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Hi everyone,
I bought this device: SG-ELC-ADIO-DI16-DO16-PNP.
I wrote a custom XML file for it, but for some reason, after I load it, there's a 90% chance that EtherCAT crashes with an error.
I suspect that it might be slowing down the entire system, or maybe I wrote the XML incorrectly.Here’s what I wrote:
 <slave idx="4" type="generic" vid="EE000002" pid="00010205" configPdos="true" >
            <dcConf assignActivate="0000" sync0Cycle="0" sync0Shift="0"/>
        
            <syncManager idx="0" dir="out">
                <pdo idx="1a00">
                    <pdoEntry idx="3101" subIdx="1" bitLen="8" halType="complex">
                        <complexEntry bitLen="1" halPin="out-00" halType="bit"/>
                        <complexEntry bitLen="1" halPin="out-01" halType="bit"/>
                        <complexEntry bitLen="1" halPin="out-02" halType="bit"/>
                        <complexEntry bitLen="1" halPin="out-03" halType="bit"/>
                        <complexEntry bitLen="1" halPin="out-04" halType="bit"/>
                        <complexEntry bitLen="1" halPin="out-05" halType="bit"/>
                        <complexEntry bitLen="1" halPin="out-06" halType="bit"/>
                        <complexEntry bitLen="1" halPin="out-07" halType="bit"/>
                    </pdoEntry>
                </pdo>
                <pdo idx="1a01">
                    <pdoEntry idx="3101" subIdx="2" bitLen="8" halType="complex">
                        <complexEntry bitLen="1" halPin="out-08" halType="bit"/>
                        <complexEntry bitLen="1" halPin="out-09" halType="bit"/>
                        <complexEntry bitLen="1" halPin="out-10" halType="bit"/>
                        <complexEntry bitLen="1" halPin="out-11" halType="bit"/>
                        <complexEntry bitLen="1" halPin="out-12" halType="bit"/>
                        <complexEntry bitLen="1" halPin="out-13" halType="bit"/>
                        <complexEntry bitLen="1" halPin="out-14" halType="bit"/>
                        <complexEntry bitLen="1" halPin="out-15" halType="bit"/>
                    </pdoEntry>
                </pdo>
            </syncManager>
        
            <syncManager idx="2" dir="in">
                <pdo idx="1600">
                    <pdoEntry idx="3001" subIdx="1" bitLen="8" halType="complex">
                        <complexEntry bitLen="1" halPin="in-00" halType="bit"/>
                        <complexEntry bitLen="1" halPin="in-01" halType="bit"/>
                        <complexEntry bitLen="1" halPin="in-02" halType="bit"/>
                        <complexEntry bitLen="1" halPin="in-03" halType="bit"/>
                        <complexEntry bitLen="1" halPin="in-04" halType="bit"/>
                        <complexEntry bitLen="1" halPin="in-05" halType="bit"/>
                        <complexEntry bitLen="1" halPin="in-06" halType="bit"/>
                        <complexEntry bitLen="1" halPin="in-07" halType="bit"/>
                    </pdoEntry>
                </pdo>
                <pdo idx="1601">
                    <pdoEntry idx="3001" subIdx="2" bitLen="8" halType="complex">
                        <complexEntry bitLen="1" halPin="in-08" halType="bit"/>
                        <complexEntry bitLen="1" halPin="in-09" halType="bit"/>
                        <complexEntry bitLen="1" halPin="in-10" halType="bit"/>
                        <complexEntry bitLen="1" halPin="in-11" halType="bit"/>
                        <complexEntry bitLen="1" halPin="in-12" halType="bit"/>
                        <complexEntry bitLen="1" halPin="in-13" halType="bit"/>
                        <complexEntry bitLen="1" halPin="in-14" halType="bit"/>
                        <complexEntry bitLen="1" halPin="in-15" halType="bit"/>
                    </pdoEntry>
                </pdo>
            </syncManager>
        </slave>

And I’m also attaching the original XML file.

as per manual there is only one variable receive and one variable transmit PDO : 0x1600 and 0x1A00.
Each is limited to 10 entries.
You should see some error messages in /var/log/messages.
If you need more than 10 entries, you can use SDO instead of the 0x1600 PDO.
SDOs can be queried/set with "ethercat upload" or "ethercat download".
SDOs are permanently saved to the servo controller, so this is useful for nonchanging config parameters only.

github.com/zmrdko/3DWorks_EasyCAT/blob/main/3DWorks_EasyCAT.ino

you can find some examples of IO, which I tried.

