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  • lukin1156
  • lukin1156
13 Jan 2025 21:42
Replied by lukin1156 on topic Carousel with analog servo drive

Carousel with analog servo drive

Category: Advanced Configuration

I tried using the speed mode, but it didn't work. So I went back to the original control. By manually rotating the carousel, I determined the number of pulses between the individual pockets. The automatic tool change works quite well, sometimes there is just a problem with homing the carousel. If the carousel goes to the same side at the home position, it is fine. However, if the carousel goes to the other side after homing, there is a small error in the position. I tried using rotation in only one direction, but there is another problem that the error in the number of pulses between the individual pockets adds up over time.

Here is short video from tool change.

youtube.com/shorts/BAgzHO6OKA0?si=I7e9RTFSHqlaFPUl

 #  --- automatic tool change ---

loadrt carousel pockets=6 encoding=index dir=2
addf carousel.0        servo-thread
setp carousel.0.scale 1666
setp carousel.0.home-offset -70

net spindlenot <= halui.spindle.0.is-on => not.0.in
net spindlenotout <= not.0.out => and2.2.in0
net toolunlock <= motion.digital-out-00 => or2.1.in0
net toolunlockkey <= hm2_5i25.0.7i84.0.2.input-07 => or2.1.in1
net toolunlockout <= or2.1.out => and2.2.in1
net toolunlockout1 <= and2.2.out => hm2_5i25.0.7i77.0.0.output-00

net carouselup <= motion.digital-out-01 => hm2_5i25.0.7i77.0.0.output-01
net spindleair <= motion.digital-out-02 => hm2_5i25.0.7i77.0.0.output-02
net orient1   <= motion.digital-out-03 => hm2_5i25.0.7i77.0.0.output-12
net orient2     <= motion.digital-out-04 => hm2_5i25.0.7i77.0.0.output-13
net toolisunlock   <= motion.digital-in-00  => hm2_5i25.0.7i77.0.0.input-04
net toolislock        <= motion.digital-in-01  => hm2_5i25.0.7i77.0.0.input-05
net carouselisup     <= motion.digital-in-02  => hm2_5i25.0.7i77.0.0.input-06
net carouselisdown  <= motion.digital-in-03  => hm2_5i25.0.7i77.0.0.input-07
net spindleinposition <= motion.digital-in-04 => hm2_5i25.0.7i77.0.0.input-24

net carousel-index carousel.0.sense-0 hm2_5i25.0.7i77.0.0.input-03-not
net carousel-pulse carousel.0.sense-1 hm2_5i25.0.7i77.0.0.input-02-not
net carousel-enable <= motion.digital-out-05 => carousel.0.enable
net carousel-pocket <= motion.analog-out-00 => conv-float-s32.0.in
net carousel-pocket-out <= carousel.0.pocket-number => conv-float-s32.0.out
net carousel-finish <= motion.digital-in-08  <= carousel.0.ready

# PID carousel

setp   pid.c.Pgain     [SPINDLE_2]P
setp   pid.c.Igain     [SPINDLE_2]I
setp   pid.c.Dgain     [SPINDLE_2]D
setp   pid.c.bias      [SPINDLE_2]BIAS
setp   pid.c.FF0       [SPINDLE_2]FF0
setp   pid.c.FF1       [SPINDLE_2]FF1
setp   pid.c.FF2       [SPINDLE_2]FF2
setp   pid.c.deadband  [SPINDLE_2]DEADBAND
setp   pid.c.maxoutput [SPINDLE_2]MAX_OUTPUT
setp   pid.c.error-previous-target true

net c-index-enable  =>  pid.c.index-enable
net machine-is-enabled    =>  pid.c.enable
net c-vel-cmd       =>  pid.c.command
net c-pos-fb       =>  pid.c.feedback
net c-output        <=  pid.c.output

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

setp   hm2_5i25.0.7i77.0.1.analogout3-scalemax  [SPINDLE_2]OUTPUT_SCALE
setp   hm2_5i25.0.7i77.0.1.analogout3-minlim    [SPINDLE_2]OUTPUT_MIN_LIMIT
setp   hm2_5i25.0.7i77.0.1.analogout3-maxlim    [SPINDLE_2]OUTPUT_MAX_LIMIT

net c-output     => hm2_5i25.0.7i77.0.1.analogout3
net c-vel-cmd    <= carousel.0.counts-target

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

setp    hm2_5i25.0.encoder.03.counter-mode 0
setp    hm2_5i25.0.encoder.03.filter 1
setp    hm2_5i25.0.encoder.03.index-invert 0
setp    hm2_5i25.0.encoder.03.index-mask 0
setp    hm2_5i25.0.encoder.03.index-mask-invert 0
setp    hm2_5i25.0.encoder.03.scale  [SPINDLE_2]ENCODER_SCALE

net c-pos-fb               <=  hm2_5i25.0.encoder.03.position
net c-vel-fb               <=  hm2_5i25.0.encoder.03.velocity
net c-pos-fb               =>  conv-float-s32.1.in
net c-pos-fb-out             => conv-float-s32.1.out => carousel.0.counts

net tool-changed    <= iocontrol.0.tool-change  => iocontrol.0.tool-changed


 
  • TomAlborough
  • TomAlborough's Avatar
13 Jan 2025 21:42
Replied by TomAlborough on topic RPi 5 with 6.12 PREEMPT_RT = Using POSIX non-realtime

RPi 5 with 6.12 PREEMPT_RT = Using POSIX non-realtime

Category: Installing LinuxCNC

Hello @cornholio:

I do understand some of the things you are saying. 

