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working twincat3 project with EL6751 and one slave... I am creating the .xml config and I will try them with etherlab master...

regards

Hi,

I had to review some path blend code. Step by step, we go forward.
This is a tiny example how to use path blend, tooldir blend, & 3d velocity profile together.

The begin of something good maybe... I am still working on the tooldir, this needs some code review
here and there.


I did a test on the parport production machine, to test the velocity profile. The machine
or my pc is unable to perform a nice 9 axis job. As a result of that,
i am planning to run an ethercat production machine coming day's. This machine still uses stepgen.
However, best is to send just the coordinates to a servo drive. That saves the pc a huge ammount of
calculation time over 9 scurve axis.

 

Wow this is shaping out to be quite tricky! There is probably no useful info in this message, but I found that writing stuff down sometimes reveals a sensible next step in an otherwise blurry mess of ethercat acronyms

By rearranging the PDOs in the manufacturer supplied TwinCAT 2 project slightly I can get the drive to OP state and I can even read cyclic PDO data from it, such as statusword, velocity and position. But the other direction master-> drive PDO transmission is not received no matter what I try.
 

• I have verified equal 1ms cycle time settings in the servo drive config software, in the TwinCAT 2 distributed clock settings, in the TwinCAT 2 axis and PLC
• Even if this was a distributed clock configuration or jitter issue, Metronix ARS 2310 FS claims to be able to synchronize with raw Ethercat frames on the network if no DC is available
• I am seeing 1 (one) successful master->drive PDO transmission per preop->op state transition, where I believe TwinCAT also transfers a lot of SDO settings

It's worse on LinuxCNC, here I don't even receive any PDO data from the drive. But here too the drive reaches OP state and SDO transmissions via ethercat download or ethercat upload work and are evaluated seemingly correctly by Metronix.
 

I am still not quite sure how important the SII EEPROM data is. If I use siitool -m to create an eeprom image from the manufacturer supplied EDS xml profile with PDO mappings, any ethercat sii_write attempts are seemingly dismissed, afterwards the drive is listed only with some IDs in ethercat slaves. An image created without PDO mappings, but only with sync managers and human readable manufacturer strings etc can be written successfully and is listed as such in ethercat slaves even after power cycles.
 

With the diagnostics in my Chinese servo drives I can verify that Linux-dominated Ethercat has the correct sync cycle time of 1ms configured. I've never seen any errors from them, but there does seem to be a non-zero number of SM2 lost times and Sync lost times, maybe 1 per second? Is that normal or could that be a problem for a fastidious German servo drive?
 

The laptop on which I am currently running TwinCAT and the Raspberry Pi on which I am running the Linux Ethercat master are both not equipped with especially reputable Intel NICs ... could that be a fundamental problem? Should I look for some normal office PC for a test run?

Here's a quick update. I have picked up a new JTAG/SPI/UART/I2C Flash programmer! I have wanted one for so long.... I have flashed the ColorLight 5A-75E with the LiteX-CNC firmware and my custom config file sucessfully! I have built a schematic in KiCAD that should work for my machine. I have all of the parts that I need. All that is left is to 1: Sleep on the schematic a couple days (let it brew), then I can double check it. 2: Build my PCB file. 3: Etch me some boards and Assemble!

I am including my schematic in pdf form for you to see. Please be gentle! But I will gladly take some thoughts on it!

Hello dear community, 
I have retrofitted a small CNC lathe from Weiler. Unfortunately, I have a problem with programming my tool changer and can't get any further .... I hope someone here can help me or has already integrated an identical tool changer in Linux CNC. I would of course pay for the effort if someone could be so kind as to write me a suitable classic ladder / comp component or Hal

Sebastian    

 

 

video!

Shipping soon:
linuxgizmos.com/w55rp20-evb-pico-integra...ntroller-and-rp2040/
W55RP20-EVB-PICO: Integrating W5500 TCP/IP Controller and RP2040

I also apologize to Aciera and Tommylight, I shouldn't have argued with you.

I think I was wrong in my first message, I apologize to everyone for that. I think the admins should delete this thread.

Ok, I was able to set emergency button (ext), probe and limits. But when I tried to go from x0 to X50, it stops at 49.995, when I try to go back it stops at - 0.005. My j0pos-cmd is different than j0pos-fb by 0.005 all the time. I've never had that kind of issues with simple lpt port board. I'm using default basic remora config as a base for my setup. I've asked in basic configuration category but there is no answer for few days.

My current guess is about FERROR and ferror_min. 
But I'm not sure why my setup behieve like this 

This is fantastic. Thank you and Robbb and trisa and a whole lot of others. I just got my setup working.

tommylight, thanks for your answer! I'm sorry that I dont have read all of the relevant manuals and HowTo's so that I did not follow instructions that I did not need until some days ago. As a newbie in Linux and LCNC, I needed weeks and months to get to a working machine. Until then, everything worked fine, both networks in parallel, the only problem was the latency that I did not understand. PCW brought me up to here, we had a solution in sight, and I was not mentioning that I'm doing sth wrong.
So, I will follow your advice tonight and give feedback soon.

Hi,

I am trying to setup my mill and i have something stage going on.
my dro gives me different values than halui.
When I use the jog function 1mm my mill moves one mm. the dro on hand wheel says 1mm.
the dro of probe basic 0.0394. so 1/25,4 inches
is there a setting for probe basic to switch between imperial and metric units?

Thanks Patrick

For a 6I24, you could use a 7I52S daughtercard to get 6 encoders + 6 differential step/dir channels
Or you could use a 6I25 and a 7I85S to get 4 of each

I'm currently planning my next retrofit. To avoid network problems I'm thinking about a Mesa 6I24-16 or 6I24-25 card. At the moment I see 2 questions. 1. How is it possible to create a step/dir and encoder connection with the card? 2. And what is the difference between these cards?