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I will give it a shot. Thanks for the Feedback regarding my files 

Thanks! Unfortunately I don’t have time to test this today, but will do it tomorrow at the earliest or Monday at the latest.

@ Atsu

I made a small change in my repo, get the new code, and make a new build then test, see if pll-err and pll-out get a value this time.

Hi, just a note if you tryto use the on-screen keyboard, this will not work.  It results in:

This is due to an unmet dependency.  is included, but not .  Install that package also and onboard will then work.

grandixximo wrote:

@atsu

Your servo drivers support a period of 1250000

????

Yes, they should. The manual states the following:

In the work mode, the synchronization cycle must be an integer multiple of 125 μs. Otherwise, the servo
drive will report Er74.0 (EtherCAT synchronization cycle setting is incorrect.)

Initially, I ran the drives with a period of 1000000 ns, but increased it to the current value couple months ago. Did it because in some rare instances I got "Unexpected realtime delay on task 0 with period 1000000" error in UI. I can try lowering it back to 1000000 ns to see if it makes any difference.

@TAKUYA

I see that you did not set pdo 1600 for your X drive was this on purpose?

I don't think the EK1100 needs the dconf line at all, but that should not effect, your DC seems ok, can you open the halscope, plot pll_err and app_phase? also servo-thread

also Sync0Shift should be half or 30% your cycle time, not 0
 

forgot to mention granite devices have a good article about feedback systems and even mentions Linuxcnc
granitedevices.com/wiki/Dual-loop_feedback_position_control 

@atsu

Your servo drivers support a period of 1250000

????

Hi ihavenofish,

I am also in process of retrofitting a TC225, however I am in a different situation where the machine was completely gutted and I am starting from (almost) scratch. When you get a chance could you send us that pinout? I have the Oriental Motor brake pack and gear motor and am confident in that part, but I haven't been able to find any information on the encoder. All I have right now is a harness that has 8 wires with the following labels: 49, 50, 51, 52, 53, 54, 55, and E. My next step was to start probing each wire to determine which ones are 0V, +24V, and the 4 BCD signals. E is obviously earth ground.

I appreciate it!
Jeff

Do not fight the paradigm to avoid a world of pain.
To say you have open loop is not correct. your encoder output should be fully wired in so you do have a feedback loop. Some machines have a dual feedback loop with the motor encoder configured in velocity mode inner loop and optional linear scales configured in position mode as the outer loop.

There are many closed loop stepper motors with encoders and a few also have an index signal. Usually the dual feedback system connects the motor encoder velocity feedback to the drive and the position feedback to linuxcnc.

I have never had drives with index marks but my uderstanding  is that linuxcnc can search for a home switch, then move to the nearest index pulse before completing homing. Ethercat drives that home internally are different animal altogether

The new PR with comp kinematics support for TP2 will have artifact debs at the end of this link

github.com/LinuxCNC/linuxcnc/actions/runs/23100211514?pr=3807

Yes, this is one of the reasons why I ditched Rufus and now exclusively use and recommend  balena etcher on all platforms

If your 7i92 doesn't have a free input for the Z signal, that's too bad. I'd recommend upgrading so you have more inputs. Alternatively, you can set HOME_USE_INDEX = No, and then LinuxCNC will use the home switch for reference. However, this is less accurate.

automata wrote:

Hi grandixximo,
Congratulations on a viable solution to this long standing gap in Linuxcnc implementation.
I was going through how you have taken into account the kinematics in userspace for planning which is needed for kinematics bounds checking.
I also see that you have made the relevant changes in the kinematics defined in src/emc/kinematics/* files.
There is another set of switchable kinematics defined in the src/hal/components/*.comp files (method made viable by David Muller / aciera on this forum). For example xyzab_tdr_kins.comp, xyzacb_trsrn.comp etc.,
I somehow find the idea of implementing the kinematics as a loadable .comp module compiled by halcompile very fascinating and useful
Is there a guideline on how to transition those kinematics also to this new setup?
-automata

Hi automata,

Good question — the .comp-based kinematics (like xyzab_tdr_kins.comp, xyzacb_trsrn.comp, etc.) were missing planner type 2 support because halcompile doesn't generate the nonrt_attach() entry point or the shared-memory parameter bridge that the userspace planner needs.
I've added a glue header (comp_kins_uspace.h) that makes the conversion straightforward without having to rewrite the .comp as a hand-written .c file. The idea: HAL pin values are mirrored into shared memory by the RT module each servo cycle, and the userspace planner reads a consistent snapshot from there instead of touching HAL pins.
The conversion is 5 mechanical steps:

#include "comp_kins_uspace.h"

Call comp_kins_uspace_setup(comp_id, "mykins", num_joints, "XYZAB") in your setup function after hal_ready()

Replace each *(haldata->pin) with KINS_READ(haldata->pin, N) where N is a unique index per parameter

Bracket kinematicsForward/kinematicsInverse with COMP_KINS_BEGIN(haldata) / COMP_KINS_END()

Add COMP_KINS_NONRT_ATTACH("mykins") at the end of the file

For switchable kins, also sync the switch type with COMP_KINS_SET_SWITCH_TYPE() in kinematicsSwitch().
xyzab_tdr_kins.comp has been converted as a reference example — look for the lines marked with +++ comments. The kinematics docs (docs/src/motion/kinematics.adoc) now have a full section on this with annotated code examples.

Hello
Please see the attached Files.

Thanks for looking through them.

~Takuya