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Hi peeps,

So I have a mesa 7i95t and I'm using two of the ssr outputs to operate a relay board that in turn operates some solenoids.

What i am experiencing is. Occasionally when the relays are opened and closed quickly I'm getting some EMI when the coil collapses causing my monitor to turn off for a second. and the occasional estop.
I know I need to add in some flyback diodes to stop this. But......where do I put them? Usually you would go across the positive and ground. But my relay board has 5 channels. So it has a main positive and ground
 then a separate ground for each channel that comes from the 7i95t output pin. Do I put the diode across the positive and signal from the 7i95t or across the positive and relay ground? I will attach a pic of the relay boards and a very bad sketch of what i mean.


Thanks in advance    

thanks Russell for the inspiration

github.com/multigcs/riocore/tree/dev/riocore/plugins/riosub

but it will be a long time before it works properly.

imagine doing cam on a mac ,fulltime

HaHA Pseudo-professional is funny. My paychecks seem to work just fine even though I program with a Windoze PC

Hallo miteinander, 
 
ich habe mir vor einigen Jahren eine Portalfräse in XXYZ Konfiguration selbst gebaut. Damals hatte ich mich für eine Steuerung entschieden, die auf der Software Syntheos G2 [1] und CNCjs [2] aufbaut. Als Hardware dazu dient ein Arduino Due mit einer selbst entworfenen Platine, um an all die Ausgänge zu kommen.
Meine Achsen werden von JMC iHSV57-30-18-36 Servos angetrieben, meine Spindel ist eine Mafell FM1000PV. Außerdem ist ein Pilz PNOZ X3 Sicherheitsgerät verbaut, dass bei Nothalt u.a. die Spannungsversorgung von Spindel und Servos unterbricht.

Aus mehreren Gründen möchte ich jetzt meine Steuerung umbauen. Der wichtigste davon ist, dass die Steuerung manchmal ohne ersichtlichen Grund mitten im Programm stecken bleibt, die Spindel dann aber weiter läuft… keine gute Situation, da sie einem das Werkstück versauen kann.
 
Für meine neue Steuerung habe ich mich dazu entschieden, LinuxCNC einzusetzen und auf EtherCAT als etablierten Industriebus zu setzen. Seit einiger Zeit gibt es die JMC Servos auch in einer EtherCAT Variante, sodass ich auf Schnittstellenkarten zur Erzeugung von Schritt- und Richtungspulsen verzichten kann. Zusätzlich möchte ich meine Achsen noch mit einem zweiten Limit-Switch ausstatten und ein XHC WHB04b-6 Handrad hinzufügen.
Es steht allerdings noch die Entscheidung aus, ob ich einen Laptop (Thinkpad T400 oder T430) oder einen Raspberry Pi 4 oder 5 als Fräsrechner verwende.
 
Bevor ich jetzt allerdings meine funktionierende Fräse auseinander nehme möchte ich die neue Steuerung in einem Testaufbau in Betrieb nehmen.

Dank der guten Beschreibung hier im Forum hatte ich kein Problem, die grundsätzliche EtherCAT Funktionalität einzurichten. Ich sehe alle Schnittstellenkarten und Servos und kann den Status der Ein- und Ausgänge auslesen. Allerdings fehlt mir irgendwie noch ein kleines, aber entscheidendes Stück Verständnis, wie die INI und HAL Dateien aufzubauen sind… vielleicht wäre jemand so hilfsbereit und würde eine funktionierende Konfiguration veröffentlichen? Natürlich nur als Spickzettel, um daraus zu lernen.
 
Es folgt eine Detailübersicht über den aktuellen Aufbau der Steuerung:

 1 Laptop oder Raspi, mit USB Empfänger für das XHC WHB04b-6 Handrad, verbunden mit
 2 Beckhoff EK1100 Buskoppler
 3 Beckhoff EL1018 8-fach Digitaleingangskarte 10µs
 4 Beckhoff EL1018 8-fach Digitaleingangskarte 10µs
 5 Beckhoff EL2008 8-fach Digitalausgangskarte 0,5A 
 6 Beckhoff EL2008 8-fach Digitalausgangskarte 0,5A
 7 Beckhoff EL2024 4-fach Digitalausgangskarte 2,0A
 8 Beckhoff EL4104 4-fach Analogausgangskarte 0-10V
 9 Beckhoff EK1122 2-fach EtherCAT Abzweig
10 JMC iHSV57-30-18-36-EC für X1-Achse
11 JMC iHSV57-30-18-36-EC für X2-Achse
12 JMC iHSV57-30-18-36-EC für Y-Achse
13 JMC iHSV57-30-18-36-EC für Z-Achse

