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There is a text :
i=1,2;
for j=0,1,2,3,4 are the knots of the spline, this i understand. But do you get what i does?

I haven't really looked at the paper closely but here is what I think:
If you look at formula (14) you see that the 3d clothoid has two sets (i=1,2) of four parameters (theta, kappa, c , gamma). So 'i' stands for which set of parameters we are looking at.

hello,

have anybody solved the el6751 canopen master working over ethercat please?

Both fanuc and siemens fit splines for high speed motion

Yes. What I meant is that nobody uses splines in the Gcode they load into the controller and thus the spline-related Gcodes implemented in LinuxCNC (ie G5, G5.1, G5.2, G5.3) have really been a solution looking for a problem. That is why I say that they are pretty much useless, _unless_ the can be repurposed for something new like internal path blending.

Hi Arciera,

I'm afraid I can't help you with implementing the linked 3d clothoid algorithm.
I have used chat_pdf ai yesterday. This works quite good, but stops and ask's money.
However i don't understand in the page at section (23)

There is a text :
i=1,2;
for j=0,1,2,3,4 are the knots of the spline, this i understand. But do you get what i does?
Thanks.

@IhaveNoFish,
get used under the hood
Indeed.
 

"i was getting the red light when i powered on the board with debian 12"

This really does not make any sense as there is nothing the Ethernet/host connection
can do to illuminate a red LED on the 7I96S other than by running LinuxCNC.
(exiting a LinuxCNC run _will_ result in a red /INIT LED being illuminated)

Can you run this command:

sudo chrt 99 ping -i .001 -q 10.10.10.10
 hit control C
then run it again
sudo chrt 99 ping -i .001 -q 10.10.10.10
wait about a minute and hit control C again
 and copy paste the results here
 

until now I use these #include declaration on my file heather ... with success

I'm not sure this is entirely true.
Both fanuc and siemens fit splines for high speed motion. We definitely don't need the g code to describe a spline, but it does often get used under the hood to help describe all the pointes BETWEEN your g1 end points.

However we need a 4pnt spline to do the exotic path blending fillets where the clothoids are out of plane, or invalid.

That is what I suspected. I don't think there would be many objections to modifying spline syntax if it helped getting jolt limiting path blending for multi axis gcode working.

I'm afraid I can't help you with implementing the linked 3d clothoid algorithm.

Any reason for not using M62-M65 digital pins?
linuxcnc.org/docs/devel/html/gcode/m-code.html#mcode:m62-m65

Hi Arciera,

That's the case. Flogging a dead horse.

I also never used splines in gcode.
However we need a 4pnt spline to do the exotic path blending fillets where the clothoids are out of plane, or invalid.

Integrating the spline is not that much work.

 

This may work, but I need to attach in

M101 relay from pin 14 / left rotation
M102 relay from pin 1 / right rotation

Error report created by /usr/lib/tcltk/linuxcnc/show_errors.tcl:

Print file information:
RUN_IN_PLACE=no
LINUXCNC_DIR=
LINUXCNC_BIN_DIR=/usr/bin
LINUXCNC_TCL_DIR=/usr/lib/tcltk/linuxcnc
LINUXCNC_SCRIPT_DIR=
LINUXCNC_RTLIB_DIR=/usr/lib/linuxcnc/modules
LINUXCNC_CONFIG_DIR=
LINUXCNC_LANG_DIR=/usr/lib/tcltk/linuxcnc/msgs
INIVAR=inivar
HALCMD=halcmd
LINUXCNC_EMCSH=/usr/bin/wish8.6
LINUXCNC - 2.9.3
Machine configuration directory is '/home/mill/linuxcnc/configs/mill'
Machine configuration file is 'mill.ini'
INIFILE=/home/mill/linuxcnc/configs/mill/mill.ini
VERSION=1.1
PARAMETER_FILE=linuxcnc.var
TPMOD=
HOMEMOD=
TASK=milltask
HALUI=halui
DISPLAY=qtvcp qtdragon
COORDINATES=XYZ
KINEMATICS=trivkins coordinates=XYZ
Starting LinuxCNC...
Starting LinuxCNC server program: linuxcncsvr
Loading Real Time OS, RTAPI, and HAL_LIB modules
Starting LinuxCNC IO program: io
libnml/buffer/shmem.cc 320: Shared memory buffers toolCmd and toolCmd may conflict. (key=1004(0x3EC))
libnml/buffer/shmem.cc 320: Shared memory buffers toolSts and toolSts may conflict. (key=1005(0x3ED))
libnml/buffer/shmem.cc 320: Shared memory buffers emcError and emcError may conflict. (key=1003(0x3EB))
Starting HAL User Interface program: halui
linuxcnc TPMOD=tpmod HOMEMOD=homemod EMCMOT=motmod
Found file(REL): ./mill.hal
Found file(REL): ./custom.hal
Starting TASK program: milltask
Starting DISPLAY program: qtvcp
hm2/hm2_7i96s.0: Watchdog has bit! (set the .has-bit pin to False to resume)