Hi,

i try to get qtdragon_hd in metric mode.
in my .ini file i have: 
[TRAJ]
LINEAR_UNITS = metric

Debug output has the line
QTvcp.QTVCP.QT_ISTAT - DEBUG - Machine is METRIC based. unit Conversion constant=0.03937007874015748

Some of the menus have mm as units. 
However the main screen shows Units = IN. 

What is wrong with my config?
The qtdragon_hd sample configs with metric seem to work fine.

Finally all my Motors are joggable. The key was this part of the hal-file where I had to add some entries:
addf lcec.read-all servo-thread
addf cia402.0.read-all servo-thread
addf cia402.1.read-all servo-thread
addf motion-command-handler servo-thread
addf motion-controller servo-thread
addf cia402.0.write-all servo-thread
addf cia402.1.write-all servo-thread
addf lcec.write-all servo-thread

The amp-error still pops up from time to time but this is something wich could be caused of the not yet tuned motors I think.
Thx a lot (!!!!) for all you help and hints!!

Hello,

today I stumbled across this error and I might be able to provide a useful hint.

I am using Probe Basic 2.9.3 and if I have NO_FORCE_HOMING = 1 in my ini, it remembers the tool.
If I have NO_FORCE_HOMING = 0 in my ini, it won't remeber it.

I guess it sets the tool in the background with some MDI command and it can't execute this command, if it is not allowed to execute a MDI command because it is not homed.

I added #5400 in my .var and with every toolchange it changed that value to the toolnumber.
Whenever I started PB with NO_FORCE_HOMING = 0, it changed the value of #5400 to 0 right after PB started.

I don't mind using NO_FORCE_HOMING = 1 but that causes Issues with the "REF-ALL / HOMED" Button in the Probe Basic UI because that one uses the "status:all_axes_homed" from the QTDesigner and this status only works with NO_FORCE_HOMING = 0...

If someone knows any workaroud, let me know

If that function works for you and your setup can handle the calculated angles then I don't see a problem there.
I would stick with the fanuc format since it uses ijk words which are already handled in linuxcnc. The A3/B3/C3 words of the siemens style would first have to be built into the interpreter.

Thank you for your answer!

Based on your reply, I understand that G43 tool length compensation depends entirely on which kinematic mode is active. I have implemented a conversion from vector format NC (IJK) to XYZAB for my machine, and it seems to work. However, I am concerned whether a simple conversion might misinterpret the intent of the CAM output, or if these two formats (IJK and AB) are truly equivalent and interchangeable.

Here is the logic of my transfer function:

def ijk_to_ab(self, i, j, k):
norm = math.sqrt(i**2 + j**2 + k**2)
i, j, k = i/norm, j/norm, k/norm

a_rad = math.atan2(j, k)
a_deg = math.degrees(a_rad)

b_rad = math.atan2(-i, math.sqrt(j**2 + k**2))
b_deg = math.degrees(b_rad)

return round(a_deg, 6), round(b_deg, 6)

I have two more questions:

Are there any problems with my transfer function (ijk_to_ab)? Although it works in practice, I am worried that a direct conversion might not fully capture all the intent or precision from the CAM output.
If I plan to extend the RS274 module to support vector input, which vector format would be better to implement: the FANUC-style IJK (G43.5) or the SIEMENS-style A3/B3/C3? Are there advantages or disadvantages to either format, especially regarding compatibility and ease of parsing?
Thank you again for your help and suggestions!

[code][HOMEMOD=
TASK=milltask
HALUI=halui
DISPLAY=axis
COORDINATES=X Y Z
KINEMATICS=trivkins coordinates=XYZ
Starting LinuxCNC...
Starting LinuxCNC server program: linuxcncsvr
Loading Real Time OS, RTAPI, and HAL_LIB modules
Starting LinuxCNC IO program: io
emc/iotask/ioControl.cc 786: can't load tool table.
Starting HAL User Interface program: halui
linuxcnc TPMOD=tpmod HOMEMOD=homemod EMCMOT=motmod
twopass:invoked with <> options
twopass:found ./UDP2.hal
twopass: Error in file ./UDP2.hal:
    setting parameter 'udp.0.dirsetup' to '20000   #100000'
parameter or pin 'udp.0.dirsetup' not found
Shutting down and cleaning up LinuxCNC...
Removing HAL_LIB, RTAPI, and Real Time OS modules
Removing NML shared memory segments

Debug file information:
Note: Using POSIX realtime
3725
Stopping realtime threads
Unloading hal components
Note: Using POSIX realtime/code]

M6 ist nur der Befehl zum Wechseln des Werkzeugs, hat aber eigentlich mit der Längenkorrektur nichts zu tun.
Die Werkzeuglänge wird erst durch G43 H"Werkzeugnummer" geändert. Beim Aufruf von M6 wird in Linuxcnc eine Routine abgespult, die dies auch ausführt.
Wenn du keine Korrektur haben möchtest, setzt du G49 unter jeden Werkzeugwechsel.

