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If you call toolchange with parameter, eg.

O<toolchange>  call [1][#<toolno>]

then #2 has value of second parameter. #1 to #30  are used like that.
If you need the number of loaded tool, just use #5400.
Be aware that probing result is with current active coordinate system setting. If Z is has an offset...
Some people release from toolsetter after contact.

Thank you for all the replies, Appreciate the help though I will look through the links!
In the meantime I have a pi coming, thinking I can use usb-ethernet for non-realtime comms, though I prefer less components.

Good advice, I tend to forget there's a GUI for stuff like that.

What I did: In xfce you can go System|Synaptic Package Manager, search for Linuxcnc, mark linuxcnc-uspace. In Menu -> Package Force Version->you can select an older version -> apply.

Hi everyone,

So I have my B-axis articulated by a ballscrew, as you might have guessed, and I am having some trouble understanding kinematics and how to set this up in LinuxCNC. Below is a picture of my design, followed by a drawing of the geometry. My trouble isn't with getting the math correct, so you can ignore the math if you wish. I need help understanding how to input this into LinuxCNC. So far I have followed this tutorial,  but I have got stuck with the kinematics part. 

And the geometry

So to describe the drawing

• Line CD is a connecting rod where point C travels along the ballscrew path AB, and the path is perpendicular to the Z-axis
• Point H is a point along the path AB that is directly above point E, that is, angle BHE will always be 90 deg and the distance HE is 120mm and AH is 217mm
• Point E is the centre of the B-axis rotation 
• Point D represents where the connecting rod is connected to the B-axis assembly
• Line FG is the spindle where G is the tool tip.
• CD = 125mm
• DE = 127mm
• EG = 120mm
• HE = 120
• Angle DEF = 30.579 deg

So to find the angle of the spindle  FEH we must first find DEH and subtract DEF from it.
DEH

So if I were to write a function to find the angle of the spindle(FEH) relative to the Z-axis based on the length of AC, it would be as follows
So first, we will calculate the length CE based on the length CH
CE = sqrt(CH2 +HE2) where HE = 120
CE = sqrt(CH2 +1202)
CE = sqrt(CH2 + 14400)

Now we can calculate angle DEC and subtract angle DEF to get the angle of the spindle

COS(DEC) = (1272 + CE2 - 1252)/(2*127*CE)
COS(DEC) = (1272 + CH2 + 14400 - 1252)/(2*127*sqrt(CH2 + 14400))
COS(DEC) = (CH2 - 14904) / (254*sqrt(CH2 + 14400))                  
where CH = AC - AH = AC-217

If you are not interested in the math, please continue reading here
So if COS(DEC) = (CH2 - 14904) / (254*sqrt(CH2 + 14400))  - DEF describes the relation of the ballscrew moving to the rotation of the B-axis how do I set this up in LinuxCNC? Also, do I need to calculate the formula for the tool tip change in X-axis and Z axis based on the B-axis rotating as well, before inputting this into LinuxCNC or is this sufficient? Thank you for your help and patience

Wow, that's really cool. Unfortunately, I can't afford the UltraScale's ;(

I once tried using a miner board (S9) and wanted to use the ARM part only as an Ethernet bridge, but I ran into a few difficulties and didn't continue with it for the time being.

But what you've done there is amazing

Hi, 
I ordered a Radxa CubieA5E with a similar idea in mind; having an Ethercat motion controller accepting G-code over network. But it is too soon to say if it will work; I had a hard time having a working real-time kernel on the Radxa Zero3E, so this may take some time.

Anyway, you have one more option!
Cheers

autotune usually has a global stiffness setting. So for example with my omrons, a setting of 15 is pretty soft and would wiggle as you describe, 20 is pretty decent if you have lower dynamics, and 25-30 is super stiff tracking.

So, assuming the software is doing what its meant to do you simply might not be ably to get the stiffness you desire with your machine and motor and acceleration combination. Your machine may just have too much of an inertia load and you might need a larger servo.

Once autotuning does its basic job, and you find that its not quite as good as you'd like, you can use then "go form there" with some manual tweaking of settings. I had to do this with my Y axis with my omrons, but the x and z were "perfect" after autotuning.

I got one of these coming tomorrow for testing.

If you are able a willing to attach your hal & ini files (and any other hal files you may being using) it may be possible to run a sim of your config.
BTW what version of Linuxcnc are you using ?

Well, that escalated quickly.

Got a servo coming tomorrow to test, it is the same as the stepper online ethercat model, except direct from the factory.

Anyone get the stepper online ethercat servos working nice with linuxcnc yet? I've seen a lot of chat around the lichuan, but not these.

Using QTDragon HD, I am trying to set up a message box for a probe error check routine. In my .ini I have:
MESSAGE_BOLDTEXT = Probe Error
MESSAGE_TEXT = No Response From Wireless Probe Try Jiggling
MESSAGE_DETAILS = None
MESSAGE_TYPE = okdialog status        
MESSAGE_PINNAME = probe-error
MESSAGE_ICON = CRITICAL

In the postgui.hal file I have:
net probe-error-msg     probe_error_mgr.show-message    qtdragon.probe-error

LinuxCNC won't start due to the error:
HAL: ERROR: signal 'probe-error-msg' already has output pin
qtdragon_hd_postgui.hal:39: link failed

The signal 'probe-error-msg' is on only one line of the postgui HAL file. I've tried different types of dialog boxes, different pin names, netting to an OR2 and I've even tried making a HAL connection to the dialog box in a QTDragon sim config, pulled straight from master. 

I feel like there's something obvious I'm missing, but I can't figure it out. 

I attached my main hal, postgui hal and ini file. Warning - they're long and messy.

 

Or you can follow the instructions here:
gist.github.com/cgomesu/70b41cfde804d4a2981029f9f71f8908


Do I need to say use Linuxcnc as your package

Uninstall 2.9.5

Manually download the 2.9.4 deb files using gdebi.

If you could your ini & hal files and confirm the IP of the computer you are using. It could be as simple as an in correct IP in your Hal file.

Update:

I added this to the hal file:

# --- Manual Tool Change Handshake ---
# These connect the tool change request to its "done" signal,
# and the tool prepare request to its "ready" signal.
net tool-change iocontrol.0.tool-change => iocontrol.0.tool-changed
net tool-prepare iocontrol.0.tool-prepare => iocontrol.0.tool-prepared

And this to the ini file:

TOOL_CHANGE = manual

Now the T1 M6 command goes through like the M6 command did previously, but when I run the T1 M6 command I get an error that reads "P value out of range with G10 L1" I'll keep digging.