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@Morley,

Or just incorporate their better planner into linuxcnc,
I have looked at this. The way lcnc uses it's planner is far of path pilot uses it's planner.
And this seems not to be their latest planner. So integrating is not easy as my first attempt failed.

We have already a new planner wich is tested. It's also tested on plasmac yesterday by Joco,
but that test was not showing the probe sequence. So i have to look at that soon. As i am working
on a different subject now.



 

Video?

I'm facing an issue with my Z-axis linear guide, and I could use some advice.The axis is mounted upright, and I’ve noticed significant vibrations. At higher speeds (10,000 mm/min), the vibrations are less pronounced, but at lower speeds (3,000 mm/min), they are much more noticeable. Interestingly, the issue becomes more severe when the block on the linear guide moves farther away from its mechanical fixing point.I’ve already tried changing the motor stepping settings, but it hasn’t resolved the problem.If anyone has experienced a similar issue or has suggestions for troubleshooting, I’d greatly appreciate your input.Thank you in advance!
Ini for reference.

# EMC controller parameters for a simulated machine.
# General note: Comments can either be preceded with a # or ; - either is
# acceptable, although # is in keeping with most linux config files.

# General section

---

[EMC]
VERSION = 1.1
MACHINE = my_gui
DEBUG = 0

# Sections for display options

---

[DISPLAY]
DISPLAY = my_gui
# Log level:
# DEBUG       -d
# INFO        -i
# VERBOSE     -v
# ERROR       -q

# Cycle time, in milliseconds, that display will sleep between polls
CYCLE_TIME = 100

# Values that will be allowed for override, 1.0 = 100%
MAX_FEED_OVERRIDE    = 2.0
MAX_SPINDLE_OVERRIDE = 1.2
MIN_SPINDLE_OVERRIDE = 0.5

# Max and default jog speeds in units per second
MAX_LINEAR_VELOCITY     = 800
DEFAULT_LINEAR_VELOCITY = 100
MAX_ANGULAR_VELOCITY    = 234
DEFAULT_SPINDLE_SPEED   = 450

# Prefix to be used
PROGRAM_PREFIX = /home/cnc/linuxcnc/nc_files

# Introductory graphic
#INTRO_GRAPHIC = linuxcnc.gif
#INTRO_TIME = 5

# list of selectable jog increments
INCREMENTS = 1.000 mm, 0.100 mm, 0.010 mm, 0.001 mm, 1.2345 inch

# for details see nc_files/subroutines/maco_instructions.txt
[FILTER]
PROGRAM_EXTENSION = .png,.gif,.jpg Grayscale Depth Image
PROGRAM_EXTENSION = .py Python Script
png = image-to-gcode
gif = image-to-gcode
jpg = image-to-gcode
py = python3


# Task controller section

---

[RS274NGC]
RS274NGC_STARTUP_CODE = G17 G21 G40 G43H0 G54 G64P0.005 G80 G90 G94 G97 M5 M9
PARAMETER_FILE = sim.var
SUBROUTINE_PATH = macros

# Motion control section

---

[EMCMOT]
EMCMOT =              motmod
COMM_TIMEOUT =          1.0
BASE_PERIOD  =          100000
SERVO_PERIOD =          1000000

[HMOT]
CARD0=hm2_7i96s.0


# Hardware Abstraction Layer section

---

[TASK]
TASK =                  milltask
CYCLE_TIME =            0.001

# Part program interpreter section

---

[HAL]
HALFILE = my_gui_DEVICE.hal
# Single file that is executed after the GUI has started.
#POSTGUI_HALFILE = my_gui_postgui.hal
HALUI = halui
SHUTDOWN = shutdown.hal


# Trajectory planner section

---

[HALUI]
#No Content

[TRAJ]
COORDINATES =      X Y Z 
LINEAR_UNITS =     mm
ANGULAR_UNITS =    degree
DEFAULT_LINEAR_VELOCITY = 100
MAX_LINEAR_VELOCITY = 800.0
POSITION_FILE =    position.txt
#NO_FORCE_HOMING = 1

