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  • mBender
  • mBender
14 Nov 2024 15:24
Replied by mBender on topic LinuxCNC-RIO - RealtimeIO for LinuxCNC based on FPGA (ICE40 / ECP5)

LinuxCNC-RIO - RealtimeIO for LinuxCNC based on FPGA (ICE40 / ECP5)

Category: Computers and Hardware

I played with PID myself some, and moving away from P250 I0 D0 just made things worse for me, the deadband was what I needed, but I was also hunting for a 4rth digit of following accuracy. Glad things are working better!

What kind of set up do you have? Do you have Stepper Motors with Feedback, without feedback or Servo Motors?
I am running Steppers without Feedback. I wonder how the PID works in that case. If you don't have feedback, how can the PID work. My theory, the Position is commanded and the Steppgenerator reports the "theoretical" position back. Not knowing it the motor made the step or not.

When I played around with it, I lowered the values quite a bit and got a following error. Seems like to confirm my theory above. I did not notice a change from the default PID P 300 to like 30, but the following error came with P 5 or less.

I was hoping that the way my motors stall would be an overrun of the P Max value, but increasing that did not help either. I have to do more testing. It still might not be a problem of RIO, since my other motors are running just fine.
  • Routerworks
  • Routerworks
14 Nov 2024 15:14
Replied by Routerworks on topic New basic setup recommendations

New basic setup recommendations

Category: General LinuxCNC Questions

Thanks again.
  • tommylight
  • tommylight's Avatar
14 Nov 2024 15:12
Replied by tommylight on topic New basic setup recommendations

New basic setup recommendations

Category: General LinuxCNC Questions

Should not affect work/use, LinuxCNC is very good at reporting issues, so if LinuxCNC is not complaining, move on, all is good.
  • Routerworks
  • Routerworks
14 Nov 2024 14:58
Replied by Routerworks on topic New basic setup recommendations

New basic setup recommendations

Category: General LinuxCNC Questions

Thanks a lot, I'll check it out. Do you think running with this error message is risky?
  • tommylight
  • tommylight's Avatar
14 Nov 2024 14:53
Replied by tommylight on topic Multiple controller boards

Multiple controller boards

Category: General LinuxCNC Questions

That would be analog control, like old servo drives or velocity control drives, so yes you can control them with LinuxCNC and Mesa boards, see below, and would also require encoder feedback to LinuxCNC.
Mesa combos that can do +-10V :
7i97T all in one
7i92TM with 7i77
7i92TM with 7i85 and 7i83 and 7i84 for IO if needed
7i96S with 7i85 and 7i83.
  • digiex_chris
  • digiex_chris
14 Nov 2024 14:48
Replied by digiex_chris on topic LinuxCNC-RIO - RealtimeIO for LinuxCNC based on FPGA (ICE40 / ECP5)

LinuxCNC-RIO - RealtimeIO for LinuxCNC based on FPGA (ICE40 / ECP5)

Category: Computers and Hardware

I played with PID myself some, and moving away from P250 I0 D0 just made things worse for me, the deadband was what I needed, but I was also hunting for a 4rth digit of following accuracy. Glad things are working better!

That reminds me, is there a way to configure minimum delay time between a DIR change and a movement command? some steppers are more picky about that. I also need to flip the action of the EN pin, my steppers are enable-low and it's currently outputting high when enabled.
  • tommylight
  • tommylight's Avatar
14 Nov 2024 14:45
Replied by tommylight on topic New basic setup recommendations

New basic setup recommendations

Category: General LinuxCNC Questions

Dell Optiplex 760 (very old Core2Duo) and 980 (older i5) have parallel ports in Tower cases, both work good with LinuxCNC for software stepping and 980 is good for Mesa.
HP Z210, Z220, Z230 should all have a parallel port header and usually come with the adapter/port in, also very good for LinuxCNC and built like tanks.
Some Fujitsu i5 and i7 are also very good, but no idea what models they vere, and i have a Fujitsu laptop that is very good for Mesa, unfortunately gave it to a client and got it back with a broken screen.
As for laptops, i have bought several older Lenovo laptops and strangely most are ok for Mesa use, example X220 and T420S were unusable, X240 seems OK from some short testing! A T470 i have in use for over 6 months on a production machine, works fine with Mesa 7i92.
There are several topics here on the forum with plenty of used PC/laptops tested with LinuxCNC for Mesa and parallel port, but as with everything, yout milage may vary, as i had two of the same Acer laptops where one was very good and the other was terrible for latency, the only difference was CPU i think.
  • tommylight
  • tommylight's Avatar
14 Nov 2024 14:31
Replied by tommylight on topic Pipe Cutting Plasma CNC