Unexpected realtime delay on task 0 with period 1600000
This Message will only display once per session.
Run the Latency Test and resolve before continuing.

hm2/hm2_7i96s.0: error finishing read! iter=14604

Shutting down and cleaning up LinuxCNC...
Running HAL shutdown script
task: 4597 cycles, min=0.000007, max=0.014843, avg=0.010020, 0 latency excursions (> 10x expected cycle time of 0.010000s)
hm2: loading Mesa HostMot2 driver version 0.15
hm2_eth: loading Mesa AnyIO HostMot2 ethernet driver version 0.2
hm2_eth: 10.10.10.10: INFO: Hardware address (MAC): 00:60:1b:16:8a:7b
hm2_eth: discovered 7I96S
hm2/hm2_7i96s.0: Low Level init 0.15
hm2/hm2_7i96s.0: Smart Serial Firmware Version 43
hm2/hm2_7i96s.0: 51 I/O Pins used:
hm2/hm2_7i96s.0: IO Pin 000 (TB3-01): InM Input Module #0, pin in0 (Input)
hm2/hm2_7i96s.0: IO Pin 001 (TB3-02): InM Input Module #0, pin in1 (Input)
hm2/hm2_7i96s.0: IO Pin 002 (TB3-03): InM Input Module #0, pin in2 (Input)
hm2/hm2_7i96s.0: IO Pin 003 (TB3-04): InM Input Module #0, pin in3 (Input)
hm2/hm2_7i96s.0: IO Pin 004 (TB3-05): InM Input Module #0, pin in4 (Input)
hm2/hm2_7i96s.0: IO Pin 005 (TB3-06): InM Input Module #0, pin in5 (Input)
hm2/hm2_7i96s.0: IO Pin 006 (TB3-07): InM Input Module #0, pin in6 (Input)
hm2/hm2_7i96s.0: IO Pin 007 (TB3-08): InM Input Module #0, pin in7 (Input)
hm2/hm2_7i96s.0: IO Pin 008 (TB3-09): InM Input Module #0, pin in8 (Input)
hm2/hm2_7i96s.0: IO Pin 009 (TB3-10): InM Input Module #0, pin in9 (Input)
hm2/hm2_7i96s.0: IO Pin 010 (TB3-11): InM Input Module #0, pin in10 (Input)
hm2/hm2_7i96s.0: IO Pin 011 (TB3-13/TB3-14): SSR #0, pin Out-00 (Output)
hm2/hm2_7i96s.0: IO Pin 012 (TB3-15/TB3-16): SSR #0, pin Out-01 (Output)
hm2/hm2_7i96s.0: IO Pin 013 (TB3-17/TB3-18): SSR #0, pin Out-02 (Output)
hm2/hm2_7i96s.0: IO Pin 014 (TB3-19/TB3-20): SSR #0, pin Out-03 (Output)
hm2/hm2_7i96s.0: IO Pin 015 (TB3-21/TB3-22): OutM Output Module #0, pin Out-04 (Output)
hm2/hm2_7i96s.0: IO Pin 016 (TB3-23/TB3-24): OutM Output Module #0, pin Out-05 (Output)
hm2/hm2_7i96s.0: IO Pin 017 (TB1-02/TB1-03): StepGen #0, pin Step (Output)
hm2/hm2_7i96s.0: IO Pin 018 (TB1-04/TB1-05): StepGen #0, pin Direction (Output)
hm2/hm2_7i96s.0: IO Pin 019 (TB1-08/TB1-09): StepGen #1, pin Step (Output)
hm2/hm2_7i96s.0: IO Pin 020 (TB1-10/TB1-11): StepGen #1, pin Direction (Output)
hm2/hm2_7i96s.0: IO Pin 021 (TB1-14/TB1-15): StepGen #2, pin Step (Output)
hm2/hm2_7i96s.0: IO Pin 022 (TB1-16/TB1-17): StepGen #2, pin Direction (Output)
hm2/hm2_7i96s.0: IO Pin 023 (TB1-20/TB1-21): StepGen #3, pin Step (Output)
