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hey guys

just wanted to report back on this dual feedback thread

I have a large cnc with 0.1mm backlash on the z axis.  so i put a scale on it and the results are awesome

i have accuracy within 0.002mm (compared to the scale accuracy at least assuming that is  good)

i tried both 1 PID loop and 2 PID loops that have the outputs summed together.

with the single loop i had the velocity PID input coming from the motor rotary encoder and the final position from the linear encoder.  and it worked but was really rough and kept bouncing back and forth with the 0.1mm backlash  

the two summed loops are really smooth and awesome  the trick is the first loop has the high resolution encoder on servo drive and that has really good performance and of course no backlash.  and I can change all the normal PID values except Integral  and the 2nd PID loop only has the linear encoder input.  and only PID setting is Integral.  so i get nice and smooth motor but still backlash from first loop and then once the axis gets close the Integral moves the last 0.1mm over a second or so.
so by the time i am cutting the machine is perfectly where it should be.  this is probably not so good for high speed surfacing stuff for that you need to remove the physical backlash.  but for a slightly slower machine its awesome.

have a look at this thread where i show some more photos of it.  its working most days now and running hard in production.


forum.linuxcnc.org/show-your-stuff/58689...ing-running-linuxcnc

cheers

 

Hi everyone,I'm looking for some help from the community with configuring a Lenze drive setup to work with LinuxCNC via the(lcnc-ethercat) driver.The Hardware:

• Axis module: Lenze ECSxM
• Communication module: Lenze EMF2192IB (EtherCAT)

The Issue: I am trying to configure the axis module control using the standard CiA402 profile. However, during diagnostics, I ran into some mapping issues:

1. When running the

   ethercat pdos

   command, the core CiA402 profile indices like

   0x6060

   (Modes of Operation) and

   0x6061

   (Modes of Operation Display) are missing. From what I’ve gathered in the Lenze documentation, these parameters seem to be strictly hardcoded into SDOs.
2. When running

   ethercat sdos

   , the master only returns unnamed indices strictly within the

   0x2000

   to

   0x5801

   range. Nothing above this pool is visible (objects from

   0x6000

   onwards are missing entirely).

Given this situation, I have a few questions for the experts here:

1. Is it actually possible to get the ECSxM + EMF2192IB combo running properly under the standard CiA402 profile in LinuxCNC? Does a native driver/component for

   ethercat-cia402

   support this particular hardware?
2. If the standard profile isn't supported out of the box due to Lenze's proprietary layout, what is the best way to handle the control? Do I need to manually map the Lenze-specific SDOs/PDOs (from the

   0x2000

   -

   0x5000

   range) into HAL, or should I write a custom XML config to handle PDO Mapping via SDO download?
3. If anyone has successfully configured this or has a working

   ethercat-conf.xml

   example for this generation of Lenze inverters, could you please share it?

Any advice, pointers, or examples would be greatly appreciated!Cheers!

deltafox24 wrote:

Have you tried running RS485 through this module? I just can't seem to get it to work.

I got it going once in a test config but then never again after I built a full config. I suspect you need to set higher timeout on the serial port but have not played again.

Honestly it sounds like you should be using a Darlington OPTO in place
of the low CTR PC817, say a LTV-815 or similar.

( PC817 mas a minimum CTR of 50% vs the LTV-815's 600% minimum )

Yes! that is a win, especially if combined with the new G28 that allows rehoming
a single axis. That would really simplify combined axis/spindle operations.

Alright, bit of progress. I did some testing and managed to get the PC817 module working — at least for now.

The module has a 302Ω resistor on both the input and output side. When the LED turned on, the output voltage only dropped to about 21V, so the servo driver wasn't seeing it as a proper low signal.

I tried putting another resistor in parallel with the one already on the output side, and bingo — reverse works. With a 3k resistor in parallel, the output drops to around 14V. With a 1.5k, it drops to about 10V. Both values make the servo reverse properly.

So my question now is, what's a safe resistor value to leave in there permanently? I don't want to damage anything, but I need it to work reliably. What would you guys recommend?

Hal files are loaded in sequence as listed in the ini file, is the ordering there set correctly?
Check for typos in the pin names.
Check the ordering of hal files as if you call on a pin that has not yet been loaded, it will fail.

I started testing this and failed to recreate the issue on a sim, used the parallel port config included with LinuxCNC and while testing life got in the way and had no time to continue testing.
Thank you for reporting back.

Hallo timo,

vielen Dank für Deine Info. Ich habe die Endschalter auch in der ini abgeschatet.,

nach Anweisung von ACIERA..

Damit kann ich erst mal arbeiten.

viele Grüße Karlhe

I am in need of some help. In mb2hal.ini transaction 02, I can not get the set speed working. The crash message states that " mb2hal.spindle-set-speed does not exist ". I have stated it in the custom_postgui.hal file. I am wanting to have the " run speed slider " populate the set speed parameter in the drive.
Transactions 00 and 01 work fine

Any ideas would be appreciated.

 freue mich! Es lebt wieder!  Es geht weiter mit NativeCam.  NativeCAM 2.0b – Python 3- und GTK3-Portierung für LinuxCNC 2.9 / Debian 13 Trixie
NativeCAM
Damit wird Linuxcnc zu einer Steuerungssoftware mit Inkludiertem CAM... ja nicht ganz, aber fast.
Ich würde es eher Prototypen Teile Fertigungssteuerung nennen. Ähnlich der ProtoTrak oder Heidenhein-Dialog oder so.

Möcht auf die schnelle eine Rechtecktasche Fräsen und dafür nicht den CAD Rechner anstupsen. Auch nicht von Hand G-Code schreiben.
Das geht mit NativeCam!

Was denkt Ihr dazu?
Braucht Ihr das?

@grandixximo -

That would be a huge win if your fix works.

Now, if you can figure out the non-deterministic threading/tapping...

github.com/LinuxCNC/linuxcnc/issues/3455

Hallo zusammen,
ich hab den Fehler gemacht und mir so eine F7198 in der Version 1.1 geholt, auslesen kann ich sie, aber da muss ein Bitfile drauf.. Aktuell sind alles nur ein oder Ausgänge.. DerVerkäufer hat mir auch einen baidu-Link geschickt, aber ich bekomme die Files einfach nicht runtergeladen, vielleicht liegt auch an meinen fehlenden Chinsischkenntnissen? kann mir dabei einer helfen oder die Bitfiles für die F7198 V1.1 zur Verfügung stellen?  Vielen Dank schonmal! Gruß, Thomas

I think I might have the fix
github.com/LinuxCNC/linuxcnc/pull/4200

Hello,

I was in touch with Luca and there was a bug in the Gcode ..  first was the tolerance(I thought I am working G21)and then was the unit system(G20) which take higher tolerance and creaty the clingy movement ... it my fault to too much truct to CAM postprocessor 

thank you for testing