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Hello,I am in the process of getting 4x Lichuan LC10E drives running in CSP mode. I have also observed the behavior of a large following error in CSP mode, as user Sandro mentioned in his post on 14 Sep 2024. After many hours of trying to run CSP mode without encountering a large following error, I suspect that parameter 6068 "Position window time" is to blame. The default setting is 16 ms, which I interpret as the drive having 16 ms to reach the required position. Together with parameter 6067 "Position window", this allows for a large following error while the drive still believes it is operating correctly.

Unfortunately, I am unable to change these values. Initially, I tried reading them with:"<pdoEntry idx="6068" subIdx="00" bitLen="16" halPin="position-window-time" halType="u32"/>"

But this gives me a changing value in HAL show with strange behavior as I would expect a steady value of 16When I try to write to 6068, I get the following error:

hi guy's
i just finished flashing the firmware to my digital dream ec500v5 and upload the config file. now I'm i bit confused about proceeding and the documentation isn't making a whole lot a scene at the moment. I'm wondering do i need to make a hal file which contains the the pins from the ec500 and then let the main hal file call up the pin file?
I'm a total newby to this without any programming background. and the plan is to try and build a plasma table for my small buissnes.

thanks in advance

there is no documentation link for writing conversational macros unfortunately that is something you need to know how to code yourself. you could make some subroutine variants fairly easily with the help of chatgpt but test them carefully. existing conversational in the mill was done by someone else outside of the qtpyvcp coding resource pool, and they haven't be active in several years which is why its only partially completed.

kcjengr.github.io/probe_basic/probe_basic_parameters.html

these are all the parameters used by probe basic, they need to be listed in the var file for them to be persistent otherwise they will be volatile per linuxcnc docs.

please feel free to rewrite the docs, i absolutely would love for someone to handle that aspect as its not the easiest to find a way that everyone understands and clearly my approach could use some expert assistance!

the docs also are meant for the develop version. I have gotten a bit side tracked on another project and haven't had time to update the release from develop to stable, but it is what will soon be the stable version. when in doubt, its always best to check and see if the sim works, if it does but your machine config does not, you can move forward knowing their is an issue with your configuration files. you can always compare to the sim config files that do work and those should give you a working installation.

The jogging issue is probably the standard problem with KB repeat


The overshoot is likely a tuning issue, I would use the standard velocity mode/PID stepgen control
(use a pncconf created configuration for an example) Also make sure to use the DPLL for stepgen
configurations (use pncconf again as an example here)

Does LinuxCNC find the card?

Got it! Now that I had RPM control forward and reverse with a bonus green GUI scale in both directions it was just a matter of adjusting this:

setp scale.0.gain 0.00275

To this:

setp scale.0.gain 0.008

Which so far is the closest to s300 command. I'll know more when I get an RPM gauge on it.

It may require some adjustments in the VFD. But I'm content with the progress so far.

I think I'll have to go back a couple of steps and try to fix my probe basic config before I continue work on this.

I seem to be having the same trouble as this other user...

forum.linuxcnc.org/qtpyvcp/56674-probe-b...-parameter-variables

I was able to get basic probing routines working by manually editing the parameters in the var file. However, the link between values entered in the ui boxes and the var file seems to be broken. If you try to change a value by entering it in a box it just doesn't do anything.

Is there a place where all the necessary configuration steps are a set out clearly?

I was trying to follow these but evidently they are not totally clear and a bit lacking:

kcjengr.github.io/probe_basic/index.html

I think my config got messed up a couple of times, e.g. by copying values for an imperial machine into my metric machine's setup. The parts that need editing could be made a bit clearer.

Good point tommylight Though I may modify the models for CNC machining .

I have a small HP ProDesk 400 G3 SFF. From your suggestion i have looked at both devices (same pc type) bios settings, as of now nothing sticks out yet.

One step forward. After some digging on the internet I went into custom_postgui.hal and changed this:

net spindle-vel-cmd-rpm gmoccapy.spindle_feedback_bar

To this:

net spindle-vel-cmd-rpm-abs gmoccapy.spindle_feedback_bar

And it now shows a green status bar in the GUI in forward and reverse.
Still working on the rpm issue.

I had a couple of Mesa cards laying around for years and finally found some time to put it into operation.
Especially because the RPi5 comes with this massive performance boost <3
It’s all basically working, except for the pinout (had to solder an adapter), and everything seems to work in auto or MDI mode,
although I only tested a few moves; but manual control is extremely choppy.

The constant movement is just interrupted, as I would have stopped pushing the the button.
Acceleration/deceleration is working, so it’s not a communication issue.

Here: 


Probably unrelated, but strange:

At the end of rapid moves, controlled via MDI, the controller or LinuxCNC creates some extra steps.
I did not count them yet, but will check this after the rest is okay:

 


Are these “user space” issues? Currently I exclusively have older RTAI setups working;
never used this one kernel thingy.

Did I set up anything incorrectly?


thx
AS

 

You are correct, Peter. When pncconf generates the configuration HAL file it include two lines that prevent LCNC from launching. A search on the forum identified the culprits and suggested the two lines be commented out. In my zeal to get on with my project, I commented out the wrong lines. Correcting the issue resolved the problems.

Kind Regards -

 

Hallo zusammen,ich stehe am Anfang eines Projekts ähnlich dem von Rüdiger und möchte meine gebrauchten Rexroth IndraDrive HSC01 in LinuxCNC über EtherCAT betreiben. Aktuell sind die Antriebe jedoch mit PROFINET-Firmware ausgestattet, weshalb ich dringend die korrekte EtherCAT-Firmware benötige.Folgende Eckdaten zu meinen Regler:

• Typ: HSC01 E1 W0003 A02 B ET EC PB L3 NN FW
• Aktuelle Firmware: FWA INDRV MPB 20V28 D5 1 NNN NN

Meine Fragen an euch:

• Ist R911330278  "FWS INDRV MP* **VRS NN ETHERCAT" tatsächlich die passende EtherCAT-Firmware für diese HSC01-Variante?
   

Rexroth selbst hilft mir nach  Nachfragen nicht weiter. Ich freue mich über jede Bestätigung, Quelle oder Hinweise zum Vorgehen!Vielen Dank im Voraus für eure Unterstützung.Viele Grüße Thomas

Hi, yes that is possible. I would actually reccommend the esp32 over the Arduino, as if I remember correctly the ADC resolution is better on the ESP.
I only ever used it with USB interface.
If you know what you are doing I guess you can run it in ttl2USB too.