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  • Aciera
  • Aciera's Avatar
29 Sep 2025 17:37 - 29 Sep 2025 17:39
Replied by Aciera on topic Wrapped Rotary on Non Rotary Axis Letter.

Wrapped Rotary on Non Rotary Axis Letter.

Category: Basic Configuration

Looking for 'WRAPPED_ROTARY' in the source code seems to suggest that it indeed only applies to axes A,B,C:
~/git/linuxcnc-dev$ grep -rnw ./ -e WRAPPED_ROTARY
./configs/sim/axis/wrapped_rotary/wrapped_rotary.ini:85:WRAPPED_ROTARY = 1
./bin/axis:3516:a_axis_wrapped = inifile.find("AXIS_A", "WRAPPED_ROTARY")
./bin/axis:3517:b_axis_wrapped = inifile.find("AXIS_B", "WRAPPED_ROTARY")
./bin/axis:3518:c_axis_wrapped = inifile.find("AXIS_C", "WRAPPED_ROTARY")
./src/emc/rs274ngc/rs274ngc_pre.cc:872: inifile.Find(&_setup.a_axis_wrapped, "WRAPPED_ROTARY", "AXIS_A");
./src/emc/rs274ngc/rs274ngc_pre.cc:873: inifile.Find(&_setup.b_axis_wrapped, "WRAPPED_ROTARY", "AXIS_B");
./src/emc/rs274ngc/rs274ngc_pre.cc:874: inifile.Find(&_setup.c_axis_wrapped, "WRAPPED_ROTARY", "AXIS_C");
./src/emc/usr_intf/axis/scripts/axis.py:3514:a_axis_wrapped = inifile.find("AXIS_A", "WRAPPED_ROTARY")
./src/emc/usr_intf/axis/scripts/axis.py:3515:b_axis_wrapped = inifile.find("AXIS_B", "WRAPPED_ROTARY")
./src/emc/usr_intf/axis/scripts/axis.py:3516:c_axis_wrapped = inifile.find("AXIS_C", "WRAPPED_ROTARY")
./src/emc/usr_intf/gremlin/qt5_graphics.py:274: self.a_axis_wrapped = self.inifile.find("AXIS_A", "WRAPPED_ROTARY")
./src/emc/usr_intf/gremlin/qt5_graphics.py:275: self.b_axis_wrapped = self.inifile.find("AXIS_B", "WRAPPED_ROTARY")
./src/emc/usr_intf/gremlin/qt5_graphics.py:276: self.c_axis_wrapped = self.inifile.find("AXIS_C", "WRAPPED_ROTARY")
./src/emc/usr_intf/gremlin/gremlin.py:204: self.a_axis_wrapped = inifile.find("AXIS_A", "WRAPPED_ROTARY")
./src/emc/usr_intf/gremlin/gremlin.py:205: self.b_axis_wrapped = inifile.find("AXIS_B", "WRAPPED_ROTARY")
./src/emc/usr_intf/gremlin/gremlin.py:206: self.c_axis_wrapped = inifile.find("AXIS_C", "WRAPPED_ROTARY")
grep: ./src/objects/emc/rs274ngc/rs274ngc_pre.o: binary file matches
./docs/src/config/ini-config.adoc:902:* `WRAPPED_ROTARY = 1` - When this is set to 1 for an ANGULAR axis the axis will move 0-359.999 degrees.
grep: ./lib/librs274.so.0: binary file matches
./lib/python/qt5_graphics.py:274: self.a_axis_wrapped = self.inifile.find("AXIS_A", "WRAPPED_ROTARY")
./lib/python/qt5_graphics.py:275: self.b_axis_wrapped = self.inifile.find("AXIS_B", "WRAPPED_ROTARY")
./lib/python/qt5_graphics.py:276: self.c_axis_wrapped = self.inifile.find("AXIS_C", "WRAPPED_ROTARY")
./lib/python/gremlin.py:204: self.a_axis_wrapped = inifile.find("AXIS_A", "WRAPPED_ROTARY")
./lib/python/gremlin.py:205: self.b_axis_wrapped = inifile.find("AXIS_B", "WRAPPED_ROTARY")
./lib/python/gremlin.py:206: self.c_axis_wrapped = inifile.find("AXIS_C", "WRAPPED_ROTARY")
 
  • ArcAiN6
  • ArcAiN6's Avatar
29 Sep 2025 16:52
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

as i've stated. it only tries to home 1 of the two motors
  • jschulze
  • jschulze
29 Sep 2025 16:34
Replied by jschulze on topic Wrapped Rotary on Non Rotary Axis Letter.

Wrapped Rotary on Non Rotary Axis Letter.

Category: Basic Configuration

Does the letter matter?

Isn't it just a visual ID?