[EMCIO]
EMCIO =         io
CYCLE_TIME =    0.100

# tool table file
TOOL_TABLE = tool.tbl
TOOL_CHANGE_POSITION = 100 100 -10
TOOL_CHANGE_QUILL_UP = 1

[KINS]
KINEMATICS = trivkins coordinates=xyz
JOINTS = 3

[AXIS_X]
MIN_LIMIT = 0
MAX_LIMIT =  370.0
MAX_VELOCITY = 800.0
MAX_ACCELERATION = 10000.0

[JOINT_0]
TYPE =                          LINEAR
MAX_VELOCITY = 800.0
MAX_ACCELERATION = 10000.0
BACKLASH = 0.000
#INPUT_SCALE =                   10000
OUTPUT_SCALE = 1.000
MIN_LIMIT = 0
MAX_LIMIT =  370.0
FERROR = 0.050
MIN_FERROR = 0.010
HOME_OFFSET =                    -1.0
HOME =                           0.0
HOME_SEARCH_VEL =                -20.0
HOME_LATCH_VEL =                 5.0
HOME_FINAL_VEL =                 5.0
HOME_USE_INDEX =                 NO
HOME_IGNORE_LIMITS =             YES
HOME_SEQUENCE = 1
#HOME_IS_SHARED = 1

STEPGEN_MAXVEL = 2083.33
STEPGEN_MAXACCEL = 12500.00
P = 1000.0
I = 0.0
D = 0.0
FF0 = 0.0
FF1 = 1.0
FF2 = 0.0
BIAS = 0.0
DEADBAND = 0.0
MAX_OUTPUT = 0.0

# these are in nanoseconds
DIRSETUP   = 10000
DIRHOLD    = 10000
STEPLEN    = 5000
STEPSPACE  = 5000
STEP_SCALE = -14.28571





# Second axis
[AXIS_Y]
MIN_LIMIT = 0.0
MAX_LIMIT =  371.8
MAX_VELOCITY = 800.0
MAX_ACCELERATION = 10000.0

[JOINT_1]
TYPE =                          LINEAR
MAX_VELOCITY = 800.0
MAX_ACCELERATION = 10000.0
BACKLASH = 0.000
#INPUT_SCALE =                   10000
OUTPUT_SCALE = 1.000
MIN_LIMIT = 0.0
MAX_LIMIT =  371.8
FERROR = 0.050
MIN_FERROR = 0.010
HOME_OFFSET =                    -1.0
HOME =                           0.0
HOME_SEARCH_VEL =                -20.0
HOME_LATCH_VEL =                 5.0
HOME_FINAL_VEL =                 5.0
HOME_USE_INDEX =                 NO
HOME_IGNORE_LIMITS =             YES
HOME_SEQUENCE = 1

STEPGEN_MAXVEL = 2083.33
STEPGEN_MAXACCEL = 12500.00
P = 1000.0
I = 0.0
D = 0.0
FF0 = 0.0
FF1 = 1.0
FF2 = 0.0
BIAS = 0.0
DEADBAND = 0.0
MAX_OUTPUT = 0.0
# these are in nanoseconds
DIRSETUP   = 10000
DIRHOLD    = 10000
STEPLEN    = 5000
STEPSPACE  = 5000
STEP_SCALE = 14.2857







# Third axis
[AXIS_Z]
MIN_LIMIT = -147.0
MAX_LIMIT = 0.0
MAX_VELOCITY = 800.0
MAX_ACCELERATION = 10000.0

[JOINT_2]
TYPE =                          LINEAR
MAX_VELOCITY = 800.0
MAX_ACCELERATION = 10000.0
BACKLASH = 0.000
#INPUT_SCALE =                   10000
OUTPUT_SCALE = 1.000
MIN_LIMIT =                     -147.0
MAX_LIMIT =                     0.0
FERROR = 0.050
MIN_FERROR = 0.010
HOME_OFFSET =                    1.0
HOME =                           0.0
HOME_SEARCH_VEL =                20.0
HOME_LATCH_VEL =                 -5.0
HOME_FINAL_VEL =                 5.0
HOME_USE_INDEX =                 NO
HOME_IGNORE_LIMITS =             YES
HOME_SEQUENCE = 0
#HOME_IS_SHARED = 1