Pipe Cutting Plasma CNC

Category: Computers and Hardware

The motor for rotating axis?
It had a long Nema 23 with 1:15 reduction, but had an accident while being transported from the old shop to the new shop and broke the reduction, so i changed it to chain reduction of 1:7 and Nema 34 motor. Also had to reduce acceleration a bit as it was cutting 193mm diameter tube with 4mm wall and 3 meter length.
Use very low inductance motor for this as they can spin faster, you might need it for smaller diameters.
  • Tinine
  • Tinine
14 Nov 2024 14:31
Replied by Tinine on topic Multiple controller boards

Multiple controller boards

Category: General LinuxCNC Questions

I have created closed-loop motion controllers using the RPi Pico, each one reading 4 quadrature encoders (2.8M quad-counts/sec)
I am using a separate Pico for each axis though. +/- 10V motor command, 12-bit DAC.
I guess I could simply take pulse & direction from LinuxCNC but I would like to not have to worry about LC's latency and jitter issues.

Craig
  • tommylight
  • tommylight's Avatar
14 Nov 2024 14:21
Replied by tommylight on topic Multiple controller boards

Multiple controller boards

Category: General LinuxCNC Questions

What do you mean by Motion Controller?
Using 2 of those would be reduntant and unnecessary.
Do you mean closed loop in the drive or in LinuxCNC? Both can be used, and LinuxCNC has PID controll and settings for everything required. Also can use PID closed in Drives and in LinuxCNC, and much more.
  • tommylight
  • tommylight's Avatar
14 Nov 2024 14:08
Replied by tommylight on topic Please help with Nema 23 closed loop CL57T-V41 driver Microstep Switches

Please help with Nema 23 closed loop CL57T-V41 driver Microstep Switches

Category: Off Topic and Test Posts

Find a used PC with a parallel port, install LinuxCNC from the downloads page, play with it, it can run with no machine in Sim mode, it can controll stepper drives directly from parallel port just mind the wiring, attach some LEds to parallel port so you can see what the pins are doing when you press buttons, etc, etc.
  • Rkatts
  • Rkatts
14 Nov 2024 14:06 - 14 Nov 2024 17:28
Replied by Rkatts on topic Ethercat installation from repositories - how to step by step

Ethercat installation from repositories - how to step by step

Category: EtherCAT

After installing LinuxCNC 2.9.3 (Debian 12) and EtherCAT module (Master driver 1.6.2), I am unable to get EtherCAT communication working.  LinuxCNC will run, but there is no active status or feedback positions.  DS402 statuswords are zero, indicating there is no communication.

I have a LinuxCNC system running with an older version (2.8.0).  I copied the linuxcnc_axis folder from the working system and put it into this one and made adjustments for the new system.

In ecat_gantry.ini, the hal file is listed correctly.
[HAL]
TWOPASS=ON
HALFILE = ecat_gantry.hal

In ecat_gantry.hal, I updated the loadusr command. (removed the path that was incorrect)
loadusr -W lcec_conf ethercat-conf.xml
loadrt lcec

The ethercat-conf.xml file is configured correctly for the three servo drives. This same configuration works on an almost identical system. The only difference in hardware is the AKD2G in this system is FS3 (functional safety) whereas the working system is FS1 (STO only).  I made the appropriate change in the ethercat pid code.
<!--cnc-bg Config -->
<masters>
  <master idx="0" appTimePeriod="1000000" refClockSyncCycles="1">
      
       <!-- AKD X Axis (beam) -->
   <slave idx="0" type="generic" vid="0000006A" pid="00414b44" configPdos="true">
      <!-- Clear SM PDOs -->
      <sdoConfig idx="1C12" subIdx="00">
        <sdoDataRaw data="00"/>
      </sdoConfig>
      <!-- Clear SM PDOs -->
      <sdoConfig idx="1C13" subIdx="00">
        <sdoDataRaw data="00"/>
      </sdoConfig>
      
