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Hi all, hope you can help.

Having a issue when trying to use a while loop. I am using lcnc 2.9.3 & gmoccapy 3.4.8
But lcnc just freezes or really slows down the system when the comp turns true, see below 2 examples that work and two that dont.
the only change is that it should go in to the while loop
I am trying to use imputsignals: 
output: Start tool state 0.000000 after (edited)
 
output: Start tool state 0.000000 greater after (edited)
 
output = nothing, not even start

output = nothing, not even start

Hi Guys.
I'm trying to figure out my motor tuning for steps per inch.  I'm guessing I need to use electronic gear ratio in my servo drive to be able to handle the amount of pulses per inch.  Right now if I set an encoder count of (and i'm just playing right now to speed it up)  2500, and a step count of 500000 and I tell it to move .100 it only moves approx. .002 with different variations I can only get approx .011 per .100 request.
So what would be the best electronic ratio
As near as I can figure at this time my ball screws are 5 turns per inch or .200 per rev. (Hardenge SuperSlant, Maybe someone knows for sure the pitch)
it is belt driven from the survo 2 turns of the motor to one turn of the ball screw
The information I find for the motor and encoder says it has 2500 lines per rev.
So I'm thinking  2500x 5(ballscrew)= 12,500 x 2(gearing)= 25000  and this is nothing for a computer to handle but if i work on this figure the axis doesn't move enough to read on a dial indicator.

I am  obviously missing something big because of the amount of pulses I actualy have to put out to get any readable movement per .1 request.
In case you might think it helps.  My survo's and drives are chinese the drives are lichuan A6 drives  Below copied from manual.  I only wanted one line but it would only let me copy from top of page to that line.

A6 Servo Drive User Manual
2
Chapter 2 Electrical Specifications
2.1 Specification
Input power
CONTROL
POWER Single phase 220 VAC
MAIN POWER
SUPPLY Single Phase/Three Phase 220VAC
Working
environment
Temperature 0～45℃
Humidity No condensation ≤90% RH or less
Elevation Altitude ≤1000M
Installation
environment Non-corrosive gases, flammable gases, oil mist or dust, etc.
Installation
method VERTICAL INSTALLATION
Encoder feedback 2500 p/r (resolution: 10000), incremental encode

In the ini file, joint 1 section
HOME_IGNORE_LIMITS = NO
should be
HOME_IGNORE_LIMITS = YES

Use
latency-histogram --nobase --sbinsize 1000 --show
There are a lot of excursions out of the visible area.

You are welcomed, always.

  uploaded the configs.

When you say drives are you meaning the drive boards.. or the servos themselves?
"DIFF/ INPUT Designates differential input speed command terminals."
Thats what the book is calling those terminals if you are meaning on the driver board or cards themselves.

While I was seeing the exact terminology I figured I'd post why I commented on the frequency thing... this is the books description of how the drives work... 
PWM indicates pulse-width modulation which is the operating mode of each transistor in the
controller. In a PWM controller, a power transistor bridge switches a fixed DC bus supply to
the motor load at a constant frequency with varying on-off ratio for output power control. The
SERVOPAK differs from other controllers of its type in that two types of switching techniques
(standard-H and Uni-Switching) are employed.

Anyway, thats a long explanation to say yes I'll find some time tomorrow to see what happens when I do that. The drives are enabled with a ground, and I'm sure they are enabled since it told me how to bypass the enables in the book, and the motors make noise when I enable them. 

These drives also have a lot of adjustments on them, so I assume they are a little different than just a straightforward drive. It appears as though the drives themselves did the tuning more so than the computer did. 

No idea, also didn't see an option to compile for non lts, sometimes things are easier than they seem
Better to set isolcpus=5 or 2-5 because linuxcnc always takes the last core and the quad core a53 is after the 2xa72

Ideally you would set isolcpus=1 but then you need to set the rt tasks to core 1 manually, via a script or change the source of linuxcnc.

royka wrote:

You can try this image, with desktop and gpu hw acceleration but under 1GB:
drive.google.com/file/d/1PCetphqJUFfS3aL...eD7/view?usp=sharing

It's laughable...did not worked tweaking & reweaking to modified it for opi4 ...
your image simply worked as is ...lesson learned here..
i dont understand , if armbian image for opi4 lts work on opi4 why the hell armbian link to non lts ?!?
You tell me , because everything seem to be good .
Trying some isolcpu 1,2 , no latency miracle ,should be ok , cutting air .
Let'see if i can install 2.9.3 now.

Good job Roya ..

I try to get two tandem motor to work. But the moment one side hits the home/limit switch I get the error Cannot unhome while homing, joint 0. So to me it looks like he tries to unhome joint 1 while he still tries to home joint 0

And another question can I somehow let the motors move away from the limit/home switches once they are in a fail state. Because they are tandem I can't just use ignore limits option

So I installed the  SSC tool app on both my laptop- Windows 11 and PC- Windows 10[Intel Lan). The EEPROM app crashed when I tried to scan, it shows nothing connected on either interface. I have tried this as Admin as well.
DHCP is set and I've tried both lan sockets and different cables. The same lan sockets work fine for Internet and file transfer. 
 Could I have missed a network protocol that needs installing to see the servos? 

I have built a new stepdir driver,
with adjustable 'delay after dir' and adjustable pulse length (also 50% duty possible).

first tests are still running, but if you want to have a look at the branch: new_stepdir_fix_pulse_len_dir_delay

EDIT (there is also a test-bench for this driver):
 # (cd riocore/plugins/stepdir ; make testb)

 

The battery test requires you to:

1. Enable the drives ( how this is done depends on the drives )
2. Disconnect the drives from the 7I97

The is no frequency/LinuxCNC/7I97 involved

So... the tuning guide I keep finding when doing searches, but always stop when I can't jog properly forward and backwards. Forward is sometimes shaky, but last few times trying forward it usually moves and stops roughly when I do. 
Drives : Cleveland Machine Controls D41-17443C
Servo Motor : CMC MT2630-141AF 
Encoders : Dynapar 62525000330

I'll have to get back to you on the current ini and hal files when I get a chance later this week. I'm using the basic 7i97 file I found on here and edited very little. 

I've been off and on working on this when I get the chance, everything is apart and on my table right now so no worries of something running away and damaging anything. Before this machine was taken apart for moving, I powered everything up with the original controls and verified everything moved fine and worked. The only thing ive done is rewired the box to the 7i97 and then reused some of the wiring to hook back to the motors/encoders. 

The 1.5v test (I used a 9v bc its what i had) didn't do anything. Not sure if its a frequency thing or not. If I leave the stock 48000hz frequency in the hal file I get nothing as well. 
I've noticed when I tell linuxcnc to jog the motors the 7i97 sends anywhere between 0 to 10v to the motor and slowly back it down to 0 as it gets closer to where it expects the motor to be. Again jogging backwards I see the 7i97 send between -0 to 10v but I either get no movement or movement in the positive direction again. 




 

First verify that the drives work properly by supplying a known voltage to the inputs
(a 1.5V battery will work for this test) and make sure that the drives run in equal and opposite
speeds when the input polarity is reversed

It's best to disconnect the motors from the linear axis when doing open loop tests like this.