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  • dextaca
  • dextaca
30 Sep 2025 13:04
Robot / coBot functions was created by dextaca

Robot / coBot functions

Category: General LinuxCNC Questions

Good day Forum
Wondering on possibility of implementing linuxcnc on a Older Motoman robot. 
Wondering if the necessary is in place to be able to to hand teach of the robot arm ( cobot style ) logging its trajectory etc. 
I think that would catapult Linuxcnc in the cobot world. 
ideas?

Thank  you 
  • 2tinker
  • 2tinker
30 Sep 2025 11:01
hm2/hm2_7i76e.0: error finishing read! iter=1342204 was created by 2tinker

hm2/hm2_7i76e.0: error finishing read! iter=1342204

Category: Deutsch

Hallo zusammen.Nachdem ich ein paar Erfahrungen mit einem ArduinoUno und ESTLCAM gesammelt habe, versuche ich mich jetzt an LinuxCNC und einer MESA 7i76eu. Mit Windows kenne ich mich recht gut aus. Mit Linux leider noch gar nicht, darum bitte ich um Nachsicht!Mein System besteht zur Zeit aus einem i3 mit 4GB RAM und zwei Realtek LAN-Adapter (einer OnBoard, einer als PCIe-Karte); Debian 12 und LinuxCNC 2.9.4.=11.0ptWie bereits an anderer Stelle hier im Forum beschrieben erhalte ich nach einiger Zeit folgende Fehlermeldung: „hm2/hm2_7i76e.0: error finishing read! iter=1342204„

Wie in diesem Thread ( Mesa i76e error finishing read. Another Time with LinuxCNC 2.9.1 ) beschrieben, habe ich ethtool installiert.Das Auslesen der Werte mit „sudo ethtool –c enp1s0“ zeigt, das „rx-usecs“ bereits auf 0 gesetzt ist.
Soweit ich den Thread richtig gelesen habe, sollte diese Einstellung (bis zu eine reboot) die Fehlermeldung unterdrücken/beseitigen.
Auch habe ich in der Maschinen-INI den Parameter „SERVO-PERIOD“ auf 2000000 gesetzt.Vielleicht hat ja jemand eine Idee, woran es liegt, dass dieser Fehler geschmissen wird. =11.0ptDanke im Voraus und Grüße vom tinker.
  • jrc
  • jrc
30 Sep 2025 09:54
Replied by jrc on topic Leadshine 2CS3E-D507 / Cia402 almost working - help please!

Leadshine 2CS3E-D507 / Cia402 almost working - help please!

Category: EtherCAT

I added them back in and got the same error : HAL: ERROR: function 'motion-command-handler' may only be added to one thread

I think the simple minimal sim config I use as a starting point probably has those somewhere so it's complaining about duplicates
  • ShemJ
  • ShemJ's Avatar
30 Sep 2025 09:19
Replied by ShemJ on topic can't pass a home-mode negative number to ethercat drive with setp in HAL file

can't pass a home-mode negative number to ethercat drive with setp in HAL file

Category: HAL

Ah, of course. That was it! Thanks for that.
  • Hakan
  • Hakan
30 Sep 2025 09:18
Replied by Hakan on topic Leadshine 2CS3E-D507 / Cia402 almost working - help please!

Leadshine 2CS3E-D507 / Cia402 almost working - help please!

Category: EtherCAT

You need those two motion-command controller statements, they should go in between the cia402.read-all and write-all as in the example file.
It won't move without those.

It was just an example to show how it is normally done.
You can set the pos-cmd in halshow, try that.
The two drives are distinguished by the variable name srv-2-var srv-1-var etc.
 
  • jrc
  • jrc
30 Sep 2025 08:03
Replied by jrc on topic Leadshine 2CS3E-D507 / Cia402 almost working - help please!

Leadshine 2CS3E-D507 / Cia402 almost working - help please!

