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I will look at the config but that is actually a separate application
Did u try axis 2 on a small screen it should fit I think it removes a slider or 2 for convenience

Doing my first steps and trying to configure and understans how this works and seems found one tiny BUG:
Debian Bookworm
NIC card configuret for 2 VLANs native for data, .20 for MESA with Layer3 switch.

# The loopback network interface
auto lo
iface lo inet loopback

# Management interface
auto eno1
iface eno1 inet static
    address 192.168.4.50
    netmask 255.255.255.0
    gateway 192.168.4.1
    dns-nameservers 8.8.8.8 1.1.1.1

# MESA P2P interface (.120-.121)
auto eno1.20
iface eno1.20 inet static
    address 192.168.1.122
    netmask 255.255.255.252
    post-up sysctl -w net.ipv6.conf.eno1/20.disable_ipv6=1

Seems like its trying to reach a wrong folder during startup..
Note: Using POSIX realtime
sysctl: cannot stat /proc/sys/net/ipv6/conf/eno1/20/disable_ipv6: No such file or directory

the right place is: /proc/sys/net/ipv6/conf/eno1.20/disable_ipv6

Be careful with the set/clear model, your idea is M6 sets extended limits to be able to reach the tool change? That means in normal conditions your limits are not including the tool change area, this could be a problem if you want to jog there to verify anything, could even prevent you from loading gcode without errors if preview sees the tool change moves, also think about emergency stopping during an M6, you will not get to run the clear command. Just pointing those things out, I would consider having open limits and only restrict them when running and not doing a tool change, that should get you what you are looking for, without any drawbacks.

Build errors? Can you share your current code? Not many people will have the time to read 10 pages of an 8 years old thread...
Be more specific about what you are struggling with.

Your core assumption is unfortunately mistaken, it cannot be done by only modifying the INI file, coresim.hal is only 3 axis, the fourth axis will f-error as it is not receiving any feedback, this is expected behavior.
My suggested quick fix, in your INI file after

HALFILE = cooling.hal

add a connection to a local file like

HALFILE = fouth-axis.hal

then create the file next to the ini file with contents

net Apos joint.3.motor-pos-cmd => joint.3.motor-pos-fb

This will allow you to move your fourth axis, don't expect the rotation to look like what you expect I think A axis is rotation around X, so it might look unexpected depending on what your fourth axis does, but it should work.

If you are looking for a deeper sense of accomplishment, read the coresim.hal file and research and understand what it is doing, and why it is needed, that will get you much more satisfaction and future know how.

Hi,

du solltest den neuen Rechner erst mal ohne Ethercat testen.
Wenn alles Stabil läuft, nimm die Ethercat Komponenten mit rein.
Poste dann die Ausgabe von dmesg.
Zusätzlich: Welche Version vom Ethercat hast du installiert?
Zusätzlich: Liste mal deine Ethercat Hardware auf   (Karte, Kabel CAT??)
Zusätzlich: Wie hast du den Servo angeschlossen und wie sind deine Kabel verlegt?



 

Basically, the control works with the software-inverted signal, but this sometimes results in more or less lost steps.
Since it works perfectly with the Mesa card, the solution using RS422 or the ACT drivers would probably be more reliable.
What components would I need for a reliable solution, ideally with multiple channels per axis?

I've been using CAMotics for some time to visualize and check G-Code programs. I'm now hand coding some simple programs with a fourth axis (XYZA). I've found CAMotics doesn't recognize the rotary axis and also doesn't recognize the global variables used in LinuxCNC, like #<_variable>. So, in a weak moment of delusion, I thought I could install a simulation version of LinuxCNC on my office computer to verify G-Code files. Great idea, I've now spent 2 solid days on it but I'm "almost" there.

I have a VirtualBox on my office computer for Windows/Fusion 360. I've been able to install a simulation mode LinuxCNC 2.9.4 (bookworm) on the Virtual Box. I could not find a four axis (XYZA) simulation version so I've installed this "sim.axis" XYZ version. It simulates fine for 3 axis (XYZ). I'm trying to add a fourth axis to this version. I think this can be done by modifying only the axis.ini file? But, with the mods I've done, the simulation doesn't move in the axis display and then faults with "joint 3 following error".

