Advanced Search

Thanks for the tips! 

I applied it to my setup and realized that the net pdnt.spindle.is-on whb.halui.spindle.is-on spindle.0.on"
"net pdnt.spindle.is-on => hm2_7i76e.0.7i76.0.0.output-11" 

In my Hal file. Everything is working now. Thanks!

Ended up using the EV1616DN for 'slow' signals such as limits and lights. Used a PCIe parallel port card and Mach3 breakout board for the steppers. Stepconfig used for the mach3 card config (with modifications for homing) and hand coded the hal file. Works pretty well and now I have plenty of I/O for further development. 
ethercat-config.xml 

ev1616.hal
 
Ha
 

And even if it doesn't go anywhere this time governments will continue to try again. It's how the American
Government has gotten away with mandating kill switches into all new road vehicle
(2026 forward if I remember correctly). There is another bill that is suppose to repeal it (H.R. 1137) but 
I don't know if it passed or not. Given all the other crap that has gone on I wouldn't be surprised if it
got lost in the noise. 
 

Something that happens every 100 ms it seems like.
You can see a small change or step in joint_vel and the servos are responding to that. At least where the main spikes are.
So what are you doing every 100 ms?

Thank you guys!

I don't know why but now it's working. I have not made any changes in the configuration, just re-starting the wizzard and toggeling the modes several times. Strange. 

Really nice GUI!

i'm using servos, i don't think it comes from the motor side because jogging from LinuxCNC is still smooth. Just look at the figures i attached, the input velocity before the simple_tp module is still smooth but the output velocity from this module is not.
 

Sometimes you might need to use a timedelay on the spindle.0.on to ensure the air circuit gets up to pressure before the spindle actually spins.

I can't help but wonder if a pneumatic presssure switch would not be a better safety feature. They are not expensive. Tie it into estop or motion.inhibit somehow. 

Slow your velocities down and see.
I think the sign is the opposite of LATCH_VELOCITY

One of my machines:

MIN_LIMIT = -106
MAX_LIMIT = 0.01
HOME                    = 0
HOME_OFFSET                = 1
HOME_SEQUENCE            = 0
HOME_SEARCH_VEL            = 5
HOME_LATCH_VEL            = -2
HOME_IGNORE_LIMITS    = yes
HOME_USE_INDEX = NO

Are you using steppers or servos?
It's possible you are observing  low speed stepper harmonics. If that's the case, the solution would be to alter the motor gearing to avoid low motor speeds in the harmonics range.

thanks, yeah I think that is the problem. Sorry again to ask: Should this value be positive or negative in my case, where the machines homes on the min X/ Y side (and switch is on the moving gantry) --

I assumed negative as the HOME_OFFSET specifies the position of the limit switch in relation to the actual home position. Is that correct?

Enter these numbers in your var file...

kcjengr.github.io/probe_basic/probe_basic_parameters.html

You need to update the var file parameters, also in the docs.

I'm not sure what you mean about the tool table and the rack the rack stores tools the tool data is stored in the tool table. The rack holds whatever tools you put in it they don't have to be in order it tracks them persistently as long as you have the var file set up. When a tool is loaded from the rack and you use the offset for stored in the tool table everything works as expected it works perfectly fine with cheat code. You call the tool not the rack number.

I'm developing a feature that is called "admittance control", it's a method to control motor base on external force.
The system workflow is:

External force (from ft sensor)-> admittance module (100Hz update rate) -->joint cmd--> simple_tp/limit3 (1Khz) -> ethercat -> driver motor

The admittance module will convert external force to joint-cmd to control motor. Everything look fine except vibration at low speed like this chart

 

The velocity input look fine but the output velocity-cmd (derivative from position) is not smooth at low speed. Is this problem come from simple_tp/limit3 component? I look at linuxcnc code note and see cubic interpolator is using. Should i rewrite a cubic interpolator to replace simple_tp/limit3 or try to increase admittance update rate to 1 Khz and skip interpolator?

The most likely issue on the index is that the encoder differential
receiver (U6 ISL32273) or possibly U13 (74ACT04) have been damaged

On the other 7I76, do you mean 1 isolated input does not work?
This is odd because there is a relatively high power 10K resistor
in series with each isolated input so even a short connection to
120 VAC  is survive-able. It might be a contamination issue.
Perhaps the resistive divider and filter cap for the specific input
could be looked at closely