Category: EtherCAT

Many thanks for your quick reply.
My hal file looks like this:
loadusr -W lcec_conf ethercat-conf.xml
loadrt lcec
loadrt cia402 count=2

addf lcec.read-all            servo-thread
addf cia402.0.read-all        servo-thread
addf cia402.1.read-all        servo-thread
addf cia402.0.write-all       servo-thread
addf cia402.1.write-all       servo-thread
addf lcec.write-all           servo-thread

#*******************
#  Right Carousel  lcec.0.0 arm (r1) cia402.0 joint.3 platter (r2) cia402.1 joint.4
#*******************
## Carousel arm ##
setp cia402.0.enable 1
#setp cia402.0.opmode 1
setp cia402.0.csp-mode 1
setp cia402.0.pos-scale 4000

# ethercat to cia402 driver
net r1-statusword      lcec.0.0.srv-1-cia-statusword  => cia402.0.statusword
net r1-opmode-display  lcec.0.0.srv-1-opmode-display  => cia402.0.opmode-display
net r1-drv-act-pos     lcec.0.0.srv-1-actual-position => cia402.0.drv-actual-position
net r1-drv-act-vel     lcec.0.0.srv-1-actual-velocity => cia402.0.drv-actual-velocity

# cia402 driver to ethercat
net r1-controlword         cia402.0.controlword         => lcec.0.0.srv-1-cia-controlword
net r1-modes-of-operation  cia402.0.opmode              => lcec.0.0.srv-1-opmode
net r1-drv-target-pos      cia402.0.drv-target-position => lcec.0.0.srv-1-target-position

## Carousel Platter ##
setp cia402.1.enable 1
setp cia402.1.csp-mode 1
setp cia402.1.pos-scale 4000

# ethercat to cia402 driver
net r2-statusword      lcec.0.0.srv-2-cia-statusword  => cia402.1.statusword
net r2-opmode-display  lcec.0.0.srv-2-opmode-display  => cia402.1.opmode-display
net r2-drv-act-pos     lcec.0.0.srv-2-actual-position => cia402.1.drv-actual-position
net r2-drv-act-vel     lcec.0.0.srv-2-actual-velocity => cia402.1.drv-actual-velocity

# cia402 driver to ethercat
net r2-controlword         cia402.1.controlword         => lcec.0.0.srv-2-cia-controlword
net r2-modes-of-operation  cia402.1.opmode              => lcec.0.0.srv-2-opmode
net r2-drv-target-pos      cia402.1.drv-target-position => lcec.0.0.srv-2-target-position

The missing part relative to the example you give me from dbraun is: 
addf motion-command-handler servo-thread
addf motion-controller servo-thread

#from motion to cia
net r1-enable    <= joint.3.amp-enable-out => cia402.0.enable
net r1-amp-fault => joint.3.amp-fault-in   <= cia402.0.drv-fault
net r1-pos-cmd   <= joint.3.motor-pos-cmd  => cia402.0.pos-cmd
net r1-pos-fb    => joint.3.motor-pos-fb   <= cia402.0.pos-fb

net r2-enable    <= joint.4.amp-enable-out => cia402.1.enable
net r2-amp-fault => joint.4.amp-fault-in   <= cia402.1.drv-fault
net r2-pos-cmd   <= joint.4.motor-pos-cmd  => cia402.1.pos-cmd
net r2-pos-fb    => joint.4.motor-pos-fb   <= cia402.1.pos-fb

If I add that into my hal file , LinuxCNC fails to start and complains about being unable to execute certain SDO uploads:
Failed to execute SDO upload: Invalid argument
LCEC: slave 0.1: Failed to execute SDO upload (0x6502:0x00, error -22, abort_code 00000000)
Failed to execute SDO upload: Invalid argument
LCEC: slave 0.1: Failed to execute SDO upload (0x6060:0x00, error -22, abort_code 00000000)
Failed to execute SDO upload: Invalid argument
LCEC: slave 0.1: Failed to execute SDO upload (0x607a:0x00, error -22, abort_code 00000000)
Failed to execute SDO upload: Invalid argument
LCEC: slave 0.1: Failed to execute SDO upload (0x6d02:0x00, error -22, abort_code 00000000)
Failed to execute SDO upload: Invalid argument
LCEC: slave 0.1: Failed to execute SDO upload (0x6860:0x00, error -22, abort_code 00000000)
Failed to execute SDO upload: Invalid argument
LCEC: slave 0.1: Failed to execute SDO upload (0x687a:0x00, error -22, abort_code 00000000)
HAL: ERROR: function 'motion-command-handler' may only be added to one thread
./2CS3E_D507.hal:12: addf failed

