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Hello everyone,
I am a beginner of LinuxCNC but I have collected what i have learned using EtherCAT, BECKHOFF modules and a OMRON R88D-1SN drive. I think it may be useful for others approaching this world. The repository is still incomplete and lacks of many things. Hope in a feedback from everyone and from who is working with the same OMRON drive. 

Here is the link to the github page:  linuxcnc-collection

Thanks
 

Lcvette and the Probe Basic dev team quickly produced a patch for me to test.

They are clearly making progress on this issue because with the patch the crash is gone. However I noticed a slight side effect with the plot not drawing all the moves correctly.

Here are the steps I did to produce the following screenshots.

I started by setting all the G54, G55 and G56 offsets to all zeros:

G10 L2 P1 X0 Y0 Z0
G10 L2 P2 X0 Y0 Z0
G10 L2 P3 X0 Y0 Z0

I then loaded the file attached to my first post and probed all the three parts going from right to left (starting with G56, then G55 and finally G54). The probing worked and there was no crash but the plot show some strange moves.

 

Opening the same file again without doing anything else produced the following plot instead.

 

The plot above looks better but I think it's not fully correct as it should start with the left most part not center one.

Here are the offset values for G54, G55 and G56 used for the two plots above.

 

Hello, I looked all options.
If I go with base interface I would have to do isolation on all 6 encoders that would be best option concenirg signal grounds and also I would have to make aditional 6 connectors to carry signals to mesa board. Also not sure if 6i25/7i92 has space for 6-7 step gens + 6 encoders(not regular ones but uart + incremental -> absolute so more logic needed). But if I do it this way I would get all 6 readings synchronized.
Probably I will choose to go with stm32 ethernet option or mesa smart serial(maybe both try). In this case I will not have synchonized reads of positions but mismatched max by 60uS.

When you talk about SSerialB are you refering to master or slave? Could official firmware for example for 6i25 or 7i92 currently accept 224bits via smart serial from slave? In my case slave will just send 24 bytes to mesa card.

Do you know for robot kinematics module how much I need to sample robot joints angles at “same” time?
I suppose mesa built encoders interface do this in hardware and just read all 6 regiters at same time, so no even small mismatch in time between samples?

Thanks

So on the z axis I did manually set the z enable and jogged to where the index was and it did turn off. I then tried changing the final velocity to invert it from the starting velocity of homing to make it come back instead of continuing into the E stop limit and that did not change its behavior it still goes past and it's homing sequence to the E stop

that seems like an easy enough check. Ill do that after I get home from work!

Glad to help.  The user guide maybe needs a little clarification in this area. It's sometimes difficult to write user guides when you already know the process... 

Happy cutting.

That works! thanks for that little bit of advise. I could have saved myself the headache by asking right away.

wels wrote:

Is the DRO box the buttons added in settings, then yes. I just found that I need hal pin

qtplasmac.ext_laser_touchoff
I have to figure out where to put it and if it will work...

That is not quite right. You just need to finish the following hal connection in either the <machine_name>.hal file or the <machine_name>_connections.hal file, I cant remember where it is off the top of my head.

Then do the peripheral offsets part and the LASER button will show.

I would verify that the index works by manually setting the index enable signal
for the tested joint (via the halcmd sets command) and then manually moving
the axis past the index mark to see if the index enable signal gets cleared
at the index mark.

I am going to assume you made a custom button for your laser.  The LASER button in the DRO box is not shown until a offset is set, I reckon the user manual does not explicitly say that.  I'll mark it down to add it to the docs later.

Assuming you made the correct HAL connections

You need to use the peripheral offsets section to set the offset between the torch and the laser, and then the LASER button will appear. 

Is the DRO box the buttons added in settings, then yes. I just found that I need hal pin

qtplasmac.ext_laser_touchoff
I have to figure out where to put it and if it will work...

Did you make a custom user button for your Laser, or are you using the LASER button in the DRO box?

I forgot to mention that this is in QTPlasmaC

Another note on this, I don't have home limits, just the index it looks for. This could be the stem of my issue but the reference machine I am "copying" is the same setup with no limits just search for the index

I already wired in another small 12v PSU, it powers something on the heidenhain impulseformer so I'm not sure if that would introduce noise into the encoder input but I do have buck converters as well now that you mention it.