Die Ein- und Ausgänge sind wie folgt belegt:

 3.1 Limit-Switch X1 Min+Referenz
 3.2 Limit-Switch X1 Max
 3.3 Limit-Switch X2 Min+Referenz
 3.4 Limit-Switch X2 Max
 3.5 Limit-Switch Y Min+Referenz
 3.6 Limit-Switch Y Max
 3.7 Limit-Switch Z Min+Referenz
 3.8 Limit-Switch Z Max

 4.1 Werkzeuglängensensor
 4.2 Erkennung Nothalt (von Ausgang Sicherheitsgerät)
 4.3 Überwachung Spannungsversorgung Servos
 4.4 - 4.8 zur Zeit nicht belegt

 5.1 - 5.8 zur Zeit nicht belegt

 6.1 - 6.8 zur Zeit nicht belegt

 7.1 Ansteuerung Spannungsversorgung Frässpindel
 7.2 Ansteuerung Spannungsversorgung Absaugung
 7.3 - 7.4 zur Zeit nicht belegt

 8.1 Drehzahlsteuerung Frässpindel
 8.2 - 8.4 zur Zeit nicht belegt

Für die Konfiguration der Servos habe ich hier im Forum letztlich zwei unterschiedliche Möglichkeiten gefunden. Zum einen als "normales" CIA402 kompatibles Gerät oder, indem man die Konfiguration über PDOs selber macht. Gibt es dazu Empfehlungen? Ich hänge mal beide XML dazu an.

Ich würde mich über jeden Schubs in die richtige Richtung und über jede Hilfe freuen.
Da ich mir sicher bin, dass ich nicht alle notwendigen Informationen hier im ersten Post mitgeliefert habe, lasst mich wissen, was noch fehlt. Bei Interesse mache ich auch gerne Bilder von Fräse und Testaufbau.

Vielen Dank für die Unterstützung,

  Uwe

[1] github.com/synthetos/g2
[2] cnc.js.org/

Yeah, I wonder what that can be. lcec crashes with signal 11, segmentation fault.
It's not a simple configuration error that causes that. Well, who knows.

I think of a few things one can try.
In ethercat-conf.xml, comment out all slaves. Linuxcnc should at least not crash on lcec, instead one expects a lot of missing pins. Then, enable/uncomment slave after slave in ethercat-conf.xml until you see what is causing the problem.

I think you should back to the previous xml-entry for the A6 servo. There needs to be the <watchdog> entry and syncmanager 0 and 1 need to be in there even if they are empty. From what I have read about that servo.

The attached hal file was empty, but I see in the linuxcnc startup error list you have a homemod module. Comment out that for now.

In the ini file you have a lot of references to sim_*.hal (HALFILE), they need to be commented out. They can't be in the real version.

So it will be a bit of step by step. First figure out why lcec crashes and fix that. Then get the servo going and then work on the config.


 

chuben wrote:

Good morning, I want to update my Qtplasma and would like to know if there is a step-by-step guide for doing so. Thank you.
 

linuxcnc.org/docs/devel/html/plasma/qtpl...c.html#plasma:update


Of course that won’t work if you are you on v2.9 looking to go to v2.10. Could you be more specific with what version you are on and where you’re trying to get to?

It was just some guy selling it. With a new Facebook profile, once I saw the images were identical to the ones here it was a red flag. He says he has people interested today. He hasn't asked for a deposit so might be legit after all.

All the "professional" CAM software is Autodesk.

its barely in the top3, probably mostly because of the free fusion option, and they bought their way in with the others. fusion360 is basically a clone of mastercam but with tons of bullshit added. The professional cam software is mastercam, 3d systems and siemens, and autodesk barely makes the cut

BTW, thanks for helping!