The last item in the list about the motion-command-handler suggests that this is duplicating another one in the standard config. If I comment out the motion-command-handler and motion-controller lines of the dbraun additions., that message goes away but it still crashes on startup with a similar list of SDO complaints and a new one about being unable to add a pin:
Failed to execute SDO upload: Invalid argument
LCEC: slave 0.1: Failed to execute SDO upload (0x6502:0x00, error -22, abort_code 00000000)
Failed to execute SDO upload: Invalid argument
LCEC: slave 0.1: Failed to execute SDO upload (0x6060:0x00, error -22, abort_code 00000000)
Failed to execute SDO upload: Invalid argument
LCEC: slave 0.1: Failed to execute SDO upload (0x607a:0x00, error -22, abort_code 00000000)
Failed to execute SDO upload: Invalid argument
LCEC: slave 0.1: Failed to execute SDO upload (0x6d02:0x00, error -22, abort_code 00000000)
Failed to execute SDO upload: Invalid argument
LCEC: slave 0.1: Failed to execute SDO upload (0x6860:0x00, error -22, abort_code 00000000)
Failed to execute SDO upload: Invalid argument
LCEC: slave 0.1: Failed to execute SDO upload (0x687a:0x00, error -22, abort_code 00000000)
./2CS3E_D507.hal:36: Pin 'joint.3.amp-enable-out' does not exist
43420
Stopping realtime threads
Unloading hal components
Note: Using POSIX realtime

@Hakan - Any further suggestions? Am I doing something dumb like omitting some essential pin definition, or ir is possible that the cia402 mappings are somehow not working for a dual-stepper drive for some reason?

@scottlaird  - do you have a simple hal file that works for a 2CS3E-D507 and actually gets both closed-loop steppers to move? Ideally in pp mode if possible, but at a push CSP would also work with the risk of more complexity, which is not needed for a toolchanger.
 
  • Hakan
  • Hakan
30 Sep 2025 07:57 - 30 Sep 2025 07:59
Replied by Hakan on topic (Solved) Initialization code for a rintelligent ECT60 fails when run on an ECR60

(Solved) Initialization code for a rintelligent ECT60 fails when run on an ECR60

Category: Driver Boards

It's the Twincat XAE to download.
You also tried to reset to factory defaults?
Also doing "ethercat rescan" won't hurt, might help.
  • Hakan
  • Hakan
30 Sep 2025 07:55
Replied by Hakan on topic Trouble with Cia402 drive configuration

Trouble with Cia402 drive configuration

Category: EtherCAT

Well, you can try with that as your ethercat-conf.xml
  • Hakan
  • Hakan
30 Sep 2025 07:52
Replied by Hakan on topic can't pass a home-mode negative number to ethercat drive with setp in HAL file

can't pass a home-mode negative number to ethercat drive with setp in HAL file

Category: HAL

Does home-mode have halType="u32" in ethercat-conf.xml? Try changing to "s32".
  • ArcAiN6
  • ArcAiN6's Avatar
30 Sep 2025 06:48
Replied by ArcAiN6 on topic Looking for a specific, detailed howto guide for XYYZ gantry setup

Looking for a specific, detailed howto guide for XYYZ gantry setup

Category: Advanced Configuration

This is as close as i've gottent to getting it to home to where i want it... the problem however, is it keeps throwing an error :

Exceeded NEGATIVE soft limit (0.000000) on joint 2
Hint: switch to joint mode to jog off soft limit

Here's the current INI: 
 

File Attachment:

