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Aciera wrote:

The error appears because you are reassigning 'halui.machine.is-on' to a signal (even though it is the same one).

change:

net yellow-in1 <= halui.machine.is-on => and2.0.in0

to:
[code]net yellow-in1 => and2.0.in0

[/code]
 

Hmmm... my question would be is, how would I input the machine power state into the and2.0.in0 and the machine idle state into the and2.in1?

Wouldn't I have to be able to get the signal from halui.machine.is-on and halui.program.is-idle into the and2 inputs to accomplish the desired output?

I would also be faced with a similar issue in the subsequent code block:

The intent in this block is that if the machine is running, the green light is solid; if the program is paused, then it is flashing.

Not sure I see the connections here with your suggestion -- could you maybe explain the logic a little?
 

The error appears because you are reassigning 'halui.machine.is-on' to a signal (even though it is the same one).

change:
to:

Maybe this helps:
forum.linuxcnc.org/21-axis/49044-axis-ov...limits-checkbox-gone

Todd wrote:

If you are not already using ClassicLadder, and don't want to bother adding it, it can all be done in hal as well.

I think I'd attack this something like this.

loadrt and2 count=2
loadrt xor2 count=1
loadrt siggen num_chan=1
addf and2.0 servo-thread
addf and2.1 servo-thread
addf xor2.0 servo-thread
addf siggen.0.update servo-thread

setp siggen.0.frequency 2

#Yellow Light
net yellow-in1 <= halui.machine.is-on => and2.0.in0
net yellow-in2 <= halui.program.is-idle => and2.0.in1
net yellow-out <= and2.0.out
net yellow-out => hm2_7i76e.0.7i76.0.0.output-01 #(or what ever your output pin is for the yellow light)

#Green Light
net green-in1 <= halui.program.is-running => xor2.0.in0
net green-in2 <= halui.program.is-paused => and2.1.in1
net flash <= siggen.0.clock => and2.1.in0
net green-flash <= and2.1.out => xor2.0.in1
net green-on <= xor2.0.out => hm2_7i76e.0.7i76.0.0.output-02

#Red Light
net red-on <= halui.estop.is-activated => hm2_7i76e.0.7i76.0.0.output-00 #(or what ever your output pin is for the red light)


(I just have a big red light on each of our machines that turns on when they are not running a program.)
 

 

I have a question which may be version related.  This line:
net yellow-in1 <= halui.machine.is-on => and2.0.in0
gives me the error:
/usr/share/linuxcnc/hallib/qtplasmac_comp.hal:21: Pin 'halui.machine.is-on' was already linked to signal 'yellow-in1'
when I try to run this in version 2.9.3

Could anyone give me some insight into why, and maybe a way to make it work?  I am a total newbie at HAL coding.

Deleted --

it works fine on my Raspberry 5 after a clean install

Master0
Phase: Idle
Active: no
Slaves: 0
Ethernet devices:
Main: 2c:cf:67:15:58:57 (attached)
Link: UP
Tx frames: 22305
Tx bytes: 1338300
Rx frames: 0
Rx bytes: 0
Tx errors: 0
Tx frame rate [1/s]: 125 125 118
Tx rate [KByte/s]: 7.3 7.3 6.9
Rx frame rate [1/s]: 0 0 0
Rx rate [KByte/s]: 0.0 0.0 0.0
Common:
Tx frames: 22305
Tx bytes: 1338300
Rx frames: 0
Rx bytes: 0
Lost frames: 22305
Tx frame rate [1/s]: 125 125 118
Tx rate [KByte/s]: 7.3 7.3 6.9
Rx frame rate [1/s]: 0 0 0
Rx rate [KByte/s]: 0.0 0.0 0.0
Loss rate [1/s]: 125 125 118
Frame loss [%]: 100.0 100.0 100.0
Distributed clocks:
Reference clock: None
DC reference time: 0
Application time: 0
2000-01-01 00:00:00.000000000

Hi,
Figured it is time to update my outdated (but still working) instructions for my customers and to switch to Bookworm and a newer version of LinuxCNC, so I'm now running the LinuxCNC 2.9.3 Debian 12 Bookworm PREEMPT-RT ISO.