I'm not a LinuxCNC'er so please bear with me.

A start might be to enumerate types of users as I see them:

Gold users just want to get something done (say make parts for a space station). Their CNC machines are already supported by LinuxCNC. They would appreciate a working version of LinuxCNC. Once they get it they probably will not change it over time unless they need to support new devices or new features.

The key here is that installing and getting LinuxCNC running should be as easy as it is to get Raspberry Pi 5 or Ubuntu up in the first place. (I'm not sure if my experience getting RPi5 up is similar to getting RPi4 up but more on that later).

If a newcomer can not get a version going enough to run say a "Maslow" machine (please Google "maslow cnc kit") then work still needs to be done.

Silver users/developers know and contribute to the LinuxCNC GitHub repo. The users have absolute control of the repo and the CNC, sysgen and testing features merged into it.

Bronze users/developers know and contribute to the Linux GitHub repo. The users have absolute control of the repo and the OS, sysgen and testing features merged into it.

The question comes: How to manage the need for support between Gold, Silver and Bronze users. I'm not sure of a solution here but I believe some solution will arise.

Tests should exist that (all) developers can run and get understandable results from. The only issue should be coverage at a given point in time. Hopefully the more tests you develop and manage the better off everyone should be.

I realize some of the above exists. It just needs to be pulled together.

An observation about configuration files: I think they may have gotten a bit out of hand.

I believe plain text files are easier for users to work with than XML but, a coherent "system build, installation and configuration" facility may be easier to develop and maintain if the configuration is rationally represented by some data handling facility (not a DBMS).

Please let me know your thoughts up to this point.

Many thanks,
Tom
  • MWalz
  • MWalz
13 Jan 2025 21:26
Replied by MWalz on topic StepperOnline A6 Servo

StepperOnline A6 Servo

Category: EtherCAT

Thanks a lot, I can confirm your configuration works.

These are my first steps using ethercat. My mistake was that I added sdoConfig commands in the ethercat.xml to configure the PDO mapping like described in the servos manual.
Seems like it's sufficient to just add the pdoEntry's for the desired PDO mapping group and somehow it's configured automatically. By linuxcnc or the ethercat subsystem?
Maybe someone can comment/confirm this to avoid others making the same mistake.
  • RotarySMP
  • RotarySMP's Avatar
13 Jan 2025 21:20
Replied by RotarySMP on topic Gmoccapy 3.5.0 - opinions needed

Gmoccapy 3.5.0 - opinions needed

Category: Gmoccapy

Thanks for adding the progress bar Norbert. I often wonder roughly how much longer a program will take.
  • chrischan
  • chrischan
13 Jan 2025 21:19
Replied by chrischan on topic Maus funktioniert nicht bei Spindel Start

Maus funktioniert nicht bei Spindel Start

Category: Deutsch

I'm using this one:

www.fif.com.pl/pl/przekazniki-elektromag..._query=Pk%202p%2012v

Can't find any information about a diode in it. So I try it tomorrow.
  • tommylight
  • tommylight's Avatar
13 Jan 2025 21:15
Replied by tommylight on topic Custom shapes to gcode

Custom shapes to gcode

Category: General LinuxCNC Questions

NCAM or Native CAM
forum.linuxcnc.org/nativecam/53492-nativ...inuxcnc-2-9-3#310608
  • tommylight
  • tommylight's Avatar
13 Jan 2025 21:11
Replied by tommylight on topic Maus funktioniert nicht bei Spindel Start

Maus funktioniert nicht bei Spindel Start

Category: Deutsch

Yes.
Do check if the ralay has one already, some do but mostly do not have it.
  • PCW
  • PCW's Avatar
13 Jan 2025 21:11 - 14 Jan 2025 00:47
Replied by PCW on topic 7i95t firmware brick because i flashed a 7i95 bitfile in the fallback

7i95t firmware brick because i flashed a 7i95 bitfile in the fallback

Category: Driver Boards

freeby.mesanet.com/95tinit.tgz

Not sure about the executables (might be too old a libc version),
but you can get by by just programming the FPGA via JTAG
and running the two mesaflash commands.

Here is the FTDI4232 --> 10 pin header connection:

freeby.mesanet.com/pdf/parallel/4232efin.pdf
 
  • chrischan
  • chrischan
13 Jan 2025 20:48 - 13 Jan 2025 20:49
Replied by chrischan on topic Maus funktioniert nicht bei Spindel Start

Maus funktioniert nicht bei Spindel Start

Category: Deutsch

That way, correct?

 
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