      <!-- Clear RX PDO1 -->
      <sdoConfig idx="1A00" subIdx="00">
        <sdoDataRaw data="00"/>
      </sdoConfig>
      <!-- Map status word to RX-PDO1 -->
      <!--  0x6041 0010 -->
      <sdoConfig idx="1A00" subIdx="01">
        <sdoDataRaw data="10 00 41 60"/>
      </sdoConfig>
      <!-- Map position feedback to RX-PDO1 -->
      <!-- 0x6064 0020 -->
      <sdoConfig idx="1A00" subIdx="02">
        <sdoDataRaw data="20 00 64 60"/>
      </sdoConfig>
      <!-- Set RX-PDO1 count to 2 -->
      <sdoConfig idx="1A00" subIdx="00">
        <sdoDataRaw data="02"/>
      </sdoConfig>

(That is only the first part of the ethercat-conf.xml file.)

It recognizes the 3 servo drives, but they are all errored.
jim@cnc:~$ ethercat slaves
0  6:0  PREOP   E  AKD EtherCAT Drive (CoE)
1  6:1  SAFEOP  E  AKD2G Dual Axis FS3 EtherCAT Drive (CoE)
2  1:0  PREOP   E  AKD EtherCAT Drive (CoE)
jim@cnc:~$ sudo dmesg | grep EtherCAT
[sudo] password for jim: 
[    4.545203] EtherCAT: Master driver 1.6.2 1.6.2.g285cdf0-1+12.2
[    4.545268] EtherCAT: 1 master waiting for devices.
[    4.572786] ec_generic: EtherCAT master generic Ethernet device module 1.6.2 1.6.2.g285cdf0-1+12.2
[    4.572795] EtherCAT: Accepting 00:1B:21:5A:44:37 as main device for master 0.
[    4.588476] EtherCAT 0: Starting EtherCAT-IDLE thread.
[    4.588497] EtherCAT 0: Link state of ecm0 changed to UP.
[    5.192449] EtherCAT 0: Link state of ecm0 changed to DOWN.
[    5.240474] EtherCAT 0: Link state of ecm0 changed to UP.
[    5.264455] EtherCAT 0: 3 slave(s) responding on main device.
[    5.264458] EtherCAT 0: Slave states on main device: PREOP, SAFEOP + ERROR.
[    5.265859] EtherCAT 0: Scanning bus.
[    5.878393] EtherCAT WARNING 0-1: Slave has state error bit set (SAFEOP + ERROR)!
[    7.657131] EtherCAT ERROR 0-1: Timeout after 1000 ms while waiting for SDO 0x1c12:0 upload response.
[    7.657134] EtherCAT ERROR 0-1: Failed to read number of assigned PDOs for SM2.
[    8.657645] EtherCAT ERROR 0-1: Timeout after 1000 ms while waiting for SDO 0x1c13:0 upload response.
[    8.657647] EtherCAT ERROR 0-1: Failed to read number of assigned PDOs for SM3.
[    9.267846] EtherCAT 0: Bus scanning completed in 4000 ms.
[    9.267848] EtherCAT 0: Using slave 0 as DC reference clock.
[    9.267851] EtherCAT 0: Starting EoE thread.
[    9.307336] EtherCAT ERROR 0-0: Failed to set SAFEOP state, slave refused state change (PREOP + ERROR).
[    9.308655] EtherCAT ERROR 0-0: AL status message 0x001D: "Invalid output configuration".
[    9.310093] EtherCAT 0-0: Acknowledged state PREOP.
[    9.316500] EtherCAT ERROR 0-1: AL status message 0x001B: "Sync manager watchdog".
[    9.320634] EtherCAT 0-1: Acknowledged state SAFEOP.
[    9.372708] EtherCAT ERROR 0-2: Failed to set SAFEOP state, slave refused state change (PREOP + ERROR).
[    9.374026] EtherCAT ERROR 0-2: AL status message 0x001D: "Invalid output configuration".
[    9.375463] EtherCAT 0-2: Acknowledged state PREOP.
[    9.397756] EtherCAT ERROR 0-1: AL status message 0x001B: "Sync manager watchdog".
[    9.403141] EtherCAT 0-1: Acknowledged state SAFEOP.
[    9.469755] EtherCAT ERROR 0-1: AL status message 0x001B: "Sync manager watchdog".
[    9.473818] EtherCAT 0-1: Acknowledged state SAFEOP.
...
[55800.087042] EtherCAT WARNING 0-1: SDO information error response while fetching SDO entry 0x1C32:0E!
[55800.087045] EtherCAT ERROR 0-1: SDO abort message 0x06090011: "Subindex does not exist".
[55800.089891] EtherCAT WARNING 0-1: SDO information error response while fetching SDO entry 0x1C32:0F!
[55800.089893] EtherCAT ERROR 0-1: SDO abort message 0x06090011: "Subindex does not exist".
[55800.092737] EtherCAT WARNING 0-1: SDO information error response while fetching SDO entry 0x1C32:10!
[55800.092738] EtherCAT ERROR 0-1: SDO abort message 0x06090011: "Subindex does not exist".
[55800.096957] EtherCAT WARNING 0-1: SDO information error response while fetching SDO entry 0x1C32:11!
[55800.096958] EtherCAT ERROR 0-1: SDO abort message 0x06090011: "Subindex does not exist".
[55800.101182] EtherCAT WARNING 0-1: SDO information error response while fetching SDO entry 0x1C32:12!
[55800.101183] EtherCAT ERROR 0-1: SDO abort message 0x06090011: "Subindex does not exist".

