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are you compiling with release or debug? idk which one but people report trouble with one

This is what my hal shows for one of my axis servos, should be stp/dir. Does this look like a step/dir or analog code.

#*******************
# AXIS X JOINT 0
#*******************

setp pid.x.Pgain [JOINT_0]P
setp pid.x.Igain [JOINT_0]I
setp pid.x.Dgain [JOINT_0]D
setp pid.x.bias [JOINT_0]BIAS
setp pid.x.FF0 [JOINT_0]FF0
setp pid.x.FF1 [JOINT_0]FF1
setp pid.x.FF2 [JOINT_0]FF2
setp pid.x.deadband [JOINT_0]DEADBAND
setp pid.x.maxoutput [JOINT_0]MAX_OUTPUT
setp pid.x.error-previous-target true
# This setting is to limit bogus stepgen
# velocity corrections caused by position
# feedback sample time jitter.
setp pid.x.maxerror 0.000500

net x-index-enable <=> pid.x.index-enable
net x-enable => pid.x.enable
net x-pos-cmd => pid.x.command
net x-pos-fb => pid.x.feedback
net x-output <= pid.x.output

# ---PWM Generator signals/setup---

setp hm2_7i76e.0.7i77.0.3.analogout1-scalemax [JOINT_0]OUTPUT_SCALE
setp hm2_7i76e.0.7i77.0.3.analogout1-minlim [JOINT_0]OUTPUT_MIN_LIMIT
setp hm2_7i76e.0.7i77.0.3.analogout1-maxlim [JOINT_0]OUTPUT_MAX_LIMIT

net x-output => hm2_7i76e.0.7i77.0.3.analogout0
net x-pos-cmd joint.0.motor-pos-cmd
net x-enable joint.0.amp-enable-out
# enable _all_ sserial pwmgens
net x-enable hm2_7i76e.0.7i77.0.3.analogena

# ---Encoder feedback signals/setup---

#setp hm2_7i76e.0.encoder.01.counter-mode 0
#setp hm2_7i76e.0.encoder.01.filter 1
#setp hm2_7i76e.0.encoder.01.index-invert 0
#setp hm2_7i76e.0.encoder.01.index-mask 0
#setp hm2_7i76e.0.encoder.01.index-mask-invert 0
#setp hm2_7i76e.0.encoder.01.scale [JOINT_0]ENCODER_SCALE

net x-pos-fb <= hm2_7i76e.0.encoder.01.position
net x-vel-fb <= hm2_7i76e.0.encoder.01.velocity
net x-pos-fb => joint.0.motor-pos-fb
net x-index-enable joint.0.index-enable <=> hm2_7i76e.0.encoder.01.index-enable
net x-pos-rawcounts <= hm2_7i76e.0.encoder.01.rawcounts

# ---setup home / limit switch signals---

net x-home-sw => joint.0.home-sw-in
net x-neg-limit => joint.0.neg-lim-sw-in
net x-pos-limit => joint.0.pos-lim-sw-in

You should be aware that Linuxcnc is limited to 3 axis look ahead. I’m not sure what that looks like for you, sounds like maybe you’re going to lock out the X axis or the design has it centered over the chuck permanently. But if you’re planning to have XYZA, then know that motion may be jerky (running similar to 3+1), and will not be coordinated with the smooth transitions you’re probably used to seeing out of a 4/5 axis plasma cutter. This will probably be problematic for cut quality.

Of course do your own simulation/testing but wanted you to be aware of the limitations software side.

Pipe:
-up to 4 feet but generally no longer than 1 foot
-up to 10” possibly
-2 roller supports bearing the weight of the pipe

The torch will move on the Y axis and the Z axis. The pipe will rotate on the X axis

What length pipe?
What diameter pipe?
Moving torch or moving pipe?

I’m going to build a pipe cutting plasma. To spin the pipe it will be in a lathe chuck. What kind of motor should I use to spin the lathe chuck? The pipe will be very well supported as well as the chuck. So it won’t be too heavy on the chuck itself.

I'm concerned that a stepped motor might not provide enough strength, but I need something I can control precisely.

i think you are little bit wrong because of mapping... mapping is used to setup communication canal to shape which you need...

you can use legacy or mdp but there will be different temps for your program.. if you will use MDP, my profibus component will not work probably... I had to check them...  but for setup purposes of communication start it is OK

but all of them will need SDOs which tells the slave how to communicate with its master ...

It sounds like you're experiencing intermittent motor position errors, which can often happen with stepper motor setups due to following errors or configuration tuning.

Preview of ethercat test:

www.youtube.com/shorts/sKFA5jFS64c
 

@Smc.collins,

That's more or less what's going on.

Maybe you could run multiple trajectory planners in lcnc. But still you have just one
shared memory region, and one interpreter.

Today the realtime example is tested on real hardware using ethercat bus.
This is source code looks like RTAPI & HAL,  but is coded entirely from scratch.
Purposing it can load multiple instances of rtapi & hal.

// Ethercat EK1100 & EL2124
ethercat code

// Qt gui
qt_code

// Rtapi & hal lookalike code to run the application.
function loader

This test was going very well.
The qt app has buttons to set the ethercat digital io's.
The function loader also  connect's the hal pins over different shared memory regions.

Thanks a lot. I'll have a try as soon as possible.
If I understand your question right: I do use the MDP mapping (not the legacy) since I thought that then I do not need any SDO configuration in the ethercat conf, all the startup stuff is then stored at the EL6731 itself -- but I just followed some advice in this Forum, clearly I do not know what's really happening.

BR Franz

Hi,

I frequently run into issues like this where I receive the message seen in the screenshot and I am not sure where the problem is. The message points to an issue with Joint 2 (Z-Axis) on a line without Z-Axis command. 

My Machine Axis is defined as X=0 at the upper most point XY=0 at the lower left. I referenced the work piece XYZ=0 at the left bottom (XY) on top of my material.

This is the second Tool used on this work piece (first was planing, now it's pocket milling).

And thanks for the pointer to the probe update.

Thanks, I will have a look at those lines tonight.
Also, Tommylight's reply appears to raise concerns re the parallel port. Is the below possibly relevant?

• Make sure LinuxCNC does not prevent the Linux parport_pc driver from loading. Older versions of LinuxCNC would blacklist parport_pc in /etc/modprobe.d/linuxcnc.conf (or /etc/modprobe.d/emc2.conf for even older versions of LinuxCNC). Comment out any lines in either of those files that looks like this:
  install parport_pc /bin/true
• Make sure your Hal configuration does not have loadrt probe_parport in any .hal file.
  
  And possibly this is also a problem now? 
  "Joints_axes updates
  When you update LinuxCNC, the update_ini script will automatically convert your user configurations. If the script detects that your configuration needs to be updated, it will offer to edit your user files and create an updated configuration. "
  
  If there are multiple more problems, maybe I should have/still could try to update my old computer Linuxcnc (not sure of version offhand but c.2007) before copy over the linuxcnc folder?

Edit: I did originally consider updating linuxcnc first but believe my version of Debian is too old for that, so probably not a route I can go down.

Seems to be a problem with python2/gtk2 vs python3/gtk3. With version 2.9 Linuxcnc no longer supports python2/gtk2 so  'stdglue.py' , 'probe_screen.py'/'probe_screen.glade' and possibly 'spindle_button.glade' would need to be updated.


[Edit]

This might be of interest:
github.com/verser-git/probe_screen_v2.9