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Thank you for the quick reply.

We think the motors are DAE HWA D860-30B7 TC-9, but the manufacturer, K2, went out of business right after we bought the router, back in 2014, and we never received any documentation for it.

Other components:
Control: MESA 7i95T
Servo Amplifiers: Pico Systems PWM Servo Amplifiers
Encoders: Same Sky AMT113S-V
VFD: Delta VFD037C23A
Spindle: HSD Model ES 915A 2P H1

I've tried read and understand your guide many times before (as our previous consultant sent me it when he gave up on the tuning) but it's clearly meant for someone with deeper familiarity with the terminology than I have.

For example, when you say "Make sure you have 5V logic power, Vin and Vfield, or at least Vin with the jumper set for Vfield. Anything from 8 to 28V can be used." I have no idea how I'm supposed to do that.

Or shortly after that: "Try to get the scaling right for the encoders if you have info on the /encoder counts/lead screw pitch/reduction ratio/belt pulley teeth etc. Any change of the scale on a tuned axis will mess up the tuning, depending on how much it changed." How do I "get the scaling right", what am I checking or changing to make sure the scaling is right?

These are only two examples - your guide is clearly a wonderful aid for people with a deeper understanding of these systems and processes than I have, but it is well beyond my ability to utilize it without first spending many many hours of technical learning to get to the level where I can understand and follow the guide. This is why I would much rather hire an expert - someone who can either utilize your guide, or knows their way around these systems well enough to finish the retrofit without any guides.

I switched from my old Ubuntu Apache2 server to a new FreeBSD NGINX-lite server.

This new server should be very fast!

Commonly used LinuxCNC ISO files are alternatively available (with their MD5 sum) at:

 www3.langdonstaab.ca/iso/LinuxCNC/

The download speed is around 90MB/s, at least 150% the speed of linuxcnc.org/iso/

The server is located in Toronto, Canada; speed will diminish with distance (roughly, not exactly proportionally).

EDIT:
The new server appears to be broken; I'm switching back to the old one.
FreeBSD is great; I will miss it.
DELL sucks!
Apple is the best!
NGINX is great, though Apache2 is fast enough.

Thanks for the update. It looks so cool.

Hey It seems that I also have encountered this problem... Can you please tell what exactly needs to change sii eeprom file or the compilation of ethercat master with eoe disable option. If possible direct me to the suitable solution.

Can someone help me create ``rack_change.ngc`` based on my configuration and pocket coordinates, I tried without python because I don't know where to put path and toplevel because those files don't exist in my configuration, just simple ngc, the example from github doesn't work. The last one I sent only works on the m6 command from mdi so it starts lowering z, it doesn't wait to check if the tool is in the pocket because for each tool I have an inductive sensor that is active high, when there is no tool it becomes active low...rack is very simple, only the y coordinates in the game are from g53 and the change should happen at z-170mm, the M6 ​​t1 command for example just plays play without any movement, and m6 goes to the first pocket because I defined the y offset y-80 in the tooltable.Thanks
 

I don't think you can improve much on this without building the kernel from source and changing some of the config parameters. (which is not hard)
here are a couple of links I had saved
ubuntu.com/blog/real-time-kernel-tuning
eci.intel.com/docs/3.3/development/perfo...e/rt_scheduling.html
I did try installing the Intel tools but they did not like Trixie.

the only other idea I explored was to use time sensitive networking (TSN) protocols en.wikipedia.org/wiki/Time-Sensitive_Networking
But I think this would require writing a new hm2-eth driver (hm2-tsn?) and changes to the mesa hardware to support it.
This should solve the issue where networking does not currently support real time (networks are inherently store and forward so never designed for RT comms) but its not a trivial project. This would require TSN capable network cards but these are available at reasonable cost but the common entry level i225/i226 cards do not support TSN. ref: www.intel.com/content/www/us/en/support/...rs-up-to-2-5gbe.html I did find some for USD $70 to $150

Have a look at the 'extra joints' feature. You might have to configure at least one regular joint/axis for motmod to be happy but that still leaves 15 to be used as 'extra joints'. Homing extra joints is handled just like regular joints but are controlled through hal pins after homing. For more info see links in this post:
forum.linuxcnc.org/24-hal-components/577...h-push-button#338305

masawee wrote:

this link has only pi 4 images, not any oi 3. what need doing can use pi 3 and linuxcnc, what is patch and how need doing, or what need doing, not understand , ready to install pi 3 image only need how need patch or what this mean and how change kernel if need no understand anything linux and code, secret engineer language all.

This is getting silly, 3 times you post, I did try to help you with your first post. You didn't say you were using RPi3B to begin with. I did politely ask what your native language was, so we could find someone to help you, as it quite clear English is not your first language.
First of all I think you need to find some Linux info in your own language, this forum is not here how to teach people how to use Linux takes way too much time. Anything Linuxcnc we can help.

what this all code have ??? not understand anything. have linuxcnc image what can add to SD card and run rpi3 ready to use, i not understand this all secret code anything, what need doing or how doing and were doing.

need only image who working and can run rpi 3 board and connect stepper drivers DM556 to rpi and run nema 23 motors. whit linuxcnc.

you mean this one?
forum.linuxcnc.org/configuration-tools/5...ale-vs-encoder-scale

this link has only pi 4 images, not any oi 3. what need doing can use pi 3 and linuxcnc, what is patch and how need doing, or what need doing, not understand , ready to install pi 3 image only need how need patch or what this mean and how change kernel if need no understand anything linux and code, secret engineer language all.

not understand what is compile and how need do ? or have ready to use image to rpi3.
i looking make rpi3 linuxcnc small cnc my son.
or how kernel need use or how can change kernel or what need doing. too hard all linux system but have only what can use good whit linuxcnc and rpi3 board. not want buy old computer and paraller port use this.

If gentelmen have any other tips for reducing latency .. share it please

I did changes for my machine and it runs for few days at 3khz without problem...

Reading the datas take less then 250us with timeout 100000ns and 250us is now limit... + Other stuff in the thread and we are under the 300us

Motion is smoother by the sound and scope profile and compensation of position in the velocity mode is faster==smoother ... It is real difference now

 

I'm thinking that would be a great idea.

Regards
Bob

I've just been down that road (at least one of them):

forum.linuxcnc.org/9-installing-linuxcnc...aughter-board#339636