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  • MTate01
  • MTate01
23 May 2025 05:49
Replied by MTate01 on topic EtherCAT i/o board for spindle, estop and mpg

EtherCAT i/o board for spindle, estop and mpg

Category: EtherCAT

Did anyone have any luck configuring one of these? I followed the links on the first page to get the slave information, but mine seems to be stubbornly returning to PREOP E. here's my slave information so far:
<slave idx="1" type="generic" vid="0x00090588" pid="0x00109252" configPdos="false">
    <!--IMC IO MODEL with EtherCAT-->
    <syncManager idx="0" dir="out"/>
    <syncManager idx="1" dir="out"/>
    <syncManager idx="2" dir="out">
		<pdo idx="1600">
			<pdoEntry idx="7000" subIdx="01" bitLen="8" halPin="imcio-do0" halType="bit"/>
		</pdo>
	</syncManager>
    <syncManager idx="3" dir="in">
		<pdo idx="1a00">
			<pdoEntry idx="6000" subIdx="01" bitLen="8" halPin="imcio-di0" halType="bit"/>
		</pdo>
    <dcConf assignActivate="300" sync0Cycle="0"/>
  </slave>
  • MTate01
  • MTate01
23 May 2025 05:44
Replied by MTate01 on topic Unnamed CATIO-A Device Configuration (help!)

Unnamed CATIO-A Device Configuration (help!)

Category: EtherCAT

lcec_configgen resulted in a fairly similar output to what I had already configured.

From that additional post you linked, they found the config files for what seems to be a very similar IO board/device to mine, but the ESI (xml file) seems to be rather... convoluted?

I have attached it, but unfortunately didnt' reveal enough information for me to figure out anything new - and thus i'm still stuck on PREOP E. 

I'm also not sure how TwinCAT is supposed to work - but i'll keep playing with that and hopefully have some luck. maybe you could suggest which package I need? 

Here's my whole ethercat-conf.xml as a side note, in case you see something wrong with it:
[code]<masters>
 <master idx="0" appTimePeriod="1000000" refClockSyncCycles="1000">
  <slave idx="0" type="generic" vid="00000A88" pid="0a880013" configPdos="true">
    <!-- Joint 0 -->
    <syncManager idx="0" dir="out">
    </syncManager>
    <syncManager idx="1" dir="out">
    </syncManager>
    <syncManager idx="2" dir="out">
      <pdo idx="1600">
        <pdoEntry idx="6040" subIdx="00" bitLen="16" halPin="cia-controlword" halType="u32" />
        <pdoEntry idx="607a" subIdx="00" bitLen="32" halPin="target-position" halType="s32" />
        <pdoEntry idx="60b8" subIdx="00" bitLen="16" halPin="touchprobefunction0" halType="bit"/>
      </pdo>
      <pdo idx="1601">
        <pdoEntry idx="6081" subIdx="00" bitLen="32" halPin="profile-velocity" halType="u32"/>
        <pdoEntry idx="6083" subIdx="00" bitLen="32" halPin="target-accel" halType="u32" />
        <pdoEntry idx="6084" subIdx="00" bitLen="32" halPin="target-decel" halType="u32" />
        <pdoEntry idx="6060" subIdx="00" bitLen="8" halPin="opmode" halType="s32"/>
      </pdo>
      <pdo idx="1602">
        <pdoEntry idx="60ff" subIdx="00" bitLen="32" halPin="target-velocity" halType="s32"/>
      </pdo>
    </syncManager>
    <syncManager idx="3" dir="in">
      <pdo idx="1a00">
        <pdoEntry idx="603f" subIdx="00" bitLen="16" halPin="errorcode" halType="bit" />
        <pdoEntry idx="6041" subIdx="00" bitLen="16" halPin="cia-statusword" halType="u32" />
        <pdoEntry idx="6061" subIdx="00" bitLen="8" halPin="opmode-display" halType="s32"/>
        <pdoEntry idx="6064" subIdx="00" bitLen="32" halPin="actual-position" halType="s32" />
        <pdoEntry idx="60b9" subIdx="00" bitLen="16" halPin="touchprobestat" halType="bit"/>
        <pdoEntry idx="60ba" subIdx="00" bitLen="32" halPin="touchprobe1pos" halType="s32"/>
        <pdoEntry idx="60fd" subIdx="00" bitLen="32" halPin="digitalinputs" halType="s32"/>
      </pdo>
      <pdo idx="1a01">
        <pdoEntry idx="606c" subIdx="00" bitLen="32" halPin="actual-velocity" halType="s32"/>
      </pdo>
    </syncManager>
    <dcConf assignActivate="300" sync0Cycle="1000000"/>
  </slave>
  <slave idx="1" type="generic" vid="0x00090588" pid="0x00109252" configPdos="false">
    <!--IMC IO MODEL with EtherCAT-->
    <syncManager idx="0" dir="out"/>
    <syncManager idx="1" dir="out"/>
    <syncManager idx="2" dir="out">
        <pdo idx="1600">
            <pdoEntry idx="7000" subIdx="01" bitLen="8" halPin="imcio-do0" halType="bit"/>
        </pdo>
    </syncManager>
    <syncManager idx="3" dir="in">
        <pdo idx="1a00">
            <pdoEntry idx="6000" subIdx="01" bitLen="8" halPin="imcio-di0" halType="bit"/>
        </pdo>
    <dcConf assignActivate="300" sync0Cycle="0"/>
  </slave>
 </master>
</masters>
 [/code]
  • meister
  • meister
23 May 2025 04:50
Replied by meister on topic How to Control a PWM Gripper

