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I am trying to set up a xyyz and when I do the stepconfig it wont set up a input limit switch y2 on my joint 2, even though I set up the input as tamdem y limit and home, it sets the hal as "a" limit and home. and it also it doesnt set up my z limit and home, in the hal it shows up as u limit and home?  Am I missing something? or does this need to be modified in the hal with an editor? 

Thank you ,andy. I'm using a servo motor as the spindle,and it is controlled by linuxcnc-ethercat.I dont know if it is satisfied for the condition to use the Orient component.I 've read the link you provided,but the final output seems to be VFD,is it compatiable with ethercat's control mode ? In fact ,I only want the servo motor to be acted as both spindle and c-axis,it can run the G-Code ,such like M3 S1000 for spindle ,and also G0 C100 for axis move. I dont know if using Orient component is the solution for it ,hope to recv more info to done it in linuxcnc.

How did you install? What os are you using?

Ok adding G54 to RS274NGC_STARTUP_CODE did not appear to fix it.

I *think* running G54 before I do the Z touch off did fix it. I need to do some more testing.

Note that even before adding it to RS274NGC_STARTUP_CODE the g-code window in gmoccapy shows g54

                             

I bow to the Great Cornholio!

A Tip of the Hat to you.

Is there any issue with using the RTAI kernel on installations that boot via urging as opposed to BIOS or so called Legacy ?

I was just thinking of GRUB, but I guess grub initially gets installed with a kernel that mounts efivars and after that it’s plain sailing. Would there be an issue if Debian decides to update grub package and that update is done on a system that boots via uefi?
Would pinning the grub package to not update prove beneficial ?

Or have I put my foot in my mouth ?

It’s a shame that the various Ethernet modules about that use the same PHY as the arty, DP84xxx, only bring out one tx & one rx signal.
I’ve been slowly looking the W5500 code to see if I could see anything that jumps out that points to connection loss.
I’ve tried using a simple board similar to I’ve used when experimenting with a 7c81 copy, no dupont jumpers acting like antennas and reducing the divider to reduce the spi clock speed all to no avail. I’ve got 2 of the waveshare type boards and one of the Wiznet ones that are basically just the size of the RJ45 connector. Same results with both.
I don’t know why I’m so intrigued in getting it working, the UDP to SPI bridge works fine with my RPi 5 but not so with the RPi4.

Just one thing to consider a USB connected device is not “realtime” and is at the mercy of all the delays, latency and disconnection and reconnection that comes with it.
Where as the 7i73 is realtime, rock solid and I’ve never seen it lose a connection.
Another great thing is due to the use of Cat5 cable for connection it can be mounted anywhere.
Unless you design your device to use native USB, which I can only recall one project that did ie: it enumerates as a HID device, you’ll basically be operating at serial port speeds rather than 2.5M bits a second. This may not be an issue depending on packet size.

Basically what it boils down to a 7i73 pendant is going to be more responsive than a USB based one.

Now there is always the possibility of implementing the smart serial protocol into your device.

I presume that can be any plane in space (ie it does not have to be XY XZ or YZ)?
Yes, any plane.

If that is correct we can use the plane that is defined by the tool orientation vector and the corresponding point (TA knot) and project the two TA line segments (ie the one that comes from the previous TA knot and the one that goes to the next TA knot) onto that plane. Then we have the projected lines on a common plane and we can use the clothoids library to create a G2 continuous fillet.
Of course we would need to do this for all TA knots and their respective planes in space.
Yes that is correct. Three ta knot's can create a plane. On this plane we could record the tcp-ta intersection along the plane.
Maybe this is the best solution, we have to test it i think.

[edit]
Ok, I think we can forget this idea as this will still not create 3D clothoid curves but only 2D.
[/edit]
It will create a 2d clothoid in 3d space, it's valid as long it draw's the clothoid on a 3d plane with the current clothoid lib as is.

Isn't this the same situation as you would have when adding a fillet between a straight line segment and a helix segment in Gcode (except of course the helix segment would be oriented to XY, XZ or YZ plane)?
For now it isn't valid to create clothoid fillet on a helix. I didn't told it yet. It would be valid if clothoid is 3d.
It would be valid if fillet is of type 3d spline.

How do you handle  line-3d_arc segment corners in tool paths?
I think you mean, for using clothoids valid combinations are line-arc, arc-line, arc-arc as long as they are on the same plane.

If the clothoid library can only create 2d curves then the only solution I see would be to approximate all arcs with a polyline. Which is exactly what 5axis CAM output seems to do.
With this approach there would only be line-line segment corners.
The situation we have now is a 3d arc to 3d arc connection, both arc's are on exotic plane position. non xy,xz etc.
So this would not happen in normal gcode. This happens because we have a tooldir path recorded.
For normal gcode, i think the clothoid can cover 95%-100% of the fillets.

Things left to investegate:
1. We can test your plane idea using the 2 ta knots as plane.
2. We can test using 3d spline fillets, for our tooldir path.
3. We can invest more time in creating 3d clothoids to cover all exeptions.



 

I could see skipping the angular when there are no rotary axes. In simultaneous 4 and 5 axis work the majority of motion commands have angular components also.
I am just trying to understand the mindset of why the code is structured like it is.

Do you have the part number of the drives?
Can you get a picture of the drive connections

(The drives are the modules with the aluminum heat sinks)

Pinned.
Thank you.

you cutoff the important section showing what the error is, the debug section.

need more information on installation, system