hm2/hm2_7i96s.0: IO Pin 024 (TB1-22-TB1-23): StepGen #3, pin Direction (Output)
hm2/hm2_7i96s.0: IO Pin 025 (TB2-02/TB2-03): StepGen #4, pin Step (Output)
hm2/hm2_7i96s.0: IO Pin 026 (TB2-04/TB2-05): StepGen #4, pin Direction (Output)
hm2/hm2_7i96s.0: IO Pin 027 (TB2-07/TB2-08): Encoder #0, pin A (Input)
hm2/hm2_7i96s.0: IO Pin 028 (TB2-10/TB2-11): Encoder #0, pin B (Input)
hm2/hm2_7i96s.0: IO Pin 029 (TB2-13/TB2-14): Encoder #0, pin Index (Input)
hm2/hm2_7i96s.0: IO Pin 030 (TB2-16/TB2-17): IOPort
hm2/hm2_7i96s.0: IO Pin 031 (TB2-18/TB2-19): IOPort
hm2/hm2_7i96s.0: IO Pin 032 (internal): IOPort
hm2/hm2_7i96s.0: IO Pin 033 (internal): SSR #0, pin AC Ref (internal) (Output)
hm2/hm2_7i96s.0: IO Pin 034 (P1-01/DB25-01): IOPort
hm2/hm2_7i96s.0: IO Pin 035 (P1-02/DB25-14): IOPort
hm2/hm2_7i96s.0: IO Pin 036 (P1-03/DB25-02): IOPort
hm2/hm2_7i96s.0: IO Pin 037 (P1-04/DB25-15): IOPort
hm2/hm2_7i96s.0: IO Pin 038 (P1-05/DB25-03): IOPort
hm2/hm2_7i96s.0: IO Pin 039 (P1-06/DB25-16): IOPort
hm2/hm2_7i96s.0: IO Pin 040 (P1-07/DB25-04): IOPort
hm2/hm2_7i96s.0: IO Pin 041 (P1-08/DB25-17): IOPort
hm2/hm2_7i96s.0: IO Pin 042 (P1-09/DB25-05): IOPort
hm2/hm2_7i96s.0: IO Pin 043 (P1-11/DB25-06): IOPort
hm2/hm2_7i96s.0: IO Pin 044 (P1-13/DB25-07): IOPort
hm2/hm2_7i96s.0: IO Pin 045 (P1-15/DB25-08): IOPort
hm2/hm2_7i96s.0: IO Pin 046 (P1-17/DB25-09): IOPort
hm2/hm2_7i96s.0: IO Pin 047 (P1-19/DB25-10): IOPort
hm2/hm2_7i96s.0: IO Pin 048 (P1-21/DB25-11): IOPort
hm2/hm2_7i96s.0: IO Pin 049 (P1-23/DB25-12): IOPort
hm2/hm2_7i96s.0: IO Pin 050 (P1-25/DB25-13): IOPort
hm2/hm2_7i96s.0: registered
hm2_eth: in hm2_eth_reset
hm2_eth: HostMot2 ethernet driver unloaded
hm2: unloading
Removing HAL_LIB, RTAPI, and Real Time OS modules
Removing NML shared memory segments

Debug file information:
Note: Using POSIX realtime
[QTvcp.QTDRAGON_HANDLER][WARNING] QtDragon Warning with loading QtWebEngineWidget - is python3-pyqt5.qtwebengine installed? (qtdragon_handler.py:31)
[QTvcp.QTVCP.QT_ISTAT][WARNING] INI Parsing Error, No USE_PROBE Entry in PROBE, Using: none (qt_istat.py:532)
hm2/hm2_7i96s.0: Watchdog has bit! (set the .has-bit pin to False to resume)
Unexpected realtime delay on task 0 with period 1600000
This Message will only display once per session.
Run the Latency Test and resolve before continuing.
hm2/hm2_7i96s.0: error finishing read! iter=14604
[QTvcp][CRITICAL] Retry from Error Dialog
Qtvcp encountered an error. The following information may be useful in troubleshooting:
LinuxCNC Version : 2.9.3