Not sure.  Either way it's not working for me and I'm not sure why.  It works no problem as a rotary axis, but I'd like to figure out a way to keep position while using it as a spindle and I figure that will be easier if it wraps at 360.  
  • GDTH
  • GDTH's Avatar
29 Sep 2025 15:56
Replied by GDTH on topic Carousel with counts move x amount of pockets

Carousel with counts move x amount of pockets

Category: Advanced Configuration

setp carousel1.0.scale 2000
setp carousel1.0.width 200
setp carousel1.0.home-offset 800
setp carousel1.0.debounce 3
  • tommylight
  • tommylight's Avatar
29 Sep 2025 15:50
Replied by tommylight on topic Extremely confused - Nonworking limit switches

Extremely confused - Nonworking limit switches

Category: General LinuxCNC Questions

No worries, we all miss things and mess up.
Thank you for helping.
  • jjdege
  • jjdege's Avatar
29 Sep 2025 15:23
Replied by jjdege on topic Extremely confused - Nonworking limit switches

Extremely confused - Nonworking limit switches

Category: General LinuxCNC Questions

I'm sorry, I missed it :-(
  • tommylight
  • tommylight's Avatar
29 Sep 2025 15:12
Replied by tommylight on topic Extremely confused - Nonworking limit switches

Extremely confused - Nonworking limit switches

Category: General LinuxCNC Questions

Sorry, there are no pins connected to the Mesa IOs.

Yes there is a pin, it is way up in his hal file
# --- MIN-HOME-X ---
net min-home-x     <=  hm2_7i96s.0.inm.00.input-00-not
  • jjdege
  • jjdege's Avatar
29 Sep 2025 13:55
Replied by jjdege on topic Extremely confused - Nonworking limit switches

Extremely confused - Nonworking limit switches

Category: General LinuxCNC Questions

Sorry, there are no pins connected to the Mesa IOs.
net min-home-x     =>  joint.0.home-sw-in
net min-home-x     =>  joint.0.neg-lim-sw-in
net x-pos-limit     =>  joint.0.pos-lim-sw-in
  • jschulze
  • jschulze
29 Sep 2025 13:50
Wrapped Rotary on Non Rotary Axis Letter. was created by jschulze

Wrapped Rotary on Non Rotary Axis Letter.

Category: Basic Configuration

I've got my machine setup to use a rotary table as the W axis since I already have a C axis on the head.  I've added wrapped_rotary=1 to my ini in both the joint and axis sections, but it's not working.  Does wrapped rotary only work on A,B, or C axis?

I also have the rotary table setup as a second axis and what I would like to ultimately do is setup the rotary table to wrap the axis position at 360 and also keep track of the position while using it as a spindle.  Right now I just use a generic mux2 to switch the joint velocity between W axis velocity and spindle 1 velocity signals using the spindle.1.on and it works great, but I'm not sure how to keep the axis position when it's in spindle mode.  I'm using step/dir servos to drive the table, so I don't have an encoder on the table output itself.  Is there a way to fake an encoder signal from the spindle output to feedback into the joint position?  
  • peterpan
  • peterpan
29 Sep 2025 13:18
Replied by peterpan on topic Trouble with Cia402 drive configuration

Trouble with Cia402 drive configuration

Category: EtherCAT

lcec_conf:
<masters>
  <master idx="0">
    <slave idx="0" type="EK1100" name="D1"/>
    <slave idx="1" type="EL1008" name="D2"/>
    <slave idx="2" type="EL2008" name="D3"/>
    <slave idx="3" type="basic_cia402" vid="0x00000c96" pid="0x00000001" name="D4">
      <!--ClearPath EC (CoE Rev 2)-->
      <modParam name="ciaRxPDOEntryLimit" value="8"/>
      <modParam name="ciaTxPDOEntryLimit" value="8"/>
      <modParam name="enablePP" value="true"/>
      <modParam name="enablePV" value="true"/>
      <modParam name="enableTQ" value="true"/>
      <modParam name="enableHM" value="true"/>
      <modParam name="enableCSP" value="true"/>
      <modParam name="enableCSV" value="true"/>
      <modParam name="enableCST" value="true"/>
      <modParam name="enableActualFollowingError" value="true"/>
      <modParam name="enableActualTorque" value="true"/>
      <modParam name="enableActualVoltage" value="true"/>
      <modParam name="enableDigitalInput" value="true"/>
      <modParam name="digitalInChannels" value="16"/>
      <modParam name="enableDigitalOutput" value="true"/>
      <modParam name="digitalOutChannels" value="16"/>
      <modParam name="enableErrorCode" value="true"/>
      <modParam name="enableFollowingErrorTimeout" value="true"/>
      <modParam name="enableFollowingErrorWindow" value="true"/>
      <modParam name="enableHomeAccel" value="true"/>
      <modParam name="enableInterpolationTimePeriod" value="true"/>
      <modParam name="enableMaximumMotorRPM" value="true"/>
      <modParam name="enableMaximumTorque" value="true"/>
      <modParam name="enablePolarity" value="true"/>
      <modParam name="enablePositionDemand" value="true"/>
      <modParam name="enablePositioningTime" value="true"/>
      <modParam name="enablePositioningWindow" value="true"/>
      <modParam name="enableProbeStatus" value="true"/>
      <modParam name="enableProfileAccel" value="true"/>
      <modParam name="enableProfileDecel" value="true"/>
      <modParam name="enableProfileVelocity" value="true"/>
      <modParam name="enableTargetTorque" value="true"/>
      <modParam name="enableTorqueDemand" value="true"/>
      <modParam name="enableTorqueSlope" value="true"/>
      <modParam name="enableVelocityDemand" value="true"/>
      <modParam name="enableVelocityErrorTime" value="true"/>
      <modParam name="enableVelocityErrorWindow" value="true"/>
    </slave>
  </master>
</masters>
  • tommylight
  • tommylight's Avatar
29 Sep 2025 12:39
Replied by tommylight 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