Wenn du im G-Code alle Werkzeugwechsel auf das selbe Werkzeug machst, passt die Darstellung dann?

Welche Version benutzt du von LCNC und welche Oberfläche hast du?

• ...
  What is your interest/focus?
  

I have a laser, lcnc & lightburn.    
I'm an engineer, PLC programmer and know a bit of python. I'm new to lasering and came to understand that I had to export g code from lightburn into lcnc. That works but is a bit clumsy. Then I found your post and here we are.

As I understand it, you wrote a program that on one side pretends to be a laser cutter towards lightburn. On the other side, it controls lcnc remotely. For this you used lcncrc which is deprecated. And now you want to switch over to pylib.

My interest is to make it work for me and then make it available to everyone. I have no financial interests.

As a first step, I suggest putting this on github (or something similar) and work from there.

 

Configuration Name: HOSTMOT2

General configuration information:

  BoardName : MESA7I93
  FPGA Size: 9 KGates
  FPGA Pins: 144
  Number of IO Ports: 2
  Width of one I/O port: 24
  Clock Low frequency: 100.0000 MHz
  Clock High frequency: 200.0000 MHz
  IDROM Type: 3
  Instance Stride 0: 4
  Instance Stride 1: 64
  Register Stride 0: 256
  Register Stride 1: 256

Modules in configuration:

  Module: DPLL
  There are 1 of DPLL in configuration
  Version: 0
  Registers: 7
  BaseAddress: 7000
  ClockFrequency: 100.000 MHz
  Register Stride: 256 bytes
  Instance Stride: 4 bytes

  Module: WatchDog
  There are 1 of WatchDog in configuration
  Version: 0
  Registers: 3
  BaseAddress: 0C00
  ClockFrequency: 100.000 MHz
  Register Stride: 256 bytes
  Instance Stride: 4 bytes

  Module: IOPort
  There are 2 of IOPort in configuration
  Version: 0
  Registers: 5
  BaseAddress: 1000
  ClockFrequency: 100.000 MHz
  Register Stride: 256 bytes
  Instance Stride: 4 bytes

  Module: QCount
  There are 4 of QCount in configuration
  Version: 2
  Registers: 5
  BaseAddress: 3000
  ClockFrequency: 100.000 MHz
  Register Stride: 256 bytes
  Instance Stride: 4 bytes

  Module: PWM
  There are 4 of PWM in configuration
  Version: 0
  Registers: 5
  BaseAddress: 4100
  ClockFrequency: 200.000 MHz
  Register Stride: 256 bytes
  Instance Stride: 4 bytes

  Module: StepGen
  There are 4 of StepGen in configuration
  Version: 2
  Registers: 10
  BaseAddress: 2000
  ClockFrequency: 100.000 MHz
  Register Stride: 256 bytes
  Instance Stride: 4 bytes

  Module: LED
  There are 1 of LED in configuration
  Version: 0
  Registers: 1
  BaseAddress: 0200
  ClockFrequency: 100.000 MHz
  Register Stride: 256 bytes
  Instance Stride: 4 bytes

Configuration pin-out:

IO Connections for P2
Pin#                  I/O   Pri. func    Sec. func        Chan     Sec. Pin func   Sec. Pin Dir