How to Control a PWM Gripper

Category: G&M Codes

exactly, the servo is configured as an analog output and can be controlled with values from -100 (open) to +100(closed).
net sig_motion_analog-out-00 <= motion.analog-out-00
net sig_motion_analog-out-00 => rio.gripper.position
  • theoneandonlyoreo
  • theoneandonlyoreo
23 May 2025 03:45
comp confusion was created by theoneandonlyoreo

comp confusion

Category: LinuxCNC Documents

This doesn't seem right.  Oddly, if you click on "comp", the description on the page is that of a comparator.

 
  • PCW
  • PCW's Avatar
23 May 2025 02:26
Replied by PCW on topic Issue getting XYYZ gantry to home (using 7i92t with 7i76u)

Issue getting XYYZ gantry to home (using 7i92t with 7i76u)

Category: Basic Configuration

I think you need to specify a home position that's some distance from the home/limit switch location

linuxcnc.org/docs/html/config/ini-homing.html#_home
  • SteepLearningCurve
  • SteepLearningCurve
23 May 2025 02:08
Replied by SteepLearningCurve on topic Issue getting XYYZ gantry to home (using 7i92t with 7i76u)

Issue getting XYYZ gantry to home (using 7i92t with 7i76u)

Category: Basic Configuration

Hi All

Thank you for your feedback, greatly appreciated :)
The Y gantry completes the four step process now, well ... very nearly.
I think my problem was here
[AXIS_Y]
[JOINT_1]
has negative values
HOME_SEARCH_VEL = -10.000000
HOME_LATCH_VEL = -5.000000
(and joint 2 had the same negative values).
[JOINT_2]
I changed the signs to both positive
HOME_SEARCH_VEL = 10.000000
HOME_LATCH_VEL = 5.000000
After that change, the Y-axis homed in the four step way.
I don't understand why,  maybe gantry motors that face one another need opposite signs, I have no idea.
I have attached three screen photos with halshow
first - just switched on power supplies, and launched Linuxcnc.
second - after clicked estop, and clicked power.
third - end state after all thee axis homing has completed.
Physically the Y gantry does the correct four step movement.
However, Linuxcnc errors out right at the very end, indicating joint2 on limit switch error.
The  y-is-homed is red , while x-is-homed, y2-is-homed and z-is-homed are all yellow.
These are the cheap 2mm proximity sensors , tommylight said earlier that these are best avoided.
I will buy better quality ones.
If anyone knows why that sign change worked please let me know


 
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