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23 Aug 2025 21:07

Flex GUI Keyboard Jogging was created by JT

Flex GUI Keyboard Jogging

Category: Flex GUI

We have been working on keyboard jogging for Flex GUI at the request of several people.

A test repo is here github.com/jethornton/flexgui2

JT

23 Aug 2025 21:06

Replied by JT on topic Flex Gui preset buttons

Flex Gui preset buttons

Category: Flex GUI

An input filter is not supported by Flex GUI at this time.

JT

Quarter20
Quarter20

23 Aug 2025 20:36

Replied by Quarter20 on topic Need help changing axis home direction?

Need help changing axis home direction?

Category: General LinuxCNC Questions

I had this router working with Mach 3 and just swapped the Breakout board and LinuxPC.

The paraport wiring is the same and I put it into the step config the same way. I can jog the Z and X just fine, but since it is tandem Y, and that axis is last to home, I haven't gotten that far.

I just thought I would focus on the Z for now and get it to home upwards instead of down.

In Mach 3 I had put it set to home X and Y in negative direction. Z in Positive since it went from 0 to -150mm.

Any help is greatly appreciated!

Quarter20
Quarter20

23 Aug 2025 20:26

Need help changing axis home direction? was created by Quarter20

Need help changing axis home direction?

Category: General LinuxCNC Questions

I have a gantry router that utilizes the Y and Y tandem configuration. When I go to home it, my Z moves towards the positive direction instead of toward my home switch. Also my X and Y's are doing the same thing? Im sure this is a matter of changing some + or - signals in the files somewhere? Can anyone help?

hitchhiker
hitchhiker

23 Aug 2025 19:06

Replied by hitchhiker on topic Homing with 2 inputs/sensors?

Homing with 2 inputs/sensors?

Category: HAL

if its so.. then i got it...

on the table it works...

here my ini for the axis

#********************
# Axis Z
#********************
[AXIS_Z]
MIN_LIMIT = -2000.0
MAX_LIMIT = 2000.0
MAX_VELOCITY = 83
MAX_ACCELERATION = 500

[JOINT_2]
TYPE = LINEAR
MAX_VELOCITY = 83
MAX_ACCELERATION = 500
STEPGEN_MAXVEL = 150
STEPGEN_MAXACCEL = 1500
STEPSPACE  = 5000
STEP_SCALE = 400
STEPLEN    = 5000
MIN_LIMIT = -2000.0
MAX_LIMIT = 2000.0
HOME = 0.0
HOME_OFFSET = 0.0
FERROR = 1
MIN_FERROR = 0.25
HOME_SEQUENCE = 0
DIRSETUP   = 5000
DIRHOLD    = 5000

P = 1000
I = 0
D = 0
BIAS = 0
FF0 = 0
FF1 = 1
FF2 = 0
DEADBAND = 0.001
MAX_OUTPUT = 0
MAX_ERROR = 0.0001

HOME_SEARCH_VEL = -30.000000
HOME_LATCH_VEL = -0.100000
HOME_FINAL_VEL = -0.10000
HOME_USE_INDEX = YES
HOME_SEQUENCE = 0

and here my hal for the axis

####Z-Axis Setup####

setp   pid.z.Pgain     [JOINT_2]P
setp   pid.z.Igain     [JOINT_2]I
setp   pid.z.Dgain     [JOINT_2]D
setp   pid.z.bias      [JOINT_2]BIAS
setp   pid.z.FF0       [JOINT_2]FF0
setp   pid.z.FF1       [JOINT_2]FF1
setp   pid.z.FF2       [JOINT_2]FF2
setp   pid.z.deadband  [JOINT_2]DEADBAND
setp   pid.z.maxoutput [JOINT_2]MAX_OUTPUT
setp   pid.z.error-previous-target true
setp   pid.z.maxerror [JOINT_2]MAX_ERROR

net z-index-enable  <=> pid.z.index-enable
net z-enable        =>  pid.z.enable
net z-pos-cmd       =>  pid.z.command
net z-pos-fb        =>  pid.z.feedback
net z-output        <=  pid.z.output