If anyone has insight in this area I'd sure like to find out what I'm doing wrong. Attached is the axis.ini file with mods noted. If you can offer assistance I'd be grateful. Thank you.

This is a common request, and the common solution is to add a G10 L20 command before any "reset" move, like this:

G10 L20 P#5220 A[#5423 MOD 360]
G0 A0.

That changes the WCS offset of the rotary by a suitable number of whole rotations, so that it's within one rotation of A0, without actually moving the rotary axis.

There is more discussion, and some proposed patches, at github.com/LinuxCNC/linuxcnc/issues/3902

I’ve added a rotary axis to my machine (the workpiece rotates like on a lathe), but I’m running into a problem when performing helical milling along the full length of the part. During the operation, the rotary axis accumulates a large number of degrees. Then, when the next operation commands the rotary axis to return to 0°, the machine tries to unwind all those rotations.What is the common solution for this issue? I can modify the post‑processor if necessary.

Hi Endian, first of all, thanks for replying.

Your comments make a lot of sense, although I think you're mixing up issues, haha. In the GitHub discussion, I was talking with Grandiximo about the EL7342 module and wanting to use it in velocity mode to use the internal PID to control speed and close position in Linux CNC. I've tested this, and it works quite well, I should add. On the other hand, I mentioned that after testing it on the machine, it's too small for my needs because my motor consumes too much power, hence the need to migrate to an AM8131 servo motor with an EL7221-9014 driver.

The envelope and card analogy was a good one. I'm not an Ethercat expert; my knowledge is more intermediate/basic. I've only tried a few things that have worked quite well so far, so I need to read your GitHub reply very carefully, hehe.

You asked me about my main problem. In my previous post, I asked a few questions, and from four to what I need, I'd now reduce them to three:

1- Is the EL7221-9014 module actually compatible with the lcec_el7211.c driver?

2- Would I have to use the driver, configuring the ethercat_conf.xml file for the EL7201-9014 module, even though the actual module is the EL7221-9014?

3- Does anyone have experience with an EL7221-9014 module who could offer some help?

To further describe the architecture I want to use, I'd like the module to handle the speed loop and close the position loop in Linux CNC. From what I've read, I believe the lcec_el7211.c driver practically works this way; I see that the command pins are for speed and provide speed and position feedback.

From your response on GitHub, I gather it would be best to close both loops in LinuxCNC. I'd have to test it, however, my experience with this architecture and the modifications made to the EL7342 module worked quite well. I plan to perform the homing using LinuxCNC.

I saw that in a previous post on this forum you mentioned wanting to try an EL7221 module. I'd like to know:
-- Which driver did you use, lcec_el7211.c?
-- Do you have the same hardware, EL7221-9014?

I always greatly appreciate the help I've received from this forum, so thank you very much in advance. Best regards.

Hallo zusammen,

ich bin im Moment etwas ratlos und weiß nicht einmal genau, wo ich mit der Fehlersuche anfangen soll.

Ich habe eine bestehende LinuxCNC-Maschine mit der Achskonfiguration **ZZXYC**. Diese läuft schon seit längerer Zeit auf **Rechner A**. Das ist eine sehr alte Kiste, aber die Maschine funktioniert darauf zuverlässig.

Die Maschine arbeitet aktuell mit **Schrittmotoren ohne Encoder** und einer **Mesa-Karte**. Die Achsen laufen ohne Fehlermeldungen, sowohl beim Starten als auch beim Bearbeiten. Ich verfahre die Maschine zu ca. 90 % mit dem Joystick, auch das funktioniert auf Rechner A problemlos.

Jetzt habe ich mir zusätzlich einen neuen **220-V-AC-Servo mit EtherCAT** zugelegt. Da ich nicht immer im Keller an der Maschine sitzen wollte, habe ich dafür einen zweiten Rechner verwendet.

Auf **Rechner B** war vorher Windows 10 installiert. Der Rechner hat eine etwas bessere Grafikkarte. Ich habe darauf das neue **Debian-13-ISO von LinuxCNC** installiert und dort erste Tests mit dem neuen EtherCAT-Motor gemacht.