Can anyone help me determine what is wrong?
  • Routerworks
  • Routerworks
14 Nov 2024 14:05
Replied by Routerworks on topic New basic setup recommendations

New basic setup recommendations

Category: General LinuxCNC Questions

Think it might be time to ditch it. I reinstalled linuxcnc and it loads properly however I get a bios 8254 error when loading, also "not connected to IO-APC".
From what I have read this could be a timing issue caused by a faulty timing chip on the mother board. How far do you go with a 15 year old computer?
There a lot of old Optiplex computers on the market for under $100.00 that are far more powerful and way exceen the minimum requirements for linuxcnc. I would only have to install the parallel port I could take out of the old one.
Any suggestions are apppreciated before I scrap it.
Many thanks for all you help.
  • behai
  • behai
14 Nov 2024 13:38
Replied by behai on topic Please help with Nema 23 closed loop CL57T-V41 driver Microstep Switches

Please help with Nema 23 closed loop CL57T-V41 driver Microstep Switches

Category: Off Topic and Test Posts

Good evening @ my1987toyota,  Thank you for your valuable advice, I understand your explanation on the X and the Y axis. I can picture that in my head.

This Nema 23 motor and the associated driver is only hardware I have, I bought just a single one so can be familiar with the wiring and how stepper motor works.

Originally, I was thinking of Mach3, whereby I can use a cheap, around $AUD 20.00 BOB, and readily available. But LinuxCNC looks more appealing even though it is a bit more involved. I have seen videos where they run motors and spindle with LinuxCNC without any mechanical parts. I would like to take this path as well, once I understand the electronics, I will think about getting the mechanical parts.

I will heed advice and will be reading the LinuxCNC manual :) I have seen videos on it but I have not done a lot of reading yet.

Thank you and best regards,

...behai.

 
  • my1987toyota
  • my1987toyota's Avatar
14 Nov 2024 13:10 - 14 Nov 2024 13:12
Replied by my1987toyota on topic Please help with Nema 23 closed loop CL57T-V41 driver Microstep Switches

Please help with Nema 23 closed loop CL57T-V41 driver Microstep Switches

Category: Off Topic and Test Posts

  Well first off welcome to the wonderful world of CNC. Firstly I recommend you read through the Linuxcnc manual, that will get you
going in the right direction. I don't have direct experience with using Raspberry Pi and Linuxcnc. I usually use the Dell Optiplex 9020
and MESA boards
however I recommend using 8 micro steps for most installs. That said you can run the full gamut from full step to 200 micro step
if your driver is rated to handle it.
  Next NO you don't have to run the exact same step setting on all drivers. You could use a belt
drive for one axis, for example a Y axis at say 100 micro steps and a ball screw axis, again for example X axis at say 8 micro step.
At that point you change your step counts in you ini. file accordingly or in your software wizard either Pncconf or Stepconf.
That way you should have accurate calibrated movements on your axis.
  You will have a lot of questions along the way everyone does, so don't get discouraged by it. I would recommend you run a few
simulated setups and play with the system to see how things work before you do your build.
  Lastly keep your build as simple as possible an gradually add in more complexity later if you so desire. It helps keep the
overwhelm from getting to you. I hope this helps and good luck with your CNC endeavors.
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