1. Forum
  3. Search

Advanced Search

Search Results (Searched for: )

  • hitchhiker
  • hitchhiker
23 Aug 2025 19:06
Replied by hitchhiker on topic Homing with 2 inputs/sensors?

Homing with 2 inputs/sensors?

Category: HAL

if its so.. then i got it...

on the table it works...

here my ini for the axis
#********************
# Axis Z
#********************
[AXIS_Z]
MIN_LIMIT = -2000.0
MAX_LIMIT = 2000.0
MAX_VELOCITY = 83
MAX_ACCELERATION = 500

[JOINT_2]
TYPE = LINEAR
MAX_VELOCITY = 83
MAX_ACCELERATION = 500
STEPGEN_MAXVEL = 150
STEPGEN_MAXACCEL = 1500
STEPSPACE  = 5000
STEP_SCALE = 400
STEPLEN    = 5000
MIN_LIMIT = -2000.0
MAX_LIMIT = 2000.0
HOME = 0.0
HOME_OFFSET = 0.0
FERROR = 1
MIN_FERROR = 0.25
HOME_SEQUENCE = 0
DIRSETUP   = 5000
DIRHOLD    = 5000

P = 1000
I = 0
D = 0
BIAS = 0
FF0 = 0
FF1 = 1
FF2 = 0
DEADBAND = 0.001
MAX_OUTPUT = 0
MAX_ERROR = 0.0001

HOME_SEARCH_VEL = -30.000000
HOME_LATCH_VEL = -0.100000
HOME_FINAL_VEL = -0.10000
HOME_USE_INDEX = YES
HOME_SEQUENCE = 0

and here my hal for the axis
####Z-Axis Setup####

setp   pid.z.Pgain     [JOINT_2]P
setp   pid.z.Igain     [JOINT_2]I
setp   pid.z.Dgain     [JOINT_2]D
setp   pid.z.bias      [JOINT_2]BIAS
setp   pid.z.FF0       [JOINT_2]FF0
setp   pid.z.FF1       [JOINT_2]FF1
setp   pid.z.FF2       [JOINT_2]FF2
setp   pid.z.deadband  [JOINT_2]DEADBAND
setp   pid.z.maxoutput [JOINT_2]MAX_OUTPUT
setp   pid.z.error-previous-target true
setp   pid.z.maxerror [JOINT_2]MAX_ERROR

net z-index-enable  <=> pid.z.index-enable
net z-enable        =>  pid.z.enable
net z-pos-cmd       =>  pid.z.command
net z-pos-fb        =>  pid.z.feedback
net z-output        <=  pid.z.output

net z-pos-cmd    <= joint.2.motor-pos-cmd
net z-vel-cmd    <= joint.2.vel-cmd
net z-output     <= [HMOT](CARD0).stepgen.02.velocity-cmd
net z-pos-fb     <= [HMOT](CARD0).stepgen.02.position-fb
net z-pos-fb     => joint.2.motor-pos-fb
net z-enable     <= joint.2.amp-enable-out
net z-enable     => [HMOT](CARD0).stepgen.02.enable


setp   [HMOT](CARD0).stepgen.02.dirsetup        [JOINT_2]DIRSETUP
setp   [HMOT](CARD0).stepgen.02.dirhold         [JOINT_2]DIRHOLD
setp   [HMOT](CARD0).stepgen.02.steplen         [JOINT_2]STEPLEN
setp   [HMOT](CARD0).stepgen.02.stepspace       [JOINT_2]STEPSPACE
setp   [HMOT](CARD0).stepgen.02.position-scale  [JOINT_2]STEP_SCALE
setp   [HMOT](CARD0).stepgen.02.step_type        0
setp   [HMOT](CARD0).stepgen.02.control-type     1
setp   [HMOT](CARD0).stepgen.02.maxaccel         [JOINT_2]STEPGEN_MAXACCEL
setp   [HMOT](CARD0).stepgen.02.maxvel          [JOINT_2]STEPGEN_MAXVEL



net z-pos-fb => joint.2.motor-pos-fb
net z-index-enable    joint.2.index-enable  <=>  [HMOT](CARD0).stepgen.02.index-enable


i write it by hand... do i forget something? or does it looks ok?

on the table i only work with 2 button switches .. and it do what it should do.
if this was the solution it was not the big deal to do the changes...
  • Hakan
  • Hakan
23 Aug 2025 18:30
Replied by Hakan on topic Use of ODOT Ethercat coupler I/O?

Use of ODOT Ethercat coupler I/O?

Category: EtherCAT

When the slave is in PreOP, use the command "lcec_configgen" to get a list pf PDOs if there are any.
Try with the output from lcec_configgen as your ethercat-config.xml. Normally a good starting point, may need to editing.
You can normally not manually switch to state OP, this is done by the lcec component when linuxcnc runs.
The command "sudo dmesg | tail -30" should give you the 30 last messages, the reason for the "E" is there.
30 is an example to keep the listing short.

To sum up. Get yourself an ethercat-conf.xml from lcec_configgen, start linuxcnc and if you get errors, check the output from linuxcnc and from "sudo dmesg".
  • PCW
  • PCW's Avatar
23 Aug 2025 17:45
Replied by PCW on topic Homing with 2 inputs/sensors?

Homing with 2 inputs/sensors?

Category: HAL

But its open loop... i was thinking velocity mode is for closed loop.

Even with open loop stepgens there is a local closed loop that
takes the commanded position, the stepgen feedback position,
and current velocity and generates a new velocity command
every servo thread invocation.

In position mode, this loop is still there but embedded in the driver.
 
