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Nice Rod and others, thanks for your hard work.  Question before we download, was this built from the new Rpi Debian 12 www.raspberrypi.com/software/operating-s...spberry-pi-os-64-bit (including the "normal" Rpi features like raspi-config and /boot/config.txt) or will we still be using menu-config and /boot/broadcom/config.txt?

Because the 2.9.2 iso has been liking to boot to a black screen lately, with nothing in any logs and lightdm running fine, so no idea why.  But an upgrade would be welcome.

a simplified example of hardwired estop/reset is posted in the hal examples section

rthorntn wrote:

Thanks!

Just trying to work this out in my head, to learn...30 shifted and isolated I/O pins (20 inputs 10 outputs, up to 36 supported (4 x 9)), using ISO7760, so are you just doing a 180 degree on the iso7760 depending on whether it covers inputs or outputs?

How do you plan to solder this, paste and a wee oven?

Correct again! That iso776x part will switch to specs if powered within 2V5~5V in either direction, as you've guessed already. Can even go down to 1V2 (seems to work) although speed is not guaranteed. On the Ins/Outs; I'm counting 18 OUTPUTs & 23 INPUTs on that board, with 5 outputs having 200mA support - useful for switching analog relays on/off (Oiler, Coolant, Clamp, Lighting, Spare). All in All plenty sufficient to build any machine-tool to manufacture a spacecraft!!

Using Sn63Pb37 solder paste and a hot plate for assembly. I know I know, lead based [DANGER]. Notice no parts on the bottom of the PCB, and so the process is stencil, paste-on, and flat-on a hot plate @230dC for 2.5min it goes. Yields 100% rate each and every time. 

(You can prolly guess I'm looking forward that board!!)

HARDWIRED ESTOP RESET CIRCUIT
Nomenclature:
CR# – CONTROL RELAY
MCR - MASTER CONTROL RELAY
F# - FUSE
DI – DIGITAL INPUT
DO – DIGITAL OUTPUT
PB – PUSH BUTTON 
WDT – WATCH DOG TIMER
L - MAIN SUPPLY LINE 120 VAC  –  L.F FILTERED LINE
N - MAIN SUPPLY NEUTRAL
PL- Pilot Light
A brief explanation to what this hardwired circuit does follows this diagram.
 
The wiring circuit diagram above is a hardwired circuit that will allow power to be removed from digital outputs, servos and spindle etc. Lockout power in case of WDT active.
The circuit achieves the following:

• If power is lost during operation the machine will not restart when power is re-established.
• If an Estop is activated or a fault occurs during operation, the circuit will inhibit (prevent) power to digital outputs, servos and spindle. The rest of the machine control circuit will stay ON; this will enable you to troubleshoot and resume operation without major reinitialization of the machine (maybe).
• Machine will not restart until all faults are cleared and operator presses reset button.
• If watchdog timer HAS bit, NO fault exists and reset button is pressed, the pilot warning light will turn ON, requiring operator to cycle main power off/on to try to reset WDT.

For the encoder:

Power (Brown) --> 7I97T +5V
A (Black)   --> 7I97T QA
B  (White)  --> 7I97T QB
Z (Orange) --> 7I97T IDX
0V (Blue)  --> 7I97T GND

The 7I97T encoder inputs need to be jumpered for TTL mode

Do you have the part number of the drives?
 

Thanks!

Just trying to work this out in my head, to learn...30 shifted and isolated I/O pins (20 inputs 10 outputs, up to 36 supported (4 x 9)), using ISO7760, so are you just doing a 180 degree on the iso7760 depending on whether it covers inputs or outputs?

How do you plan to solder this, paste and a wee oven?

Hello,

I am attempting to use computer vision algorithms from OpenCV to control a toolpath of a cnc. Many people have done this on regular robots controlled by ROS and it seems relatively straightforward but developing this on a cnc seems challenging considering g-code is static. Were you able to link ROS to your cnc?

Is the motion planner (used for G-Code) and free planner (for jogging) two separate components of motmod ?

If so then that might explain why `joint.0.motor-pos-cmd` doesn't change from clicking on the AXISGUI jogging buttons.  

How much effort in programming skills are needed, to implement the hardware encoder support with the PIO? And where is the best place to start. To be honest I am not very familiar with linuxcnc let alone remora. If it is within my capabilities I would really want to get a go at it. I would really appreciate if someone can point me in the right direction where to start looking.

Thanks for the replies. @rodw Is the Gantry Panel example something you had in mind for an MPG ?(github.com/LinuxCNC/linuxcnc/blob/master...try/gantry_panel.hal)

Also I did some more investigation on the issue. I diffed all the pins before and after I click on the jog increment for the X axis. These are the pins that changed:

`motion.jog-is-active` : FALSE → TRUE
`motion.in-position` : TRUE → FALSE.
`joint.0.vel-cmd` : 0 → -0
* The sign changed, even though the magnitude is 0.
`joint.0.kb-jog-active` : FALSE → TRUE
`joint.0.in-position` : TRUE → FALSE
`joint.0.free-pos-cmd` : 0 → -2e+99
* I think clicking on the "continous" selection causes a big number.
`joint.0.free-tp-enable` : FALSE → TRUE


The problem is that I'm only routing `joint.0.motor-pos-cmd` to `stepgen.0.position-cmd`. But after seeing this I realized that maybe I should conditionally route `joint.0.free-pos-cmd` to stepgen, if the free planner (aka jogging) is selected.

It does handle 4x8. I was horrified by a quote I was sent by a company for an 8x8x8 machine - US $34k !! Price of a good new car. Mine cost about $2k total - one wire, not ten - but ball screws are much better than belts, and the 34k machine uses belts. Devfoam has a feature called TwistRot, which seems to be 5th axis

Hey there

I'm still on the bench testing my Remora NVEM setup before putting the servos and switches on the XYYZ machine.

Servos and Switches seem to work technically speaking. Servos move when jogging and switches go high/positive on contact with metal.
I for now don't plan to use limit switches but may be later.

Thus my configuration should be straight forward.. i thought. But I can't get homing to work. Whenever I start the procedure via UI (AXIS) it either does nothing or seems to "jump" straight to home. I'm sure the problem is within the configuration, but I just cant seem to figure it out, as I dont get any errors. Expected behavior would be servo moving and me triggering the home switch.

Thanks a lot for any hints/pointers,
Alessandro

Since they are loadable kernel modules a DKMS RealTek driver
should have no effect on a system without RealTek hardware.
(since the driver would never be loaded)

"An essential feature of DKMS is that it automatically recompiles all DKMS modules if a new kernel version is installed. This allows drivers and devices outside of the mainline kernel to continue working after a Linux kernel upgrade"

not at this moment 
i have a little knowledge of working wit the 7i76 but this card is total diferent  
i wil bring a lathe machine back to life its old hardware  with shaftencoders omron e6b2-cwz6c  2500p/r and dc servo drivers  also the spindel is driven by a dc motor and the shaftencoder is available  
had 2 tured toolchange also numerical axe
can i found somewhere here a simular project  so that the wireing is a bit clear to me  also programing help me 
 

You need to follow the example for a MPG under hardware examples