In Rechner B sind jetzt drei Netzwerkkarten verbaut:

1. Internet
2. EtherCAT
3. MesaCARD

Die Testmaschine **„EtherCAT-Test 750W“** läuft inzwischen mit dem EtherCAT-Motor recht gut.

Wichtig:
Den EtherCAT-Motor wollte ich in meine bestehende Maschinenkonfiguration noch nicht einmal ansatzweise einbinden. Die echte Maschine, die Verkabelung, die Mesa-Karte und die bisherige LinuxCNC-Konfiguration sind unverändert. Es geht aktuell nur darum, die vorhandene Mesa-/Schrittmotor-Konfiguration auf Rechner B laufen zu lassen.

Danach habe ich meine bestehende Konfiguration von Rechner A auf Rechner B kopiert. Die Konfiguration hängt hier im Anhang. Die Netzwerkkarte für die Mesa-Karte habe ich entsprechend eingerichtet.

Die Maschine startet auf Rechner B ohne Fehlermeldung. Wenn ich die Achsen jedoch referenzieren möchte, gehen sporadisch irgendwelche Motoren von Joint/Achse 0 bis 4 auf **Positionsfehler**. Alle Achsen außer Y haben Referenzschalter.

Teilweise passiert der Positionsfehler schon beim Referenzieren. Wenn er dort noch nicht auftritt, kommt er recht schnell im laufenden Betrieb.

Wenn ich zwischendurch wieder von Rechner B auf Rechner A zurückwechsle, läuft die Maschine sofort wieder ohne diese Fehler. Deshalb gehe ich aktuell davon aus, dass die echte Verkabelung und die Maschine selbst nicht das Problem sind.

Die LinuxCNC-Konfiguration ist im Grunde eine 1:1-Kopie von Rechner A. Auf Rechner A läuft sie stabil, auf Rechner B bekomme ich sporadische Positionsfehler.

Ich weiß gerade nicht, wo ich mit der Fehlersuche sinnvoll anfangen soll.

Könnte mir jemand weiterhelfen oder einen Hinweis geben, woran so etwas liegen kann?

Besonders interessieren würde mich:

* Kann so etwas durch die Netzwerkkarten-Konfiguration zur Mesa-Karte entstehen?
* Könnte das mit Latenz/Jitter auf dem neuen Rechner zusammenhängen?
* Gibt es typische Einstellungen, die beim Umzug einer Mesa-Konfiguration auf einen anderen Rechner angepasst werden müssen?
* Kann die zusätzliche EtherCAT-Installation oder eine weitere Netzwerkkarte hier Einfluss haben, obwohl EtherCAT in dieser Konfiguration noch nicht eingebunden ist?
* Welche Werte oder HAL-/INI-Einstellungen sollte ich als Erstes prüfen?

Vielen Dank schon einmal.

Gruß
Mücke

I like that idea better. I might write a custom HAL component to do the logic though, as my "no-go" zone is a bit too complicated for discrete HAL components to be "easier" (my valid work area is not a rectangle), and I might think about adding pins for "allow access" that I can set/clear in my M6 handler.
My paranoia here is that, when M6 finishes, the spindle is usually positioned over something expensive. A rapid on Z at that point would make expensive sounds.

Hi Axemas,

I now have a LinuxCNC lathe that is slowly but surely becoming productive, so I would be very interested in testing NativeCAM Lathe on a real machine. Especially the lathe polyline workflow would be highly interesting for me.

If there is already a test branch, an early package, or even just an intermediate state that is not fully polished yet, I would be happy to try it and give feedback. I can test with real turning jobs, report issues, and provide screenshots, generated G-code, or error messages if that helps.

I also think that sharing even a rough intermediate status could motivate more lathe users to test and maybe help move this part forward. NativeCAM Lathe with a working polyline function would be a very valuable tool for many LinuxCNC lathe users.

No pressure and no timeline expectations. I would just be glad to help testing when there is something available.

Best regards,
Tom

I replied at github post ... 

try to handle it and let me know what is yout root problem then