 1                      0   IOPort       QCount           1        Quad-B          (In)
 3                      1   IOPort       QCount           1        Quad-A          (In)
 5                      2   IOPort       QCount           0        Quad-B          (In)
 7                      3   IOPort       QCount           0        Quad-A          (In)
 9                      4   IOPort       QCount           1        Quad-IDX        (In)
11                      5   IOPort       QCount           0        Quad-IDX        (In)
13                      6   IOPort       PWM              1        PWM             (Out)
15                      7   IOPort       PWM              0        PWM             (Out)
17                      8   IOPort       PWM              1        Dir             (Out)
19                      9   IOPort       PWM              0        Dir             (Out)
21                     10   IOPort       PWM              1        /Enable         (Out)
23                     11   IOPort       PWM              0        /Enable         (Out)
25                     12   IOPort       QCount           3        Quad-B          (In)
27                     13   IOPort       QCount           3        Quad-A          (In)
29                     14   IOPort       QCount           2        Quad-B          (In)
31                     15   IOPort       QCount           2        Quad-A          (In)
33                     16   IOPort       QCount           3        Quad-IDX        (In)
35                     17   IOPort       QCount           2        Quad-IDX        (In)
37                     18   IOPort       PWM              3        PWM             (Out)
39                     19   IOPort       PWM              2        PWM             (Out)
41                     20   IOPort       PWM              3        Dir             (Out)
43                     21   IOPort       PWM              2        Dir             (Out)
45                     22   IOPort       PWM              3        /Enable         (Out)
47                     23   IOPort       PWM              2        /Enable         (Out)

IO Connections for P1
Pin#                  I/O   Pri. func    Sec. func        Chan     Sec. Pin func   Sec. Pin Dir

 1                     24   IOPort       StepGen          0        Step/Table1     (Out)
 3                     25   IOPort       StepGen          0        Dir/Table2      (Out)
 5                     26   IOPort       StepGen          0        Table3          (Out)
 7                     27   IOPort       StepGen          0        Table4          (Out)
 9                     28   IOPort       StepGen          0        Table5          (Out)
11                     29   IOPort       StepGen          0        Table6          (Out)
13                     30   IOPort       StepGen          1        Step/Table1     (Out)
15                     31   IOPort       StepGen          1        Dir/Table2      (Out)
17                     32   IOPort       StepGen          1        Table3          (Out)
19                     33   IOPort       StepGen          1        Table4          (Out)
21                     34   IOPort       StepGen          1        Table5          (Out)
23                     35   IOPort       StepGen          1        Table6          (Out)
25                     36   IOPort       StepGen          2        Step/Table1     (Out)
27                     37   IOPort       StepGen          2        Dir/Table2      (Out)
29                     38   IOPort       StepGen          2        Table3          (Out)
31                     39   IOPort       StepGen          2        Table4          (Out)
33                     40   IOPort       StepGen          2        Table5          (Out)
35                     41   IOPort       StepGen          2        Table6          (Out)
37                     42   IOPort       StepGen          3        Step/Table1     (Out)
39                     43   IOPort       StepGen          3        Dir/Table2      (Out)
41                     44   IOPort       StepGen          3        Table3          (Out)
43                     45   IOPort       StepGen          3        Table4          (Out)
45                     46   IOPort       StepGen          3        Table5          (Out)
47                     47   IOPort       StepGen          3        Table6          (Out)

 

I'm with you, like most of us probably. People like that come and go.

My advice would be:
1. Don't get your blood pressure up, it's not worth it.
2. Only clarify wrong statements that are relevant to the question at hand.
3. Ignore the rest of the babble.

is G43 equivalent to G43.4 in LinuxCNC?

No, G43 activated tool length compensation regardless of which kinematic mode is active.

Does the G-code parser in LinuxCNC support IJK-style input?

No, linuxcnc does not support gcode in vector format.
If you are thinking of doing the vector to joint angle calculations in linuxcnc you could preprocess the gcode file in userspace (ie non-real-time) for which you can use any language (even python). Doing it in the interpreter would also be possible but you'd have to invest a fair amount of time to first figure out how it currently works.

Thanks for your help in attempting to debug this, but I'm struggling to find the h/w issue. The setup is PC > 7I92T via eth, +5v supply to the 7I92, +12v to 7I76 field, grounds tied. The 7I76 is connected to P1 with a new ribbon connector (~10cm) I just made and buzzed all pins on. W3 jumper on 7I92 set to supply power to the daughter, and I see the power LEDs on both cards (total of 3).

Flash the 7i92t_7i76x2d.bin firmware from website DL and I can see the 7I76 field I/O with mesaflash <...> --sserial, a manual halrun enumerates the SS interface, can see the 7I76 pins, and detect toggle on I/O. Created a clean LinuxCNC test config assigning some of the field I/O as limits, when I pull the pins high LinuxCNC trips as expected.

Flash the firmware you attached below, no change to hardware config, none of the above works. However it does seem like something is marginal somewhere - repeated probing with the mesaflash --sserial query does occasionally report "sserial device at channel 0: 7I76 (unit 0x00000000)" but never the remaining device information. The 7I76 green comms LED does trigger with each query.

I will dig up some different power supplies, that's about the only thing left I haven't swapped out yet.