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Testing this right now on a Lenovo ThinkPad Yoga 370, just added isolcpus=2-3 to boot options, still excursions after a while on batteries.
Stay tuned, testing isolcpu=3-4 now

7I77 AOUT --> Pin1  (IN+)
7I77 AGND --> Pin2 (IN-)
7I77 AGND  --> Pin9 (common)

meister wrote:

if i set the deadband to :
DEADBAND           = 0.0001

my DRO shows the exact position like 10.000 or 0.000

Thanks that helped! Also the flickering problem was actually the qtpyvcp UI I was using, not the actual internal machine position, so actually everything is working perfectly.

Here's the github repo for the board including production and assembly outputs for ordering a fully assembled board:
github.com/digiexchris/rio-solidwater-shield

 I tried to use m68 to change the acceleration during the program, but the planner ignores the change commands, but when I only run m68 it changes the acceleration as I determine.

Changes to the ini.* halpin values during Gcode execution will only take effect after a 'queuebuster' command (eg 'M66 E0 L0') in the gcode. A queuebuster is a command that stops and reinitializes the interpreter with the current ini.* pin values . M68 alone does not cause such a synchronization. 

Do you know how you would install the linuxcnc package? I thought I knew, but I wasn't able to accomplish it.

looks like i haven't flashed the 7c81 correctly, now it seems to work.
PCW suggested to connect the analog out and ground to the differential input J2  1,2. I have now found some interesting info online about the drive. I am interpreting this like that: i will connect the analog out to one of the diffential inputs and the ground to the Pin J1 4 or 9. Is this correct or should I connect the ground to the other diff input too?

Hello,

This is my first post on the forum, so please excuse me if I make any mistakes. I would really appreciate any assistance.

I am currently in the process of developing a machine that will use 3-axis kinematics and several additional motors for control (this part is still not fully specified). The system will also include a sensor for distance measurement — specifically, the Confocal Sensor IFD2411 from MicroEpsilon. I plan to have both the motors and the sensor communicate via EtherCAT on LinuxCNC.

Since I do not yet have access to the motors, I am currently focusing on integrating just the sensor as a HAL component into LinuxCNC, to retrieve measurement data.

Current Setup

I have already initialized ethercat-master on the PC. Below is the output after running `ethercat master`:


team@LinuxCNC0:~$ ethercat master
Master0
  Phase: Idle
  Active: no
  Slaves: 3
  Ethernet devices:
    Main: 90:e2:fc:b4:49:03 (attached)
      Link: UP
      Tx frames:   648084
      Tx bytes:    46402960
      Rx frames:   648081
      Rx bytes:    46402780
      Tx errors:   0
      Tx frame rate [1/s]:    179    173    173
      Tx rate [KByte/s]:     10.5   10.2   10.2
      Rx frame rate [1/s]:    179    173    173
      Rx rate [KByte/s]:     10.5   10.2   10.2
    Common:
      Tx frames:   1805865
      Tx bytes:    139386748
      Rx frames:   1805860
      Rx bytes:    139386448
      Lost frames: 5
      Tx frame rate [1/s]:    179    173    173
      Tx rate [KByte/s]:     10.5   10.2   10.2
      Rx frame rate [1/s]:    179    173    173
      Rx rate [KByte/s]:     10.5   10.2   10.2
      Loss rate [1/s]:          0     -0      0
      Frame loss [%]:         0.0   -0.0    0.0
  Distributed clocks:
    Reference clock:   Slave 0
    DC reference time: 0
    Application time:  0
                       2000-01-01 00:00:00.000000000


Slaves

The slaves are detected as follows:

team@LinuxCNC0:~$ ethercat slaves
0  0:0  PREOP  +  ECAT-2513 4-Port EtherCAT Junction(IN/OUT1)
1  0:1  PREOP  +  ECAT-2513 4-Port EtherCAT Junction(OUT2/OUT3)
2  0:2  OP     +  IFC2411


I am using the following topology:  
[Master - PC] <----> [ECAT-2513 - Junction] <

---

> [Slave - Sensor IFC2411]