You should most probably save the config then run it, then home the machine as jogging will not work for tandem axis before homing.
  • Hakan
  • Hakan
29 Sep 2025 12:25
Replied by Hakan on topic Leadshine 2CS3E-D507 / Cia402 almost working - help please!

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

Category: EtherCAT

At a quick glance, normally you would need to connect the joints to the cia402 components, see here github.com/dbraun1981/hal-cia402/blob/main/example/cia402.hal 
In this case you can try to give a position value to cia402.0.pos-cmd


 
  • jrc
  • jrc
29 Sep 2025 12:09 - 29 Sep 2025 12:10
Leadshine 2CS3E-D507 / Cia402 almost working - help please! was created by jrc

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

Category: EtherCAT

I am trying to get Leadshine 2CS3E-D507 working to drive two closed-loop steppers to drive the carousel and arm of a toolchanger in simple pp mode.
I think I am very close, but need some help to get over the line.

Scott Laird's driver and the Cia402 component have gotten me to the point where the drive reaches OP state and I can see all the hal pins, but I have not managed to get the steppers to move.

To avoid the complexity of the rest of my machine, I have simply taken one of the sample configs (sim.axis-min), and added two extra joints (joints 3 and 4) for the two closed-loop steppers in the ini file , and added a hal file with what I hope are plausible lcec and cia402 settings. I have then connected the stepper drive to the machine with an Ethernet cable, Linuxcnc starts up OK with no complaints, and ehtercat slaves shows that the 2CS3E-D507 is sitting happily in OP state.

Looking at Machine>Show Hal configuration I can see all the lcec and cia402 pins. Setting setp cia402.0.enable 1 turns on the first joint and the same with cia.1.enable turns on the second one. I can see that this is the case because the LED display shows the corresponding dot. The display shows 88.8. where the dots denote one active axis each.

Reading the position of, say, the first stepper (lcec.0.0.srv-1-actual-position or cia402.0.drv-actual-position ) shows a value of "97", and the other one shows "2". These are arbitrary values corresponding to whatever position the shaft was turned to when powered up. 
The corresponding "target position", however, is currently "0", but the drive is not trying to turn from position 97 to 0 at all.
In fact, it seems very determined to hold its current position, so you cannot turn the shaft by hand (which you can easily do when the drive is not enabled). It seems to resist any attempt to move it from its current position of 97

Trying to write a new target position using "setp" fails.
For example, if I try to set it to 700 : 
using setp lcec.0.0.srv-1-actual-position 700, it complains that the pin is connected to a signal ( r1-drv-target-pos )
Using setp cia402.0.drv-actual-position 700, it complains " ERROR setting parameter 'cia402.0.drv-actual-position' to '700' pin 'cia402.0.drv-actual-position' is not writable"  

The relevant line is the hal file is 
net r1-drv-target-pos      cia402.0.drv-target-position => lcec.0.0.srv-1-target-position
so I can understand the first complaint (the lcec is taking its input from the signal r1-drv-target-pos, which is getting its value from the cia402.0.drv-target-position pin), but I can't understand the second complaint ( the cia402target position pin not being writable), because one has to be able to tell the drive what the new position target is

Is here a simple fix I am missing, or am I going about this completely the wrong way, and if so, what do I need to change?
Since it's for a tool changer I would like to stick to pp mode rather than csp to simplify things.

I am attaching the .ini and .hal files, which are the only modified ones. All others are as per the normal sim-axis-min sample config in the standard installation.

Many thanks!
 
  • JT
  • JT's Avatar
29 Sep 2025 11:27
Replied by JT on topic Flex Gui Jog after toolchange

Flex Gui Jog after toolchange

Category: Flex GUI

This has been fixed, thanks for the report.

JT
  • JT
  • JT's Avatar
29 Sep 2025 09:41
Replied by JT on topic Flex Gui Jog after toolchange

Flex Gui Jog after toolchange

Category: Flex GUI

I can duplicate that error so should be fixed shortly.

JT
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