File Name: my-mill_20...9-30.ini
File Size:3 KB


Thank you for helping :)
  • ffffrf
  • ffffrf
30 Sep 2025 03:40
Replied by ffffrf on topic Extremely confused - Nonworking limit switches

Extremely confused - Nonworking limit switches

Category: General LinuxCNC Questions

*in both cases the switch is clearly working in pncconf


- I am totally stumped - i guess it could be a bad version of linuxcnc? I havent had any issues with it since setting it up for the first time, only now with this second mesa board. You recommend I update linuxcnc? Will try to do so tomorrow morning
  • ArcAiN6
  • ArcAiN6's Avatar
30 Sep 2025 03:09
Replied by ArcAiN6 on topic Looking for a specific, detailed howto guide for XYYZ gantry setup

Looking for a specific, detailed howto guide for XYYZ gantry setup

Category: Advanced Configuration

Yea... I'm kind of struggling to wrap my head around the home, softlimit, offset, limit switch envelope... It seems like everything i try might actually be wrong. I'm either traveling the wrong direction, or, triggering hard limits, or soft limits, or the displayed location isn't where the actual toolhead is. 


 
  • PCW
  • PCW's Avatar
30 Sep 2025 02:53
Replied by PCW on topic Extremely confused - Nonworking limit switches

Extremely confused - Nonworking limit switches

Category: General LinuxCNC Questions

Is it possible you have a bad version of LinuxCNC?

(since it seems to be a quite old version when master was 2.9)

but in BOTH cases, the limit switch is shown working in halmeter of pncconf

Did you mean halmeter or pncconf?
  • ffffrf
  • ffffrf
30 Sep 2025 01:48 - 30 Sep 2025 02:34
Replied by ffffrf on topic Extremely confused - Nonworking limit switches

Extremely confused - Nonworking limit switches

Category: General LinuxCNC Questions

Hey, so the gpio difference was from when i was debugging, after pncconf, both show the same input-00 pin (most recently i tried wiring it to input-01 to see if any difference would occur so this file snippet shows input 01, but again has not fixed it

- the mesa boards were both originally 10.10.10.10 (via IP in terminal and via hal/INI and in PNCCONF) same issue persisted, even after trying all sorts of gpio input changes, reboots, etc. I only changed one to 10.10.10.11 to see if it would resolve the issue

yes sorry your last post came in when i was writing the above - it is unfortunately the same, I just accidentally sent the config in the middle of trying to debug by changing it to gpio001 or gpio000


edit: i will go back now and put mesa2 as 10.10.10.10 as it originally was so i can start debug from square 1


edit2: I feel like when i look back at everything ive tried, the following thing seems to be pointing to wher something is going wrong (below)

back when all boards were 10.10.10.10, all pnc confs for both machines were the same, all inputs were the same for limit switches, etc and i had not changed anything, the following would occur:

mesa2 running config1 (for machine1) WOULD show the limit switches working in axis GUI under the watch section of hal config, however, when I closed config1, and instead ran config2 (for machine2), suddenly the EXACT SAME PINS would NOT show a status change when I press on the limit switch while watching in hal configuration tab of axis gui

but in BOTH cases, the limit switch is shown working in halmeter of pncconf

edit3: I just reverted mesa2 back to 10.10.10.10 and I am able to recreate the above issue, and again the issue persists. I am able to open config1 on mesa2 and I see in the halconfig the status of my input-01 pin changing, but when i close it and open up config2, it no longer works. I also juist tried literally copy pasting the initial HAL file portion over to machine1 config hal (taig), minus the spindle components which I deleted, and the same issue persists and is recreated!!!

edit4: I know everyone is probably asleep but I wanted to post one more thing that I think might be helpful. I just did something crazy - I went into pncconf for config1, which was a lathe, and had a working limit switch with my mesa 2 board about 10 seconds ago. I went into this pncconf config1, and changed it to an XYZ mill, and had to change the X axis to stepgen 3 but left everything else alone...now when I ran this, the limit switch DOES NOT WORK
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