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It looks like even in CSP mode, there is an option for Velocity Feed Forward. This is one of the biggest improvements a control loop can have. Has anyone tried this? 
60B1h 00 Speed offset

 

Hi all,
I have received a Beckhoff KM1002 terminal and entered it in the ethercat-conf.xml. It is a 16x digital input:

<masters>
<master idx="0" appTimePeriod="1000000" refClockSyncCycles="5">
<slave idx="0" type="EK1100" name="EK1100"></slave>
<slave idx="1" type="EL1012" name="EL1012-In"></slave>
<slave idx="2" type="EL2032" name="EL2032-Out"></slave>
<slave idx="3" type="EL2809" name="EL2809-Out"></slave>
<slave idx="4" type="KM1002" name="KM1002-In"></slave>
</master>
</masters>

Unfortunately, this does not work and LinuxCNC aborts the start process with the following error message:

lcec_conf: ERROR: Cannot find slave type KM1002, verify type in XML file
lcec_conf: ERROR: Parse error at line 7: parsing aborted
./minimal_xyz_cmds.hal:32: waitpid failed lcec_conf lcec_conf
./minimal_xyz_cmds.hal:32: lcec_conf exited without becoming ready
14846
Stopping realtime threads
Unloading hal components

Can someone explain to me how to get rid of this error? What do I have to enter in the .xml?

Thanks a lot
Peter

very insightful, thank you

have a great day,
Jairo

Well it'll be harder for those that want to help if you don't want to keep it to a single thread. This is a common problem on the forum.

If you don't get a reply how could one be sure the command was completed or if there was an issue ?

On Fanuc lathe controls, "U" and "W" are incremental moves for X and Z.

I suspect many of the F360 posts are recycled Fanuc ones, and then edited to make them work for the intended control.  Sometimes stuff gets left in that doesn't make sense.

In many HostMot2 firmware builds the PWM frequency isn’t a runtime‐adjustable parameter. Typically the pwmgen component would export a parameter called either “pwm_frequency” or “pwm-freq” to let you set the carrier frequency, but in your firmware configuration only the two basic pins (enable and value) are exported. This means that the PWM frequency is fixed by the bitfile you flashed.

To change the frequency at runtime you would need to use (or build) a firmware configuration that exports that parameter.


PWM mode selected on the drive, I can switch the SV pin to COM with hand and the motor spins. Suspect is that the 7i76 generated 20 kiloherts PWM signal is too high for the drive to handle. So runtime frequency option is needed so that I can choose in HAL file. This was what I was referring to in my last post, I assumed all possible pin names will all be listed somewhere but I guess those need to be made available by the firmware. Can you included everything to be exposed at runtime: we can use what is needed and ignore the rest right?
Also I wanted to ask the .vhd file you gave is it the complete firmware design files that can be compiled into a bit file in suitable version of xilinx ISE?

Can we other spi on rpi5 other than used by remora-spi to send config data to tmc5160. Tmc5160 spi config pins connected to rpi spi pins. And remora will treat 5160 as regular step/dir mode.

I am also communicating with cakeslob who is another developer for remora via discord.

@Aciera, you are right it was probably to early this morning. I was thinking of the first derivative of the tangent vector (v_l) which makes it the second derivative. Sorry for the confusion.

But regardless I guess we can't simply take 1/R for the curvature because we need the components of it in x, y and z and these depend on the orientation of the arc etc.

Thanks you a lot. I can´t keep it to a single thread. Is too complex. I am very happy with this forum. I knew much of the work I would have to do it then alone.
Four sure, I will have to write my own client program that connects to linuxcncrsh server, because I need to operate, at the same time, several linuxcnc's distributed on a LAN.
What I don´t like of telnet, for the moment, is that it sends back a replay for every instruction the client sends.
Anyway, you are of great help. Thanks you.

@Grotius

- It is the curvature kappa value for the transformed startpos?

In my opinion, yes.
First we do the coordinate transformation then we need to match the boundary conditions which are tangent angle (theta), curvature (kappa) and sharpness (c)

@FabianB
Now you are confusing me:

The second derivative is not the curvature, the first one is.

No, it is the second derivative with respect to curve length s, this is not the same thing as curvature (would be first derivative)

If I recall correctly the first derivative is the tangent angle (ie the slope) and the second derivative is curvature.

For the line all derivatives are 0

The first derivative of a line represents the slope which is a constant but not necessarily zero.
 
 

Thank you Håkan. I will try that