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You cant use a shutdown.hal file, maybe unlinkp some pins and then use setup to set them to your desired state?
Really left field idea that I have no idea if it would work could be to use loadusr in shutdown.hal to load a python script that does what you want...

I have not done this but I think I would start with a 5 axis config from pncconf, editing the axis names as appropropriate if your kinematics is not supported.

I would then make a copy of your desired vismach simulator into its own config folder and edit it to suit your machine dimensions etc.
Then I would cut and paste from the pncconf config into your vismach config so its all connected to your real hardware.

tommylight wrote:

That is not the issue, it is the result of the issue, see if there is "raspi" mentioned in the error report.

Kernel 6.12 is Debian Trixie and thankfully Debian fixed the Raspi issue on its release, so its not the issue.

I suspect its an EFI issue installing dkms. EFI/Secure boot prevents untrusted things from modifying the kernel and dkms does exactly that.
There is a spoiler in the very first post about how to fix this where you tell EFI that dkms can be trusted. Alternatively, consider disabling secure boot in the BIOS

Great you worked it out. But normally, there will also be settings to tell the type of input. eg, GPIO, Max Limit, Min Limit, Estop (disable drive),
Did you work that out too? eg If you want to use as GPIO, you need to set the type to be GPIO for a specific pin for internnalhoming, you need to set homing.

In my sim,  on_abort.ngc is called when pressing F2, machine off. It also has a bash script, M100 P1 . Machine on doesn't trigger on_abort.

 

Hello,
I worked with 4 Axis simultan on Mach 3 and Powermill and want now do 5 Axes.
I Have self made machine with 5 Axis and all axes are mooving  with linuxcnc with the Mesa 7i96s. I added successfully  the 5th axis C to xyza
Now I do not find out, how to configure that i can include the Vismach xyzac Simulation.

Would be wonderfull if you could help me make it running

Thank you

PS: i worked a lot in Powermill with the surface Projection Toolpath and making Surfaces. If I can help, ask me

7I96S+7I74 firmware with Step4 (last stepgen of 0..4) replaced with PWM 1
(Dir 4 is just GPIO)

 
 

Well, that was a real struggle, though

The only way I can think of doing something like what you want (without using ladder) is to have the M-codes trigger a one-shot to set the target hal pin rather than using the digital-out pin directly.

If you use a one-shot to set a pin state via M-code then there's nothing 'forcing' the pin to a certain value.  And you can use a 'turn-the-machine-on' sequence to set the value using another one-shot.  Maybe.

Are the hal pins all on/off bits, or do you have S32/U32/floats where you are setting/resetting a specific value?

EDIT - I think we both need to read the manual a bit.  

linuxcnc.org/docs/stable/html/remap/rema...p:sec:error-handling

This looks promising, in that maybe the on-abort isn't just for an aborted program.  Have to do more thinking.

Hi,
I am currently running a 7i96S with a 7i74 sserial card (7i96s_7i74d.bin), but I need a second hardware PWM generator (pwmgen.01) on Step 5 (or any available physical Step pin) to modulate my Raycus fiber laser with a variable duty cycle. Is it possible to configure the 7i96s like that ?

I'm looking for a way to execute a. Bash script or some other way to setp the value of a number of Hal pins or hal signals when the machine goes to the off state. Not when just when aborting a running program. But a situation during a running program that results in machine off, such as hitting a hard limit, I would want to execute this.

I just re-read what I posted - that was kinda unhelpful of me.  Sorry.

The dirty way to 'turn off' the underlying M-code hal pins is an and2 component.

I assume you're using a motion.digital-out-NN to set the pins (G64 Pnn).  From there, the digital-out-NN pin is connected to something, maybe through some other signals/pins.

At some point downstream of the digital-out-NN pin, you can insert an and2 component that requires motion.motion-enabled (or halui..machine-is-on) be true along with the digital-out-NN pin.

Problem with that method is that an aborted program may leave the digital-out-NN pin true, and the second you turn the machine back on the above and2 component will resolve true and permit the and2.N.out to go true.

What you (and I) need is some way to clear out - reset - any lingering hal pin states left from aborted programs.  And the problem (as far as I know) is that an 'on-abort.ngc' file is only triggered during a program that's aborted on purpose.  If you get a power outage, or just hit the machine-off or estop button, the on-abort.ngc file isn't run and the undesired hal pin states aren't reset.

Some sort of start-up sequence that ensures the machine state is what you want - and it has to be set/run/active before the machine is permitted to enter the ON state.

This is why I'm thinking Ladder is maybe the route.

Are you looking for an 'abort' sequence, or a machine-is-off/tripped sequence?

The abort - i.e. an aborted g-code program - you can do with an on-abort.ngc that calls various M-codes to set the machine in a state you want.

If you need to force hal pins or write specific values to pins, you can create a bash program M-code and directly manipulate the hal pins.

I'm sympathetic to your question because I really, really need to go through all my custom stuff/logic and figure out the same thing you're thinking about now.  What are the various machine states, and what do I want to happen when it turns back on?

Example - I have a pneumatic door cover for my ATC.  If I stop the machine in the middle of a tool change the door stays open.  But when I retract the ATC (manual ATC M-codes) and restart LCNC, the door slams shut the moment the machine is 'on.'  Scares the you-know-what out of me every time.

It's not a graceful error-handling situation.

I'm rambling here, but I suspect all of the machine-state error handling and permissions might be better handled in Ladder.

A machine I'm working with uses a couple of M1xx custom M-codes to put the machine in a peculiar state for some machining processes.  This causes some significant problems if they are not properly canceled in the appropriate way.  To help with this, I would like to be able to "reset" the hal pins that the custom M-codes manipulate if the machine is disabled (put in the F2 "machine off" state.)  Is there a way to do this that won't interfear with the way the custom M-codes setp the hal pins they need to manipulate?  Basically I need the machine to setp certain hal pins when it goes to the "Machine Off" state.

Hello,

I created a topic about a LinuxCNC EtherCAT configuration from scratch -  CiA 402 Folder Missing . I did receive support there but the topic got a bit large in pages and posts. By the way, thanks to @andrax, he was quite active in helping me to get the EtherCAT working.

The reason for this new topic is to help everyone create a working and robust EtherCAT homing configuration. Perhaps, it will be great if the people who worked on the CiA402 and CiA402 Homing components join and discuss together.

I am not an expert in LinuxCNC, I started a few months ago with the idea to upgrade my plasma machine and out of curiosity. During the last days I managed to get a working configuration with the servo drive internal homing. I would like to share the settings here and get feedback, because it does not completely match the documentation but it works.

Basically, this is the example from dbraun CiA402 component. What I achieved is that using the signal 'x-home-index' I can home the drive using its internal homing method. The feedback from the servo drive is also available - 'stat-homing' and 'stat-homed'. I tested with homing methods 34 and 19 and it works fine every time I set the 'x-home-index'.

As per dbraun's documentation this configuration should work only for index pulse homing but by changing the homing method via the 'ethercat-download' command it works for every homing method selected. This is kind of confusing because I was expecting that in order to use any internal servo homing method I should use rodw's custom home component. The index homing described by dbraun was interpreted by me that the servo drive sends its index pulse via CiA402 and the LinuxCNC takes it and completes the homing but apparently it does not work like that.

Attached are the configuration files.

Best Regards
Konstantin Kolev