Traceback (most recent call last):
File "/usr/lib/python3/dist-packages/qtvcp/widgets/origin_offsetview.py", line 383, in periodic_check
self.reload_offsets()
File "/usr/lib/python3/dist-packages/qtvcp/widgets/origin_offsetview.py", line 270, in reload_offsets
degree_tmpl = "%{}.2f".format(len(locale.format(tmpl, 0)))
^^^^^^^^^^^^^
AttributeError: module 'locale' has no attribute 'format'. Did you mean: '_format'?

(qtvcp:515)
[QTvcp][CRITICAL] Retry from Error Dialog
Qtvcp encountered an error. The following information may be useful in troubleshooting:
LinuxCNC Version : 2.9.3

Traceback (most recent call last):
File "/usr/lib/python3/dist-packages/qtvcp/widgets/origin_offsetview.py", line 383, in periodic_check
self.reload_offsets()
File "/usr/lib/python3/dist-packages/qtvcp/widgets/origin_offsetview.py", line 270, in reload_offsets
degree_tmpl = "%{}.2f".format(len(locale.format(tmpl, 0)))
^^^^^^^^^^^^^
AttributeError: module 'locale' has no attribute 'format'. Did you mean: '_format'?

(qtvcp:515)
[QTvcp][CRITICAL] Aborted from Error Dialog
Qtvcp encountered an error. The following information may be useful in troubleshooting:
LinuxCNC Version : 2.9.3

Traceback (most recent call last):
File "/usr/lib/python3/dist-packages/qtvcp/widgets/origin_offsetview.py", line 383, in periodic_check
self.reload_offsets()
File "/usr/lib/python3/dist-packages/qtvcp/widgets/origin_offsetview.py", line 270, in reload_offsets
degree_tmpl = "%{}.2f".format(len(locale.format(tmpl, 0)))
^^^^^^^^^^^^^
AttributeError: module 'locale' has no attribute 'format'. Did you mean: '_format'?

(qtvcp:511)
/usr/bin/linuxcnc: line 977: 22836 Segmentation fault $EMCDISPLAY -ini "$INIFILE" $EMCDISPLAYARGS $EXTRA_ARGS
22785
22833
Stopping realtime threads
Unloading hal components
Note: Using POSIX realtime

---

Info report created by linuxcnc_info:
The file: /tmp/linuxcnc_info.txt
can be posted to a forum or a web site like:
pastebin.com
in order to provide information about the linuxcnc
system and configuration.

Date: Mon Jul 15 17:24:06 UTC 2024
UTC Date: Mon Jul 15 17:24:06 UTC 2024
this program: /usr/bin/linuxcnc_info
uptime: 17:24:06 up 53 min, 2 users, load average: 2.60, 2.54, 2.86
lsb_release -sa: Debian Debian GNU/Linux trixie/sid n/a trixie
linuxcnc: /usr/bin/linuxcnc
pwd: /home/mill/linuxcnc/configs/mill
USER: mill
LOGNAME: mill
HOME: /home/mill
EDITOR:
VISUAL:
LANGUAGE:
TERM: dumb
COLORTERM:
DISPLAY: :0.0
DESKTOP: lightdm-xsession
display size: 3200x1080 pixels (847x286 millimeters)
PATH: /usr/bin:/home/mill/linuxcnc/configs/mill/bin:/usr/bin:/usr/local/bin:/usr/bin:/bin:/usr/local/games:/usr/games

uname items:
nodename -n: 4axis
kernel-name -s: Linux
kernel-vers -v: #1 SMP PREEMPT_RT Debian 6.9.8-1 (2024-07-07)
machine -m: x86_64
processor -p: unknown
platform -i: unknown
oper system -o: GNU/Linux

/proc items:
cmdline: BOOT_IMAGE=/boot/vmlinuz-6.9.8-rt-amd64 root=UUID=49de45c3-2dc5-457b-ace0-1f60b3cb03d3 ro quiet
model name: Intel(R) Core(TM) i5-3570 CPU @ 3.40GHz
cores: 4
cpu MHz: 3393.341
parport:
serial:

