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I want some non realtime i/o like jog buttons tool clamp button etc
How can use this rs485 i/o module without mesa card connected to rs232 port via rs232 to rs485 adapter?
What hal component needed?

alright, awesome thank you!

question, your previous images had the rt already installed, is there some limitation to why they arent this time, or is it so you can hit update before loading the kernel?

Hello,
i have EtherCAT setup with Delta B3 servos. There is option to go for Position or Velocity mode when configuring servo drives in xml file.
The position mode works straightforward, but the following error is quite big - up to 1mm depending on actual speed. Actually it is proportional - the faster you go, the bigger the following error.
The other option is Velocity mode, I guess you need to use PID component to be able to tune the velocity loop.
I only tried velocity mode on my other setup (mesa 7i95t with Delta B3L drives) and I was able to tune following error down to 0.00X mm at peaks.

So my question is, what are the pros and cons for both modes if its over EtherCAT?
Also how is following error calculated in position mode over EtherCAT?

I think lot of people go for linuxcnc due to ability to use EtherCAT, so deeper explanation for correct configuration would help to many of us.

Thanks

Did you read the section regarding patching the linuxcnc driver ? Because of the 1G bit network interface on The colorlight card.
It may be worth updating Linuxcnc so that you are running a version that has the patch included.
That is if you haven’t already done so.

To install an rt kernel for a SBC you need to patch/compile it yourself in most cases.
This rt-kernel is for the RK3588 (Orange Pi 5), you could give it a try, but there is a chance that it won't boot because of missing drivers:
drive.google.com/drive/folders/1JglCIPKv...roZcjOvr?usp=sharing

Here is the source that's already patched (rt)
github.com/orangepi-xunlong/linux-orange...ge-pi-5.10-rk35xx-rt

Linuxcnc 2.9.2
www.linuxcnc.org/dists/bookworm/2.9-uspa...pace_2.9.2_arm64.deb

www.linuxcnc.org/dists/bookworm/2.9-uspa...-dev_2.9.2_arm64.deb

"board fails HM2 registration"

indicates an inconsistency in the bitfile

what does

mesaflash --device ethernet --addr 10.10.10.10 --readhmid

report?
 

Now I see, forgot about that. Then it was a lot of noise and would've been much easier to say that LinixCNC uses it's own driver. It actually seems that the parport_pc driver can cause issues and in this case needs to be unloaded/blocked.

Here all the info he/she needs:
linuxcnc.org/docs/2.7/html/hal/parallel-port.html

Help me please.
It seems that I’ve done everything and the bit files change when uploaded, but for some reason I can’t start Linux sts. What am I doing wrong?



LINUXCNC - 2.9.2
Machine configuration directory is '/home/dzik/linuxcnc/configs/EMCO'
Machine configuration file is 'EMCO.ini'
Starting LinuxCNC...
linuxcnc TPMOD=tpmod HOMEMOD=homemod EMCMOT=motmod
Note: Using POSIX realtime
Found file(REL): ./EMCO.hal
hm2: loading Mesa HostMot2 driver version 0.15
hm2_eth: loading Mesa AnyIO HostMot2 ethernet driver version 0.2
hm2_eth: 10.10.10.10: INFO: Hardware address (MAC): 4f:e7:34:84:64:c6
hm2_eth: Unrecognized ethernet board found: litehm2 -- port names will be wrong
hm2_eth: discovered litehm2
hm2/hm2_lite.0: Low Level init 0.15
board fails HM2 registration
hm2_eth: in hm2_eth_reset
hm2_eth: rtapi_app_main: Resource temporarily unavailable (-11)
./EMCO.hal:9: waitpid failed /usr/bin/rtapi_app hm2_eth
./EMCO.hal:9: /usr/bin/rtapi_app exited without becoming ready
./EMCO.hal:9: insmod for hm2_eth failed, returned -1
Shutting down and cleaning up LinuxCNC...
Running HAL shutdown script
hm2: unloading
Note: Using POSIX realtime
LinuxCNC terminated with an error. You can find more information in the log:
/home/dzik/linuxcnc_debug.txt
and
/home/dzik/linuxcnc_print.txt
as well as in the output of the shell command 'dmesg' and in the terminal

Sorry, should have added that the commands are:

xxFA102xx  Sets forward rotation.
xxFA100xx  Stops.
xxED1ssssxx Sets Hz. (ssss is Hz in .1Hz increments)

I'm not seeing any error messages. (Not made easy by the gladevcp errors I get on the console all the time).

G code:
Looking at the sequence being printed for debug it appears the commands are not making it to the python code...

Faulting case: (M1 disabled)

working case: (With M1 enabled)
 

This may not help but try downloading the latest version of rpi imager and using it to update the Pi's firmware.
Some of the older Pi 4B's require this.

Weird...

Whats does

mesaflash --device 7i95t --addr 192.168.1.121 --readhmid

report?
 

To tell the truth you really don’t need the parport driver to be loaded.
Linuxcnc will load without it. Like I said it my Parallel Port Treatsie thread, the only call to the kernel module is to get exclusive use of the port. If the call fails and your Hal file has the correct address it will still run.
As for the serial port driver, what’s the point in building it if the card doesn’t have the components for the serial port populated ?
If the card has been manufactured without the serial port headers and driver chip there’s a better than ever chance that the chip has only been strapped for Parallel Port operation and if that’s the case the card will only report the PCI id for the Parallel card, the chip reports the id depending on how it’s config pins are strapped. So if the card doesn’t report to the PCI id that matches those defined in the serial port module, the kernel won’t load that module.
I’ve had a read of the data sheet for that family of chips and it’s quite interesting what can be done with it.
Just out of interest if you want to know what Vendor & Product ID a kernel module supports you can run modinfo with name of the driver.
The problem with users coming from windows to Linux when installing new hardware that comes with a “driver disc” is that they assume that they need to build and install the driver. It’s rare that needs to be the case.
You can even google the vendor and product id of a device and you’ll find pages that will let you know if & when a driver that matches was introduced into the kernel.
Ages ago I attempted to get a thread going with the IDs of Parallel Port cards that were known to work. But after some initial interest it went silent.
There’s also a parport_serial driver (the name I may have muddled up) in the kernel that supports a lot of these cards that have a chipset that can present as both a serial & Parallel Port.

 

Well I got something. Sort of   mostly copy and paste from other scripts, definitely have to learn python at some point. Right now you have to press a button to load a .html file with the same name, in the same dir as the .ngc file, no check if files exist yet. Is there anyway to do this automatic? I have read about event handlers but running it in the background seems kind of a waste. Maybe update it when the tab gets activated (clicked on) ?

I have attached the code and glade file. The required ini config is included in the .py file. Please comment on the script and what could be done better! When you start gmoccapy there is always a small windows that appears and then disappers quickly, how can that be fixed?

   

I don't see any obvious issues with the hal /ini files, other than
the facts that the PWM rate was set to 400 Hz which is too low.
It would not prevent the analog output from working,  it would
just cause more output ripple than desired.

What is the voltage between SPINDLE+ and SPINDLE- ?

What is the result of

1. Starting LinuxCNC.

2. Setting the spindle on and the speed to 1/2 of full scale (12000 RPM)

3. Checking all the spindle signals with

halcmd show signal spin