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Hi, I have installed bookworm kernel version 6.1.54-rt15 on a Raspberry Pi 4B. After restart, I have tried to install the cia 402 drivers, but the git command gives me an permission denied error. In the first attempt I used the sudo to install the drivers, however the hallcmd command to load the configuration file gave me an error. Should I used the sudo to install the drivers? Thank You for your help!

On my machine, spindle.0.at-speed must be true to do a move with G1

Yes, you said well that if I work on it for a day, I'll manage to get it done. That's how it turned out. I managed to use OMPL to build a linear trajectory, split it into segments, and then send these segments to Ruckig and then to HAL. Then I wrote to GPT asking to make an example with circular interpolation. It replied that OMPL cannot handle circular interpolation on its own; it needs to be calculated using sine and cosine, for example, and split into segments. So I end up first calculating with a simple equation, then OMPL, then Ruckig. And I wonder why this planner is needed at all if I still have to calculate the circle myself.

Maybe I don't quite understand what a trajectory planner is. To me, it should have tools for constructing circles and splines, etc. What is the point of it if I can indeed calculate the circle myself and use Ruckig?

Thanks I have figured out how to make the changes in grub but not how to save it. I did see the options at the bottom, and thinking about it I was not having the complete keystrokes to do the write, Adding the ctrl key was what I was missing.  When I tried a similar route to windows it get a denied message.  I assume when I do the Ctrl^X it will then ask to replace the grub file with the changed one.
 
 

Hallo Aciera,
Das Video von Talla kenne, hat mir bei Axis geholfen.
Das ist nicht das Problem. Die Achsen habe ich auf null gesetzt, damit ich den Verfahrraum benutzen kann.Das Problem ist die Verfahrgeschwindigkeit, sie ist
zu langsm in dieser gmoccapy taster Version. In axis funktioniert alles.
In Gmoccapy kann man den Button mit der Fahrgeschwindigkeit erhöhen,
trotzdem zu langsam.
Vielen Dank

karlhe

The typical way this would be done is to use pncconf
or mesact (GUI configurator programs) to create a basic
hal/ini file set. Then if there are more complex details
not handeled by the GUI configurator programs, the hal /ini
files are  edited by hand to add the needed features.

Do you have a basic working hal/ini file set?

if not , what is the specific issue?

I think 'canon' here points to the current instance of StatCanon (not sure if that is the correct terminology though).
This is line 322 'lib/python/gremlin.py':
canon = StatCanon(self.colors, self.get_geometry(),self.lathe_option, s, random)

and this is line 80:

 

Can be tricky troubleshooting these things. Usually I liberally insert queuebusters (eg 'M66 L0 E0') to avoid premature ingestion of code lines by the read ahead.
Maybe try that right after 'G53 G1 X1245'

It may also help to insert debug printing like this (this will print to terminal):
;(print, your_parameter=#<your_parameter>)
Or this will print to the gui:
;(msg, your_parameter=#<your_parameter>)


This will give you an indication of where the execution actually fails.

Hmm, that's a fresh thought. I hadn't thought of using the electronics box as one big stiffener. Of course, it would be difficult to make the welded base itself quite accurately so that the box would fit with minimal gaps. But I'll definitely give it some thought, thanks.

@TheRoslyak,

I get your point. But if you start using lcnc as it is with a c++ hook on top,
you will be able to use scurve planner in future.  This then enables you to perform a G2 continues path movements.

And for now you just use the existing tp planner. With one day of hard work, you can get something to run.
Then just keep your c++ code base closed to the public.

I would certainly not advise to you to create your own planner, as this is a difficult and time consuming task.
But if you have no time limits, you can do it. If you think you have to do it, just do it.

@All.
I got the file with half a milion gcode loaded. It's quite responsive.. haha.
Had to use a old trick in opencascade.
Filtered out 86% of stuff. Then made path G2 continue attaching tri-clothoids inbetween.
 

I understand that you are currently developing a global software solution. Right now, I am trying to work with OMPL. As I understand it, this should work as follows: first, OMPL calculates the points, then either all at once or one by one, they are sent to Ruckig and only then to HAL. Is this how it should fundamentally work? I am currently trying to implement linear movement in this way. I understand perfectly well that this can be done using only Ruckig. But in the future, I plan to create more complex movements.

@TheRoslyak,

To get result fast, maybe use lcnc as it is.

Create a   nml c++ mdi hook and just push mdi gcode commands into a queue.
In the past i created a program that used a text file buffer that had the coordinates.
It used hal streamer. The source is in the archive . Just look for info.

Here is how the lcnc c++ gui sends gcode commands :
This is the easyest way for you to get on going.

@All,

Did some test, given the gcode files by hmnijp.
Items<1mm are removed & tri_clothoid connected, saves 21%

Items<5mm are removed & tri_clothoid connected, saves 58%


Items<1mm are removed & tri_clothoid connected, saves 2%

Items<3mm are removed & tri_clothoid connected, saves 45%


The files abobe ~20.000 - 30.000 lines will currently not load in opencascade. So i have to look
at a solution for that to minimize memory usage.

I would now like to ask specific questions.

Would anyone like to help me ...

to write the basic HAL/INI files for my Gantry CNC machine if I provide all information about the machine and its components like the 7i92 with 7i76?

or

would someone like to help me ...

to write me with the PncConf with the Excel file "7i76 Contact Assignment" listed above, which "selection criteria" from the pulldown menus of the PncConf I should/must select for the corresponding pins, so that I get at least all actuators on the 7i76 assigned for LinuxCNC?

I realise that I learn the most by testing and trying things out. At the moment I'm at a point where I realise that it's no use spending nights on end and not making any progress.
If I had at least the basic HAL/INI file, I could learn from it.
As already mentioned, I am willing to donate to the LinuxCNC community or to cover the costs of the HAL/INI files.

Thank you for your understanding

This still happens to me, and it's happening with a new program I'm trying to write to vacuum the table (unload the tool, lower the spindle, move the dust collector shoe over the whole table).

I invoke it from a button in my Axis VCP, but it frequently stops mid-move. Is there some line I need to add to my subroutine to make it wait for the move to complete?

It will randomly stop on the G1 Z down move, or the G1 X move. Always seems to successfully raise the spindle and move to the start position.

My ngc is attached.

Unfortunately, with the standard homing module there is no way to tell the controller that an axis has been homed using a HAL pin.
Have you looked at using HOME_ABSOLUTE_ENCODER setting in the ini file?
forum.linuxcnc.org/49-basic-configuratio...oders?start=0#208504
Also it is possible to have a custom homing procedure:
www.linuxcnc.org/docs/html/man/man9/homecomp.9.html