I have limit switches on the Z-Axis, lower and upper. I

1. Jog positive and trigger the upper limit switch
2. Jog negative off the limit
3. "Zero" via the UI the Z-Axis
4. The W54 Z-position will "reset" to a non-zero number
5. The absolute machine position does not change
6. repeat 1-4
7. The "zeroed" W54 position will increase by around .300 with each jog cycle.
8. The absolute position remains the same for the Z-position I am zeroing.

 

At the moment, rotorhoming starts when i power on the machine.
The problem is that i want to home the z-axis first.

Howdy all,
     I am working out the high level architecture (and ordering) for a Ethercat retrofit of my CNC Mill ( its VFD is dying and its as good an excuse as any to re work may decisions I made on it when I converted it to LinuxCNC the first time).. 

Anyways, I am looking at the MPG and realizing that I have open IO pins on my pi (like all of them).

So here is my current "plan" for I/O which I would love feedback on 

1x EK1100 - Ethercat to FieldBus coupler
2x EL1819  - 16 inputs (I need 28 so 2 it is) - (the response time is killer vs the EL1809)
1x EL2819 - 16 output (need 11 so that works)
1x EL5151 - Encoder for the MPG  <-- this is where I would love feedback because this guy is $250 used

The really open question is what risks on integration and general PITA am I facing if I use my Pi's IO pins to handle MPG encoder rather than the spendy EL5151. 

I plan to use either Leadshine or Innovance mult-turn servos for all of my motors and spindle so my only current known need for an encoder is the MPG...  This is less a question of "can I mix Ethercat with Pi IO pins" and more a question of "should I"... Am I setting myself up for sparks and pain getting the realtime thread where the Pi IO will come in syncing with the rest of the system that is all running on the Server Thread? 

To that end, should I be using other parts of the Pi's IO for emergency stuff like e-stop? 

Thanks in advance. 

You were right: The servo had a slave id o as well as the ek1100. I fixed that. The error msg seems to stay the same.

wopass: load_the_modules cmd=<orig_loadrt lcec>
waitpid failed /usr/bin/rtapi_app lcec
/usr/bin/rtapi_app exited without becoming ready
insmod for lcec failed, returned -1

Shutting down and cleaning up LinuxCNC...
Removing HAL_LIB, RTAPI, and Real Time OS modules
Removing NML shared memory segments

Debug file information:
Note: Using POSIX realtime
LinuxCNC Ethercat crashed with signal 11
-- STACK TRACE START
0 /usr/lib/linuxcnc/modules/lcec.so(+0xfc8c) [0x7f3c65f33c8c]
1 /lib/x86_64-linux-gnu/libc.so.6(+0x3c050) [0x7f3c66e4d050]
2 /lib/x86_64-linux-gnu/libethercat.so.1(ecrt_slave_config_pdos+0x2f) [0x7f3c65ef752f]
3 /usr/lib/linuxcnc/modules/lcec.so(rtapi_app_main+0x40a) [0x7f3c65f34f38]
4 /usr/bin/rtapi_app(+0x10cd7) [0x5595ad189cd7]
5 /usr/bin/rtapi_app(+0x1162e) [0x5595ad18a62e]
6 /usr/bin/rtapi_app(+0x11c2c) [0x5595ad18ac2c]
7 /usr/bin/rtapi_app(+0xc974) [0x5595ad185974]
8 /usr/bin/rtapi_app(main+0x70f) [0x5595ad18544f]
9 /lib/x86_64-linux-gnu/libc.so.6(+0x2724a) [0x7f3c66e3824a]
10 /lib/x86_64-linux-gnu/libc.so.6(__libc_start_main+0x85) [0x7f3c66e38305]
11 /usr/bin/rtapi_app(_start+0x21) [0x5595ad185861]
-- STACK TRACE END
Waiting for component 'cia402' to become ready.Waited 3 seconds for master. giving up.
Note: Using POSIX realtime

5660
Stopping realtime threads
Unloading hal components
Note: Using POSIX realtime
lcec: not loaded
<commandline>:0: exit value: 255
<commandline>:0: rmmod failed, returned -1
Note: Using POSIX realtime
motmod: not loaded
<commandline>:0: exit value: 255
<commandline>:0: rmmod failed, returned -1
Note: Using POSIX realtime
trivkins: not loaded
<commandline>:0: exit value: 255
<commandline>:0: rmmod failed, returned -1
Note: Using POSIX realtime
homemod: not loaded
<commandline>:0: exit value: 255
<commandline>:0: rmmod failed, returned -1
Note: Using POSIX realtime
tpmod: not loaded
<commandline>:0: exit value: 255
<commandline>:0: rmmod failed, returned -1
<commandline>:0: unloadrt failed
Note: Using POSIX realtime

