly.

Thank you Aciere,
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