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Just closing the loop on this topic. I've gotten my Delta B3 Ethercat X, Y, and Z servos working properly over Ethercat and I decided to take the cheap and easy solution to spindle control for now. I picked up a USB to RS485 stick quick inexpensively and just this afternoon got it working with LinuxCNC over MB2HAL. It took a fair bit of trial and error to figure out all the syntax, but I got there in the end. 

Long term, I'd like to find a solution that would allow for full real-time control over the spindle servo for rigid tapping, but I'm plenty happy with this stopgap solution for the time being. Now that I have all 4 servos running properly on a bench, I'm going to hook everything up to my mill tomorrow.

I remember we had a similar problem with a toolchange remap a long time ago.

The toolfile would be written to and then read back as part of the process.
The problem was that the OS would cache the save sometimes and the toolchange failed intermittently.
We used os.fsync() when modifying the tool table to fix this.

This sound similar to your investigation.
I don't know linuxcnc's internals enough to know if this is a possibility.
I wonder if just adding commands between G10 and G43 would help?
I'm not sure what commands cause a tool sync.
The fact that this sometimes works makes it a very difficult case to debug and also possible that only a few suffer from it.

This is the only one i could find that resembles what you describe, but no GUI is visible, just lathe doing it's thing

That should be -amd64 not -1md64, my typing error.

Thanks for your reply.

uname -a reports

Linux garage 6.1.0-28-rt-1md64 #1 SNP PREEMPT_RT Debian 6.1.119-1 (2024-11-22) x86_64 GNU/Linux.

The garage computer has an intel atom processor.

Have a look after 3 minute mark, that is CSS (i think) and that should be included in LinuxCNC

The improved color control is nice, but I haven't been able to get the material resizing to work yet.

greg23_78 wrote:

-For Pico systems,do you think your brushless PWM servo Amp can drive my motor and the robot's largest motors? (unfortunately, I don't have the nameplates of the largest motors, but I was able to look up on a kuka KR16 that the motors are 2.5KW 5.4A 185V).
 

Well, the 185 V is an issue, we do not recommend running over about 122 V DC on our servo amps, so that would limit the top speed to about 66% of the rating.  The 5.4 A is not an issue, our amp can go up to 20 A peak.
In principle, resolvers are somewhat absolute,  but if you convert them to quadrature, then you lose the absolute alignment, and have to perform a homing procedure whenever you start the control software.

Jon

I just pushed the fix to 2.9 and master branch.
If you are using a released version, it wont come out till 2.9.4, but we could work around that if you need.

I pushed HALColorRGB and HALColorFlip functions to master.
I added them to the docs too.

thank you for your feedback.

- yes, I was mistaken about these motors, they're not called encoders but resolvers.

-how to recognize the model of my resolvers?
motor :1fk6032-6AK71-1ZZ9
doc : cache.industry.siemens.com/dl/files/364/.../v1/PFK6_0503_fr.pdf (sorry is in french)
but the resolver reference is not indicated ... zz is not in the command reference.
i found this video on youtube that look like my motor :

on my motor i have a 12 pin connector but only 8 pins are functional.
To finish with my questions about the cos/sin resolvers, is it indicate absolute position or relative position?

-For Pico systems,do you think your brushless PWM servo Amp can drive my motor and the robot's largest motors? (unfortunately, I don't have the nameplates of the largest motors, but I was able to look up on a kuka KR16 that the motors are 2.5KW 5.4A 185V).

 

I power read through the entire 44 pages of this thread and made some notes along the way.

IIRC somewhere buried on one of those pages was a link to an excellent video demonstrating most if not all of the lathe macros.  I think the first segment was facing and then a minute or two for each macro feature .

Does anyone know where this video is hiding?

Much appreciated.

 

You are welcome to know that I am extremely grateful for your extraordinary achievements here, I really enjoy using all of these great tools
 

The pdos you use in ethercat-conf.xml don't agree with the pdos the devices actually have.

I wrote a small component to use a spacemouse for jogging

www.youtube.com/shorts/YMXGiFoIyRk

at the moment i use 4 axes, but 6 are also possible, but then it is very difficult to control

cserver1.multixmedia.org/spnav