STEPGEN_MAXVEL = 2083.33
STEPGEN_MAXACCEL = 12500.00
P = 1000.0
I = 0.0
D = 0.0
FF0 = 0.0
FF1 = 1.0
FF2 = 0.0
BIAS = 0.0
DEADBAND = 0.0
MAX_OUTPUT = 0.0
# these are in nanoseconds
DIRSETUP   = 10000
DIRHOLD    = 10000
STEPLEN    = 5000
STEPSPACE  = 5000
STEP_SCALE = -20.0

#******************************************






# section for main IO controller parameters

---

[MACROS]
MACRO = go_to_position x-pos y-pos z-pos
MACRO = i_am_lost
MACRO = increment x-incr y-incr
MACRO = macro_4
MACRO = macro_5
MACRO = macro_6
MACRO = macro_7
MACRO = macro_8
MACRO = macro_9
MACRO = macro_10
MACRO = macro_11
MACRO = macro_12
MACRO = macro_13
MACRO = macro_14
MACRO = macro_15


 

Cant do this anymore bye all wrote:

Does this patch allow you to select fully preemptible kernel, when configuring the kernel ?

From my experience building with the mainline rt "patch" it was required to edit kconfig under arch. Otherwise there were only 3 options for RT kernel, which didn't include the fully preemptible option.
 

From 6.12 you don't need to apply a patch to build fully preemptible anymore. The patch only puts pack the indicator "/sys/kernel/realtime" which LinuxCNC checks to see if the kernel is real time. It might be that you need to enable EXPERT in the menuconfig to make the fully preemptible option visible, but no need to edit the kconfig

You should change glade file:
github.com/LinuxCNC/linuxcnc/blob/master...ccapy/gmoccapy.glade
in glade editor.

Or you can use:
User Command File
linuxcnc.org/docs/stable/html/gui/gmocca...l#_user_command_file

I was able to get the drive to go into OP mode thanks to your XML file after I changed the PID to my driver.

Thanks again!

我修改了 GMCPCAPY 接口以适应 2K 显示器。我更改了大部分图标大小，但我无法更改这几个图标大小。谁能帮我

Thanks for the idea, but I don't know python well enough yet. I think this function should work by default. And it works if I use Ladder. Maybe someone already knows how it should work. Maybe I need to make some more connections in the HAL file. I have no ideas yet. The error makes a reference to the text in the stdglue.py file. Maybe it needs to be edited, but I don't know how to do it yet.

onceloved, I have tried that with no luck. For the sync0Cycle I've tried the following values with the following servo cycle times:

Servo: 1ms -> sync0Cycle: *1, *2, 1000000, 500000
Servo: 500us-> sync0Cycle: *1, *2

tpa58, thank you a bunch! I'll start with your XML file and see how far I get today then report back.

Success!

I believe the real issue was the drive didn't like the PDOS I had in the xml.
Even though my original settings were one of the "Fixed PDO mapping" options from the manual (1704 & 1B02).
Anyway, I switched it to the "Variable PDO mapping" 1600 & 1A00 and the drive goes to OP mode and comes alive when I enable the machine!

Has anyone had success with setting up the CIA402 homing mode?

Make sure you include these .config options or it will fail:

1. @alan, in my build system with 6.1.2.y code, the patch causes the kernel build to fail
2. @rob, funny, I have never been asked for that for a long time PREEMPT_RT is always an option

Any ideas about 1 would be appreciated. ksysfs.c does not exist in my builder so I think I needs to directly set the konfig variables in the file I linked to earlier. I just don't know how yet.

For now, I have built it without the patch.

I just thought it was a little ironic as I posted about not being able to find any reference to any major hardware changes.

To give you a idea of what is required to run a tool changer, here is the component I wrote for MY machine. You could certainly simplify this code and improve it, but the basics are all there. You could rewrite this with a switch statement, but then you'd be forgoing the error checking scheme unless you want to nest lots of switch statements inside of the primary switch statement. 

Also you must have a g43 call on tool changes to get your tool offsets, no way around that. Most of this is easily fixed in the CAM software post processor, or if you ware writing code by hand, just copy/paste. I suppose if you wanted to create a macro for each tool that had the preamble in the gcode you could do so. 

 

In case anyone was excited by the motherboard UART header, apparently it's only accessible by the BIOS during boot, and is not available to the OS.