Versions:
gcc: gcc (Debian 13.3.0-1) 13.3.0
python: Python 3.12.4
git: git version 2.43.0
git commit: NA
tcl: 8.6
tk: 8.6
glade: not_in_PATH

linuxcnc_var all:

LINUXCNCVERSION: 2.9.3
LINUXCNC_AUX_GLADEVCP: /usr/share/linuxcnc/aux_gladevcp
LINUXCNC_AUX_EXAMPLES: /usr/share/linuxcnc/aux_examples
REALTIME: /usr/lib/linuxcnc/realtime
RTS: uspace
HALLIB_DIR: /usr/share/linuxcnc/hallib
PYTHON: /usr/bin/python3

dpkg -l '*linuxcnc*':
Desired=Unknown/Install/Remove/Purge/Hold
| Status=Not/Inst/Conf-files/Unpacked/halF-conf/Half-inst/trig-aWait/Trig-pend
|/ Err?=(none)/Reinst-required (Status,Err: uppercase=bad)
||/ Name Version Architecture Description
+++-===================-============-============-=====================================================================
un linuxcnc <none> <none> (no description available)
un linuxcnc-dev <none> <none> (no description available)
un linuxcnc-doc <none> <none> (no description available)
ii linuxcnc-doc-en 2.9.3-1 all motion controller for CNC machines and robots (English documentation)
un linuxcnc-doc-es <none> <none> (no description available)
un linuxcnc-doc-fr <none> <none> (no description available)
un linuxcnc-sim <none> <none> (no description available)
un linuxcnc-sim-dev <none> <none> (no description available)
ii linuxcnc-uspace 2.9.3-1+b2 amd64 motion controller for CNC machines and robots
ii linuxcnc-uspace-dev 2.9.3-1+b2 amd64 PC based motion controller for real-time Linux

here is the error report
i installed debian 13 according to docs.google.com/document/d/1jeV_4VKzVmOI...m1x7oiw8VcLFdiY/edit.
i was getting the red light when i powered on the board with debian 12 but since i installed debian 13, i can go through pncconf and test each axis i just cant run linuxcnc. and i was haviing trouble testing before. and forget about adding another ethernet card. i had it working for a few hours on debian 12 but i would shut it down and go back the next day and it wound give me the wathcdog errror. now i just get the red light when i try to run linuxcnc. and i can test each axis in pncconf.

Hello,I recently retrofit an axiom router to use LinuxCNC. Everything works pretty decently. I am running into a problem where the dimensions of parts will be every-so-slightly off, but enough to know it's not just a tolerance problem. I think I've whittled down the problem to movement between cutting operations - when cutting a pocket (for example), the pocket is just the right size. But when it travels to the next operation (drilling a hole for example), the position of the hole will be slightly off from where it should be. Especially on longer parts when the travel is significant, the error is relatively larger. I've tested my stepper settings while setting up, and it jogs the correct distance.

I tried to lower the max velocity and acceleration, thinking that it could be overshooting at the higher travel speeds. This did not change anything (compared to the same part at a higher travel speed). Could it be a latency problem? I do get a latency warning every once in a while. Any other ideas?.hal and .ini files attached.

Let me know if this post should be moved to another category - first time posting here.

Hello, 

I'm running LinuxCNC debian image. I have set a SMB shared directory to upload gcode files directly from my PC (windows). I used to have the CNC computer hosting the samba server, but that would cause problems (huges lags looking for the server) in my PC when the machine was turned off. I now host the SMB share on a local (ubuntu) server. I can mount and access the folder from debian on the CNC without problems. However, the folder doesn't update when files are uploaded to the server. I can see them after manual reload (F5) in the file explorer, but I can't refresh even manually within the CNC GUI (Probe basic), which is pretty annoying. When the share was hosted on the machine it was refreshing automatically on changes both in the file explorer and in Probe basic. 

I have tried playing with all kinds of mounting and SMB settings both on the server and on the machine. I can't seem to find a solution. Could it be because of some settings disabled in the BIOS maybe? Or would you have an idea of to fix this small, yet disabling problem?

thanks a lot,

Try:

halcmd sets spindle-on True