net z-pos-cmd    <= joint.2.motor-pos-cmd
net z-vel-cmd    <= joint.2.vel-cmd
net z-output     <= [HMOT](CARD0).stepgen.02.velocity-cmd
net z-pos-fb     <= [HMOT](CARD0).stepgen.02.position-fb
net z-pos-fb     => joint.2.motor-pos-fb
net z-enable     <= joint.2.amp-enable-out
net z-enable     => [HMOT](CARD0).stepgen.02.enable


setp   [HMOT](CARD0).stepgen.02.dirsetup        [JOINT_2]DIRSETUP
setp   [HMOT](CARD0).stepgen.02.dirhold         [JOINT_2]DIRHOLD
setp   [HMOT](CARD0).stepgen.02.steplen         [JOINT_2]STEPLEN
setp   [HMOT](CARD0).stepgen.02.stepspace       [JOINT_2]STEPSPACE
setp   [HMOT](CARD0).stepgen.02.position-scale  [JOINT_2]STEP_SCALE
setp   [HMOT](CARD0).stepgen.02.step_type        0
setp   [HMOT](CARD0).stepgen.02.control-type     1
setp   [HMOT](CARD0).stepgen.02.maxaccel         [JOINT_2]STEPGEN_MAXACCEL
setp   [HMOT](CARD0).stepgen.02.maxvel          [JOINT_2]STEPGEN_MAXVEL



net z-pos-fb => joint.2.motor-pos-fb
net z-index-enable    joint.2.index-enable  <=>  [HMOT](CARD0).stepgen.02.index-enable

i write it by hand... do i forget something? or does it looks ok?

on the table i only work with 2 button switches .. and it do what it should do.
if this was the solution it was not the big deal to do the changes...

Hakan
Hakan

23 Aug 2025 18:30

Replied by Hakan on topic Use of ODOT Ethercat coupler I/O?

Use of ODOT Ethercat coupler I/O?

Category: EtherCAT

When the slave is in PreOP, use the command "lcec_configgen" to get a list pf PDOs if there are any.
Try with the output from lcec_configgen as your ethercat-config.xml. Normally a good starting point, may need to editing.
You can normally not manually switch to state OP, this is done by the lcec component when linuxcnc runs.
The command "sudo dmesg | tail -30" should give you the 30 last messages, the reason for the "E" is there.
30 is an example to keep the listing short.

To sum up. Get yourself an ethercat-conf.xml from lcec_configgen, start linuxcnc and if you get errors, check the output from linuxcnc and from "sudo dmesg".

PCW

23 Aug 2025 17:45

Replied by PCW on topic Homing with 2 inputs/sensors?

Homing with 2 inputs/sensors?

Category: HAL

But its open loop... i was thinking velocity mode is for closed loop.

Even with open loop stepgens there is a local closed loop that
takes the commanded position, the stepgen feedback position,
and current velocity and generates a new velocity command
every servo thread invocation.

In position mode, this loop is still there but embedded in the driver.

hitchhiker
hitchhiker

23 Aug 2025 17:27

Replied by hitchhiker on topic Homing with 2 inputs/sensors?

Homing with 2 inputs/sensors?

Category: HAL

... i have no pid for x y z... but for s.. spindle in my hal.

Could this be a reason?
But then.. what a good values for the pid when its open loop?

P i d ff and the rest?

Thanks

PCW

23 Aug 2025 17:22

Replied by PCW on topic Homing with 2 inputs/sensors?

Homing with 2 inputs/sensors?

Category: HAL

Actually all LinuxCNC stepgens run in velocity mode. The velocity is typically
calculated with dp/dt (rate change of position). When index is detected, this causes
a step in the position (position is zeroed on index detection). The step will cause a large
bogus velocity calculation in position mode stepgens. This is bounded by the stepgen
acceleration bound so not huge but definitely will generate a detectable motion glitch.

In velocity mode, this is worked around by the fact that the PID component has an index-enable
input, so can work around this issue (by skipping the velocity calculation for the position step).

It would be possible to fix this issue in the position mode, but since in general, velocity mode works better
it has not been addressed.

Overall these issues show that LinuxCNCs index handling needs reworking, The encoder position should really
not be cleared (unless the hardware has no other option) , as it creates the need for all these ugly work-arounds
and in fact the index position offset should be applied at a higher level and not at the low (hal control loop) level