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I'm just tuning in to this discussion, so maybe I missed this, but: On my Mesa 7i96 the Mesa inputs aren't like most digital inputs. They're not self-referenced. They all share a "common" pin, which should be grounded if the inputs are active high, or pulled high if the inputs are active low. Is it possible your 7i76 inputs are the same? Have you done that? If you don't, the your input might not be floating, but its reference is, and could easily lead to erratic/intermittent behavior.

paul

I think the main thing here is that there are little real benefits of higher order
interpolation, at least for the speeds, accelerations, and servo period used on
typical LinuxCNC machines.

For example, using a relatively high performance metal cutting machine with say
100 mm/s cutting speed and 0.5G acceleration, the chord error caused by linear
interpolation at the highest centripetal acceleration and at a 1 ms servo thread,
is only about 0.6 microns.

The error just gets smaller a lower speeds and accelerations.

Daan96 wrote:

The axes are driven by 3Nm Nema 23 stepper motors and an HTD-5M timing belt with a 15-tooth pulley, without any gear reduction. 

That will do 75mm of motion for a single rotation of the motor, and will have plenty of vibrations, but since you already have that set, do give it a try.
Normally for plasma we aim at 20-25mm per motor revolution, and this does require reduction from 1:3 to 1:5 depending on final drive pulley.

Hello everyone,

I just got a Stepperonline A6 750W ethercat servo motor and drive and am making pretty good progress with it, at the moment just 1 axis to play around.
It is going into OP mode, I can jog it in gmoccapy, but I am having trouble with homing.
I have attached an inductive sensor to the drive, and can use this to home it in the software of stepperonline, but I dont get it to home in gmoccapy.

I am trying to use marcoreps el8_homecomp.comp, but I dont get the drive into opmode 6 for homing.
If I set the cia402.0.home in halshow the drive goes into opmode 6, and is homing, but I can not get it into opmode 6 it with the button in gmoccapy, and I also dont get feedback as soon as it has finished homing.
Not sure if this part in my HAL file is doing anything when I press the button:
# homing
#net x-home-request joint.0.request-custom-homing => cia402.0.home
#net x-homing joint.0.is-custom-homing <= cia402.0.stat-homing
#net x-homed joint.0.custom-homing-finished <= cia402.0.stat-homed

Would be happy if someone can help me.

Thanks!

they haven't been completed.

 To use mesaflash to discover sserial devices, you would:

sudo mesaflash --device 5i25 --sserial

if you don't know the possible mesaflash commands,

mesaflash --help

From the hostmot2 manual page:


           sserial_port_N (N = 0 .. 3) [optional, default: 00000000 for all
           ports]
               Up to 32 Smart Serial devices can be connected to a Mesa
               Anything I/O board, depending on the firmware used and the
               number of physical connections on the board. These are arranged
               in 1-4 ports (N) of 1 to 8 channels. Some Smart Serial (SSLBP)
               cards offer more than one load-time configuration, for example
               all inputs, or all outputs, or offering additional analogue
               input on some digital pins. To set the modes for port 0 use for
               example sserial_port_0=0120xxxx. A "0" in the string sets the
               corresponding channel to mode 0, a "1" to mode 1, and so on up
               to mode 9. An "x" in any position disables that channel and
               makes the corresponding FPGA pins available as GPIO. The string
               can be up to 8 characters long, and if it defines more modes
               than there are channels on the port then the extras are
               ignored. Channel numbering is left to right so the example
               above would set sserial device 0.0 to mode 0, 0.1 to mode 1,
               0.2 to mode 2, 0.3 to mode 0 and disables channels 0.4 onwards.




 
 

Raspberry PI4 test version of the project is now online in the test branch (with docs how to connect), if you are interested try it, more info on the discord channel.

github.com/atrex66/stepper-ninja/tree/test

discord.gg/tKBEQGqw

In the meantime, I’ve slowly started building the prototype.
I’ve decided to go with LinuxCNC in combination with the Mesa 7i96s and the THCAD-2.
All parts were initially 3D printed in ASA-CF.
In practice, it will have to be determined whether this material is strong and rigid enough.
If not, the parts will be replaced. For now, I want to test the concept first.
The axes are driven by 3Nm Nema 23 stepper motors and an HTD-5M timing belt with a 15-tooth pulley, without any gear reduction.
The frame will be made of stainless steel square tubing, 50x50x3 mm.

I’ve just started working on that.

Any tips or feedback are very welcome! I'm here to learn  

It's a question that I've been asking myself for quite a while. Linear interpolation is quite limited in its accuracy as well as its ability to maintain constant velocity. Have there been any attempts to replace that with higher order polynomials / b-splines / NURBS etc? I saw the recent great achievement to implement s-curve acceleration (add a setting for jerk), but here I'm thinking more about directly improving the motion planner. I understand that this is significantly more resource intensive, but honestly, for a modern PC it should be trivial to compute.

I am still working on the servo load bars. In Dmitry's axis config for his VTC20, he has net trq5 nyx.0.servo-05.trq-fb => pyvcp.trq5 in nyx-6-pgui.hal (servo 05 is spindle in our VTC setups) so I was going to try to work with that. I just haven't tracked down nyx.0.servo-05.trq-fb yet to see if its a preconfigured input or if it has to be created.

Somehow i just lust my long winded reply to your suggestion...
short form: I would be happy to find some form of documentation to get that sserial port config done. .9serial and hostmot2 documentation don´t help me at all unforuntately

"sserial_port_0=0000000F" should open up channel 0-2 for 7i77 in mode 0 and 3 for 7i84U in Mode 0

no sserial device answers to

"show param hm2_5i25.0.sserial.port-0.device-count"

i am pretty much out of my depth setting up that smart serial connection

I'm not aware of  a 'UNITS' or 'DEFAULT_UNITS' key:
linuxcnc.org/docs/stable/html/config/ini-config.html

same for 'GEOMETRY_UNITS'

[edit]
But I guess those lines come from this:

chatted with chatgpt for a few hours

Hi,

I have successfully tested this wiring out with LinuxCNC.

In the main .HAL file, the following lines were added:

[
net router-enable    <=   spindle.0.on
net router-enable    =>   hm2_7i96s.0.ssr.00.out-00
]

The command:

[
$ halcmd show pin | grep spindle
]

Lists spindle.0.on among other entries.

Then I used LinuxCNC to run this GCode (.ngc) file:

[
M3 S1000  ; Enable spindle
G4 P10    ; Wait 10 seconds
M5        ; Stop spindle
M2
]

It turns on the contactor coil, we will hear a click, then it gets the Dremel grinder to spins for 10 seconds, then it turn off the coil, we will hear a click again, the Dremel also stop running.

-- This Dremel grinder does not have no-start protection feature.

This is how I wire the contactor and the Dremel grinder:



Prior to trying out this contactor, all I have running is the X-Axis motor, so the HAL configuration is very basic.

Thank you and best regards,

...behai.


 

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