Next is installing EtherCAT so I started this step by step instruction but get stuck in the beginning.

edmuser@edmpc:~$ sudo apt update
[sudo] password for edmuser:
Hit:1 security.debian.org/debian-security bookworm-security InRelease
Hit:2 deb.debian.org/debian bookworm InRelease                          
Hit:3 deb.debian.org/debian bookworm-updates InRelease                  
Hit:4 repository.qtpyvcp.com/apt develop InRelease                     
Get:5 download.opensuse.org/repositories/science:/EtherLab/Debian_12 ./ InRelease [1,575 B]
Err:5 download.opensuse.org/repositories/science:/EtherLab/Debian_12 ./ InRelease
  The following signatures were invalid: EXPKEYSIG A94819A7CB97A204 science:EtherLab OBS Project <science:EtherLab@build.opensuse.org>
Hit:6 www.linuxcnc.org bookworm InRelease
Fetched 1,575 B in 1s (1,603 B/s)
Reading package lists... Done
Building dependency tree... Done
Reading state information... Done
93 packages can be upgraded. Run 'apt list --upgradable' to see them.
W: An error occurred during the signature verification. The repository is not updated and the previous index files will be used. GPG error: download.opensuse.org/repositories/science:/EtherLab/Debian_12 ./ InRelease: The following signatures were invalid: EXPKEYSIG A94819A7CB97A204 science:EtherLab OBS Project
W: Failed to fetch download.opensuse.org/repositories/scien...ebian_12/./InRelease  The following signatures were invalid: EXPKEYSIG A94819A7CB97A204 science:EtherLab OBS Project
W: Some index files failed to download. They have been ignored, or old ones used instead.

 

I tried running the script on a fresh LCNC 2.9.3 install from ISO and encountered a few problems.

1. Command not found error when running "sudo ./ecat.sh"
Fixed by running "chmod +x ./ecat.sh" before

2. When running the "sudo apt update" I get this errorI fixed it by editing the /etc/apt/sources.list.d/science_EtherLab.list, changing "science_EtherLab.gpg.key.binary.gpg" to "science_EtherLab.gpg"

3. After re-running "sudo apt update" I get this warningfix it by removing the ighvh.sources file by running "rm /etc/apt/sources.list.d/ighvh.sources"

After all that, I was able to follow Rodw instruction and successfully install Ethercat. I don't know how to code and this is my first time using Linux, so I don't know if this is the correct way to fix these problems, but I hope it at least helps other people with the same problem. 

 

try running the sample program and see if your y axis is reversed/mirrored, and compare the actual machine position to linuxcnc to what you thing it should be

for your spindle, you probably need to open up hal, and compare the signals its sending to whats happening. start up your spindle and see how the spindle pins change in halshow, 

yeah, but all defaults are inefficient. efficiency comes from proficiency and optimization. learn best practice, and how to make full use of the settings in your cam, and you dont need that nonsense. modify your post and defaults properly to suit your process and it will be better than some secondary post. unless fusion is intentionally stifling

but it really depends on what your doing that you need to save time, because optimizers probably wont understand everything. if you are just doing contours and need some traveling salesman kinda stuff your cam should be able to do that on its own.

if you do what i suggested earlier, update and use this pin instead:

I'm running LinuxCNC 2.9 with a Axis GUI and Switchkins motion (6 DOF robot).  I notice the "ignore limits" check box is missing entirely. 

Is this a setting in  the ini file that needs to be set that I missed?  

From your description, no amount of debounce will help, so where did you get the idea that it will?
It would be more helpful if you upload the pictures of the wiring, detailed ones, but in the mean time:
-make sure the PC is grounded properly
-make sure the VFD is grounded properly
-power supplies that can be grounded should be grounded
-use shielded cable for the spindle, shield bolted to motor and to VFD
-using a ferrite bead (doughnut) on motor wires at the VFD side helps

Missing steps and sounds horrible.  

Sounds like EMI in the step/dir lines which debounce will not help.
Debounce can help with noise on the limit switch and probe inputs
but that's it.

For noise on the step/dir signals you need to make sure that they are not
routed near wires connected to the VFD. Also a common mode choke
(giant ferrite bead around the U,V,W motor leads) can help reduce radiated
EMI. Also if you are controlling the VFD speed/direction make sure the control
logic is isolated. If not isolated, you can help reduce introducing noise into
the control system by adding common mode chokes to all the control wiring
going to the VFD.