EtherCAT PDO Mapping

When I run `ethercat pdos`, I get the following output:

team@LinuxCNC0:~$ ethercat pdos
=== Master 0, Slave 2 ===
SM0: PhysAddr 0x1000, DefaultSize 1024, ControlRegister 0x26, Enable 1
SM1: PhysAddr 0x1400, DefaultSize 1024, ControlRegister 0x22, Enable 1
SM2: PhysAddr 0x1800, DefaultSize    0, ControlRegister 0x64, Enable 1
SM3: PhysAddr 0x1818, DefaultSize   24, ControlRegister 0x20, Enable 1
  TxPDO 0x1a00 "Channel 1 distance 1 TxPDOMap OV1"
    PDO entry 0x6000:01, 32 bit, "Channel 1 distance 1__OV00"
  TxPDO 0x1a30 "Channel 1 intensity 1 TxPDOMap OV1"
    PDO entry 0x6010:01, 32 bit, "Channel 1 intensity 1__OV00"
  TxPDO 0x1a80 "Channel 1 shutter TxPDOMap OV1"
    PDO entry 0x6030:01, 32 bit, "Channel 1 shutter__OV00"
  TxPDO 0x1ae0 "Counter TxPDOMap OV1"
    PDO entry 0x7000:01, 32 bit, "Counter__OV00"
  TxPDO 0x1ae8 "Time stamp TxPDOMap OV1"
    PDO entry 0x7001:01, 32 bit, "Time stamp__OV00"
  TxPDO 0x1af0 "Frequency TxPDOMap OV1"
    PDO entry 0x7002:01, 32 bit, "Frequency__OV00"


At this point, I would like to create an ethercat-conf.xml file to map these PDOs to HAL pins in LinuxCNC, but I am not sure how to do this correctly.

I would greatly appreciate any guidance or examples on how to proceed with this configuration!

Ok. I missed the p, sorry.

It is a M90p and has PCIe 16x and PCI on board.

Awesome, I tested it this morning again. This is the signal of the output of the level shifter. Looks better as I had it in memory. I also confirmed, the Direction Signal is not a square signal. It's either on or off all the time depending on which direction the machine is traveling. It goes off, once the machine is not moving. I noticed there is sometimes a bit of delay until the direction signal goes off. I was able to see that when I looked at the LEDs of the level shifter.

I also noticed that the machine sounds smoother as when I run it with software stepping.

 

Pinging 10.10.10.100 means you are pinging your PC, not the 7I92
What you need is:

sudo chrt 99 ping -i .001 -q 10.10.10.10 -c 50000


What host hardware do you have?

Change the default IP address with:
mesaflash --device 7I92T --addr 192.168.1.121 --set ip=10.10.10.100.

I have W5 down W6 up

The results are :
sudo chrt 99 ping -i .001 -q 10.10.10.100 -c 50000
PING 10.10.10.100 (10.10.10.100) 56(84) bytes of data.

--- 10.10.10.100 ping statistics ---
50000 packets transmitted, 50000 received, 0% packet loss, time 53160ms
rtt min/avg/max/mdev = 0.017/0.020/0.997/0.026 ms

sudo chrt 99 ping -i .001 -q 10.10.10.100 -c 50000
PING 10.10.10.100 (10.10.10.100) 56(84) bytes of data.

--- 10.10.10.100 ping statistics ---
50000 packets transmitted, 50000 received, 0% packet loss, time 52051ms
rtt min/avg/max/mdev = 0.016/0.019/1.238/0.026 ms

Ok, does the P90 have a PCI slot, the long white one?
P93 does not have PCI, hence my questions.

Pretty sure it was discussed here recently, have a look at "recent topics" on the forum menu.

From the pictures it seems your CAM is outputting strange positions as everything is out of machine limits, it uses center coordinates as it seems.
Probably should check that first.

The marking is done using low current, Kjellberg uses 5-50A for marking, how low can yours go?
My china source can go 15A i think, not sure as i never checked, but when set to 30A on screen it does 43A measured, so i am not hopping much...