This is what dmesg shows:

[ 4.277444] ec_master: loading out-of-tree module taints kernel.
[ 4.277719] ec_master: module verification failed: signature and/or required key missing - tainting kernel
[ 4.314529] EtherCAT: Master driver 1.6.4 1.6.4.g703b611-1+17.2
[ 4.314659] EtherCAT: 1 master waiting for devices.
[ 4.337595] ec_generic: EtherCAT master generic Ethernet device module 1.6.4 1.6.4.g703b611-1+17.2
[ 4.337610] EtherCAT: Accepting A0:36:9F:47:90:13 as main device for master 0.
[ 4.337624] ec_generic: Binding socket to interface 2 (enp2s0).
[ 4.360462] EtherCAT 0: Starting EtherCAT-IDLE thread.
[ 4.510128] NET: Registered PF_QIPCRTR protocol family
[ 6.785160] igb 0000:02:00.0 enp2s0: igb: enp2s0 NIC Link is Up 100 Mbps Full Duplex, Flow Control: RX
[ 6.785464] IPv6: ADDRCONF(NETDEV_CHANGE): enp2s0: link becomes ready
[ 6.792420] EtherCAT 0: Link state of ecm0 changed to UP.
[ 6.804450] EtherCAT 0: 8 slave(s) responding on main device. Re-scanning on next possibility.
[ 6.804453] EtherCAT 0: Slave states on main device: PREOP.
[ 6.804454] EtherCAT 0: Re-scanning now.
[ 6.804968] EtherCAT 0: Scanning bus.
[ 7.713258] e1000e 0000:00:1f.6 enp0s31f6: NIC Link is Up 1000 Mbps Full Duplex, Flow Control: Rx/Tx
[ 7.713306] IPv6: ADDRCONF(NETDEV_CHANGE): enp0s31f6: link becomes ready
[ 8.683950] EtherCAT 0: Bus scanning completed in 1876 ms.
[ 8.683953] EtherCAT 0: Using slave 0 as DC reference clock.
[ 192.576441] EtherCAT: Requesting master 0...
[ 192.576444] EtherCAT: Successfully requested master 0.
[ 192.576962] EtherCAT 0: Domain0: Logical address 0x00000000, 4 byte, expected working counter 6.
[ 192.576964] EtherCAT 0: Datagram domain0-0-main: Logical offset 0x00000000, 4 byte, type LRW.
[ 192.576972] EtherCAT 0: Master thread exited.
[ 192.576973] EtherCAT 0: Starting EtherCAT-OP thread.
[ 192.972388] EtherCAT 0: Slave states on main device: PREOP, OP.
[ 219.612558] EtherCAT 0: Master thread exited.
[ 219.612573] EtherCAT 0: Starting EtherCAT-IDLE thread.
[ 219.612597] EtherCAT ERROR 0-5: Failed to receive AL state datagram: Datagram initialized.
[ 219.612606] EtherCAT 0: Releasing master...
[ 219.612607] EtherCAT 0: Released.
[ 219.700744] EtherCAT 0: Slave states on main device: PREOP.
[ 219.788706] EtherCAT WARNING: Datagram 00000000c1702745 (master-fsm) was SKIPPED 1 time.
[ 1676.699770] EtherCAT: Requesting master 0...
[ 1676.699773] EtherCAT: Successfully requested master 0.
[ 1676.705131] EtherCAT 0: Releasing master...
[ 1676.705134] EtherCAT 0: Released.
[ 2530.014495] EtherCAT: Requesting master 0...
[ 2530.014498] EtherCAT: Successfully requested master 0.

I can`t really understand what`s going wrong

Can you give a bit more detail about your system, and what problem you are trying to solve, and how this will achieve that?
By "planner" I assume you mean the trajectory planner?

I am now even more confused about what's going on.
Are you actually hitting the limit switch? Or do you mean that you jog to the top soft-limit, zero the coordinate system, and then jog away again this inexplicable offset appears?

Do you have anything like external offsets enabled? Any unusual kinematics?