I am getting some pretty ridiculous EMI from my VFD and I'd like to try add debounce so I can cut parts again.  Long story short, my hard drive failed so I got a new PC setup, copied all of my machine settings and it doesn't work.  EMI for days but only if my VFD is running!!! Even with 3 line filters on all of the 110/240V circuits. Missing steps and sounds horrible.  

Could someone be so kind to review my INI and let me know how to write a good debounce code for it?

loadrt [KINS]KINEMATICS
loadrt [EMCMOT]EMCMOT base_period_nsec=[EMCMOT]BASE_PERIOD servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS
loadrt hal_parport cfg="0 out"
setp parport.0.reset-time 5000
loadrt stepgen step_type=0,0,0

addf parport.0.read base-thread
addf stepgen.make-pulses base-thread
addf parport.0.write base-thread
addf parport.0.reset base-thread

addf stepgen.capture-position servo-thread
addf motion-command-handler servo-thread
addf motion-controller servo-thread
addf stepgen.update-freq servo-thread

net probe-in => motion.probe-input

net xstep           => parport.0.pin-01-out
setp parport.0.pin-01-out-reset 1
net xdir            => parport.0.pin-02-out
net ystep           => parport.0.pin-03-out
setp parport.0.pin-03-out-reset 1
net ydir            => parport.0.pin-04-out
net zstep           => parport.0.pin-05-out
setp parport.0.pin-05-out-reset 1
net zdir            => parport.0.pin-06-out
net min-home-x      <= parport.0.pin-10-in-not
net min-home-y      <= parport.0.pin-11-in-not
net max-home-u      <= parport.0.pin-12-in
net probe-in        <= parport.0.pin-13-in

setp stepgen.0.position-scale [JOINT_0]SCALE
setp stepgen.0.steplen 1
setp stepgen.0.stepspace 0
setp stepgen.0.dirhold 59941
setp stepgen.0.dirsetup 59941
setp stepgen.0.maxaccel [JOINT_0]STEPGEN_MAXACCEL
net xpos-cmd joint.0.motor-pos-cmd => stepgen.0.position-cmd
net xpos-fb stepgen.0.position-fb => joint.0.motor-pos-fb
net xstep <= stepgen.0.step
net xdir <= stepgen.0.dir
net xenable joint.0.amp-enable-out => stepgen.0.enable
net min-home-x => joint.0.home-sw-in
net min-home-x => joint.0.neg-lim-sw-in

setp stepgen.1.position-scale [JOINT_1]SCALE
setp stepgen.1.steplen 1
setp stepgen.1.stepspace 0
setp stepgen.1.dirhold 59941
setp stepgen.1.dirsetup 59941
setp stepgen.1.maxaccel [JOINT_1]STEPGEN_MAXACCEL
net ypos-cmd joint.1.motor-pos-cmd => stepgen.1.position-cmd
net ypos-fb stepgen.1.position-fb => joint.1.motor-pos-fb
net ystep <= stepgen.1.step
net ydir <= stepgen.1.dir
net yenable joint.1.amp-enable-out => stepgen.1.enable
net min-home-y => joint.1.home-sw-in
net min-home-y => joint.1.neg-lim-sw-in

setp stepgen.2.position-scale [JOINT_2]SCALE
setp stepgen.2.steplen 1
setp stepgen.2.stepspace 0
setp stepgen.2.dirhold 59941
setp stepgen.2.dirsetup 59941
setp stepgen.2.maxaccel [JOINT_2]STEPGEN_MAXACCEL
net zpos-cmd joint.2.motor-pos-cmd => stepgen.2.position-cmd
net zpos-fb stepgen.2.position-fb => joint.2.motor-pos-fb
net zstep <= stepgen.2.step
net zdir <= stepgen.2.dir
net zenable joint.2.amp-enable-out => stepgen.2.enable

net estop-out <= iocontrol.0.user-enable-out
net estop-out => iocontrol.0.emc-enable-in

net tool-number <= iocontrol.0.tool-prep-number
net tool-change-loopback iocontrol.0.tool-change => iocontrol.0.tool-changed
net tool-prepare-loopback iocontrol.0.tool-prepare => iocontrol.0.tool-prepared