  • hitchhiker
  • hitchhiker
23 Aug 2025 17:27
Replied by hitchhiker on topic Homing with 2 inputs/sensors?

Homing with 2 inputs/sensors?

Category: HAL

... i have no pid for x y z... but for s.. spindle in my hal.

Could this be a reason?
But then.. what a good values for the pid when its open loop?

P i d ff and the rest?

Thanks
  • PCW
  • PCW's Avatar
23 Aug 2025 17:22
Replied by PCW on topic Homing with 2 inputs/sensors?

Homing with 2 inputs/sensors?

Category: HAL

Actually all LinuxCNC stepgens run in velocity mode. The velocity is typically
calculated with dp/dt (rate change of position). When index is detected, this causes
a step in the position (position is zeroed on index detection). The step will cause a large
bogus velocity calculation in position mode stepgens. This is bounded by the stepgen
acceleration bound so not huge but definitely will generate a detectable motion glitch.

In velocity mode, this is worked around by the fact that the PID component has an index-enable
input, so can work around this issue (by skipping the velocity calculation for the position step).

It would be possible to fix this issue in the position mode, but since in general, velocity mode works better
it has not been addressed.

Overall these issues show that LinuxCNCs index handling needs reworking, The encoder position should really
not be cleared (unless the hardware has no other option) , as it creates the need for all these ugly work-arounds
and in fact the index position offset should be applied at a higher level and not at the low (hal control loop) level
  • hitchhiker
  • hitchhiker
23 Aug 2025 17:06
Replied by hitchhiker on topic Homing with 2 inputs/sensors?

Homing with 2 inputs/sensors?

Category: HAL

But its open loop... i was thinking velocity mode is for closed loop.
  • emresensoy
  • emresensoy
23 Aug 2025 17:03
Replied by emresensoy on topic Türkçe

Türkçe

Category: Other Languages

Türkçe is the right 
  • tommylight
  • tommylight's Avatar
23 Aug 2025 17:00
Replied by tommylight on topic in linuxcnc freecad 1.0 einbinden

in linuxcnc freecad 1.0 einbinden

Category: Configuration Tools

Install?
sudo apt update
sudo apt install freecad

Oder die gcode von FreeCAD zum LinuxCNC senden?
  • besriworld
  • besriworld
23 Aug 2025 16:37
Replied by besriworld on topic Homing with 2 inputs/sensors?

Homing with 2 inputs/sensors?

Category: HAL

"
Also stepgen position mode should work but it will have a glitch at index detection. "
Can you please explain what kind of gitch this is?
  • ChrisB_II
  • ChrisB_II's Avatar
23 Aug 2025 16:31
Replied by ChrisB_II on topic Spindel läuft an, wenn Linuxcnc beendet wird (7i92t mit Sorotec BOB C1)

Spindel läuft an, wenn Linuxcnc beendet wird (7i92t mit Sorotec BOB C1)

Category: Deutsch

Thanks again, it worked!

Hat geklappt!

DANKE!
  • ChrisB_II
  • ChrisB_II's Avatar
23 Aug 2025 16:26
Replied by ChrisB_II on topic Spindel läuft an, wenn Linuxcnc beendet wird (7i92t mit Sorotec BOB C1)

Spindel läuft an, wenn Linuxcnc beendet wird (7i92t mit Sorotec BOB C1)

Category: Deutsch

Thanks a lot! I will try that later on!

I'm a little ashamed because i have read that in the manual but did not remember...
  • karlhe
  • karlhe
23 Aug 2025 16:24
in linuxcnc freecad 1.0 einbinden was created by karlhe

in linuxcnc freecad 1.0 einbinden

Category: Configuration Tools

Hallo,

wie kann ich freecad 1.0 in linuxcnc debian einbinden?

hilfe wäre gut

karlhe
  • scsmith1451
  • scsmith1451
23 Aug 2025 15:55
Replied by scsmith1451 on topic Set program zero using XY positioning laser

Set program zero using XY positioning laser

Category: Advanced Configuration

Thanks for the help pippin88. All config files are attached.
  • PCW
  • PCW's Avatar
23 Aug 2025 15:39
Replied by PCW on topic Spindel läuft an, wenn Linuxcnc beendet wird (7i92t mit Sorotec BOB C1)

Spindel läuft an, wenn Linuxcnc beendet wird (7i92t mit Sorotec BOB C1)

Category: Deutsch

All I/O pins on the 7I92[X] start up in input mode and remain there until
LinuxCNC starts. They change back to input mode when LinuxCNC exits
(or the watchdog bites)

The PIN state when in input mode is determined by pullup/pulldown resistors
on the I/O pins. Pullup or pulldown mode is selected by jumpers W1 and W2 on
the 7I92T[X] W1 controls the mode of P1 and W2 controls the mode of P2.
When the jumper is in the "UP" position, pullup mode (the default) is selected. When
the jumper is in the "DOWN" position, pulldown mode is selected.

I suspect you want to select pulldown mode on P2.

I should note that pulldown mode does not work with all breakout boards
as some require pullups because they have bare  open collector Optocoupler
outputs.

 
  • PCW
  • PCW's Avatar
23 Aug 2025 15:27 - 23 Aug 2025 15:27
Replied by PCW on topic Ein Neuling sucht Hilfe

Ein Neuling sucht Hilfe

Category: Deutsch

If this is an issue with the probe input, did you first check that
motion.probe-input changes as expected when your sensor is activated?

(check with halshow's "WATCH" tab)

  
Displaying 1216 - 1230 out of 23344 results.
  1. Forum
  3. Search
Time to create page: 1.063 seconds
Powered by Kunena Forum