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Good evening everyone, I'm having a problem, I don't know where I'm going wrong, I do the ST Linkv2 procedure and it does everything right, but it doesn't appear as a unit on the PC, when I go to connect it to the PC with pyocd it doesn't find the ST Link, I've already bought 3 different ST Links and all 3 do the same thing, I don't know if my pyocd installation is wrong or not, I've redone the installation several times, I don't know where the problem is.

Servus,

ich spiele schon länger mit dem Gedanken, auf LinuxCNC umzusteigen... jetzt habe ich gesehen, dass es das auch für den Pi4 gibt.... umsobesser

Die erste Frage ist nun aber, welche Steuerungsplatine sollte man hinter dem Raspi nutzen ? Aktuell habe ich Mach3... aber das mit der Echtzeit und alter gefällt mir nicht mehr!

Wer hat hier Tips für die Hardware zusammenstellug ? Handrad sollte auch noch her!

Grotius wrote:

Hi Rod,

The Cia-402 i have seen the source code. It does not much.
It sends and recieves position, velocity, torque  trough a can protocol?

Yes, the cia402 protocol defines a state machine to turn on a machine using a standard control word and a status word confirming current machine state. The attached PDF is a good summary

There are also a loosely defined  set of PDOs

What we really need is a component that just defines the turn on sequence and then a seperate homemod for drive homing. It may be possible to do the turn on in the homemod so there is only one module but it might then sit outside the hal lcec Ethercat loop so it may run one servo thread cycle behind.

The issue has been reported here: github.com/LinuxCNC/linuxcnc/issues/2753

Hi Andy,

I have been working on this ATC over 3 moths now. So far I released the magic smoke of two mesa cards, but the retrofit must continue.

Thank you for creating this component, It has tough me a lot in regards how linuxcnc and a CNC machine works.

It does makes more sense driving the ATC with G-code.

I discarded this idea, because you mention that carousel component was not designed to be used as an axis.
I guess we can scratch that lol

How would you go about it driving the ATC with G-code?

would you have a bunch of if statements?

for example:

if M6T1 then G53 G0 A2 (and the rest of the operations)
if M6T2 then G53 G0 A3 (and the rest of the operations)

Would I have to update the iocontrol with G-code every time the tool changes?

I have a lot of respect and admiration of your work.
is truly an honor that you respond to my question.

Thank you,

Hi Aciera,

sorry for reply a bit late. I was on vaccation. Thank you so so much for this incredible help! I downloaded it and played i bit arround and it looks realy good.

I changed the travel limits for the B-Axis, because the head can swivel from "looking" left and right into the z direction. This caused some trouble. I need to spend more time with it to know what needs to be "polished".

Also i saw, that in the Identity Mode the Axis soft limits work fine, but in TCP-Mode the maschine runs into the joint hard limits.

I hope in find time during the weekend to dig myself further into your example. Thanks again for the amazing help!

Kind regards,
Jochen

Alternatively this might be one case where it makes sense to define the toolchanger as an axis and drive it from pure G-code.

Well, one thing I can tell you is that I never imagined that a toolchanger like that existed when I created the carousel component

It's a neat idea, actually, I quite like the design.

You could maybe set the carousel.0.rev-pulse to some value, but to be honest I don't think that would work properly, as it assumes that the motor is allowed to slip against a hard stop, and that's not going to work in counts mode.

I think that one way to do what you want would be to add a mux2 to switch the velocity command.

Change

Then set up (and tune) the PID to park the changer and hold it there.

A better option might be to modify the carousel.comp to add an extra park state in the state machine. Do you have any familiarity with C code?

Hi Tia,

I don't know why it won't run with cia-402.
We have more users with the same problem.

However the cia-402 source code does nothing with acceleration. Only torque, vel, pos.

Is there a alternative to the cia-402?  

if you want to access my machine remotely i can give you access

Tried to compile but got this:

In file included from emc/planner/curve.h:14,
                 from emc/planner/feed.h:15,
                 from emc/planner/feed.c:12:
emc/planner/emcmot_segment.h:27:10: fatal error: segment.h: No such file or directory
   27 | #include "segment.h"

 

Hi Tia,

I don't know why it won't run with cia-402.
We have more users with the same problem.

However the cia-402 source code does nothing with acceleration. Only torque, vel, pos.

Is there a alternative to the cia-402? 

nothing but something:D

cakeslob wrote:

Are all the drivers the same, or did you do your check all axis with the same driver?
 

hi
the same driver for all axes.
I tried to unsolder the chip, without success
the board does not respond, for now I do not think I will buy another
thanks for the support

this is from my INI file. i raised the values but see no difference.
before i tried with the values you send, is the same on the ethercat config example



[TRAJ]
TPMOD = tpmod_scurve
COORDINATES = X Y Z
LINEAR_UNITS = mm
ANGULAR_UNITS = degree
DEFAULT_LINEAR_VELOCITY = 20800.33
MAX_LINEAR_VELOCITY = 20800.33
DEFAULT_LINEAR_ACCELERATION = 350000
MAX_LINEAR_ACCELERATION = 350000
POSITION_FILE = position_mm.txt

Are all the drivers the same, or did you do your check all axis with the same driver?