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endian wrote:

I have not using any kind of global variables 

I think you are, look at line 159:

mode_selection is a static global in the code. 

I don't know for sure if that is enough to cause the problem? 

it looks like mode_selection should be a local variable (actually, make it a parameter so that you can debug using it)

Also maybe consider using a "switch" command on mode_selection rather than repeated "if (mode_selection == ##) "

timo wrote:

 because I might have damaged a drive or two without beeing aware of the importance of the wiring.

 
A cage-clamp terminal done up nice and tight with the cable not actually inside the clamp is a popular way to blow up a drive. Give the wires a good tug after tightening the clamps.

Kieran wrote:

How's the rigidity of the harmonic drive? 

It seems OK. The HD website quotes values for torsional stiffness, but to be honest I don't know what value would be appropriate for a milling machine, so the numbers aren't useful to me. 

But I frequently use it just as a handy way to mount round stock and have noticed no issues. 
 

Here's an example:

 

It's a bit tricky because you do need to use muxed encoders for all
encoders (because the 7I89 uses physically muxed encoders)

 

Does this help at all?
wiki.linuxcnc.org/uploads/orient.svg
It's one potential way to do it.

Probably .hal and .comp which is overflowing

Excuse me for mess in the component but it is in the working session ...

I am sorry

I will enumerate all hard code and

Is has behaviour as I described higher ... I am confused and I have feeling like something in the working session is mixing together but no way to find it out...

Please let me know what I am doing wrong

thanks
regards E..

My experience is limited, but typicaly getting from a scan to a usable model is the hard part. I would ask for a demo with a sample component and be sure it goes all the way to the point that you expet to use the scan.

Thank you that's a good idea, by coincidence i already started making myself familiar with vismach, cause i really don't wanna crash the machine. I try to start as soon as possible an make a crude 3D model of the machine to import it into vismach. But i still need to figure out how to do the virtual Y axis compound move. I think i need to paint a picture of the axis configuration of the machine to post it here. Cause i have a few questions in regards of the axis/joint names.

I spent a few hours yesterday evening in the workshop of a user who has duplicated the Marco Reps controller configuration, with an Rpi5 and Leadshine EL8 (as detailed here: github.com/marcoreps/linuxcnc_leadshine_EL8 ) 

The cia402 component is seeing an enable signal, and the cia-controlword into lcec is setting to 6. But nothing seems to be happening in the drives, and there is no position feedback when turning a motor shaft. 
cia402.opmode is showing zero, and that leads me to think that stat_voltage_enabled is zeroSo possibly no data is being seen from the drives?
command-line ethercat commands list 7 devices (all in pre-op) and the lcec component also lists 7 devices, so _some_ comms is happpening. 

It feels like some sort of drive-enable isn't happening? 

Any thoughts? I felt a bit foolish turning up as an "expert" and then being completely baffled. (first contact with EtherCAT)


 

Forgot the link to the docs
gnipsel.com/linuxcnc/flexgui/controls.html#led-buttons

JT