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  • JB-Motoring
  • JB-Motoring
20 Feb 2025 12:32
Replied by JB-Motoring on topic +-10v setup 7i97 & .ini

+-10v setup 7i97 & .ini

Category: General LinuxCNC Questions

Heya Seth,

would you maybe provide me the other files of your config? So I could take a look on how to set my machine up?

This would realllly help me out- it's been a while since my last setup :D!

THanks for any help!!!!

BR
  • Aciera
  • Aciera's Avatar
20 Feb 2025 12:21
Replied by Aciera on topic scurve trajectory planner

scurve trajectory planner

Category: General LinuxCNC Questions

I can't quite tell from your repo so you may already have but just in case:
Remember that we need to run eq 45 with the gamma11, gamma21 and s1 values found with dogleg. With the 6 resulting gamma values it should then satisfy G1, G2 and G3 continuity.

 
  • Aciera
  • Aciera's Avatar
20 Feb 2025 12:10
Replied by Aciera on topic scurve trajectory planner

scurve trajectory planner

Category: General LinuxCNC Questions

This is really a milestone for us !!!

Indeed! Congratulations.

However if you look closely at the individual clothoid curve transitions there is a tiny change in curvature.


Is eq 45 in the loop yet?
  • Traken
  • Traken
20 Feb 2025 12:07 - 20 Feb 2025 12:19
Replied by Traken on topic Servo Oscillation Issue at ±6.6V 5i25 + 7i77, Analog Control

Servo Oscillation Issue at ±6.6V 5i25 + 7i77, Analog Control

Category: Basic Configuration

It checks your method and shows no error. I will try to turn on linuxcnc and control from the servopack to read a higher speed and exclude the encoder reading.
Because it still seems to me that it is not related to the encoder reading but to the analog power supply.
What still surprises me is that if I drive the axle in the positive direction, I can achieve 10 m/min, and if I drive the axle in the negative direction, 8.3 m/min.
  • mc_cubus
  • mc_cubus
20 Feb 2025 11:37
Issue with LinuxCNC Pins showing zero was created by mc_cubus

Issue with LinuxCNC Pins showing zero

Category: EtherCAT

Hello Everyone,
I'm have an IFC2411 confocal sensor (Micro-Epsilon) on my EtherCAT network. The sensor is recognized and appears in OP state:
0  0:0  OP  +  ECOMODUL
1  0:1  OP  +  PD4-Ex-E-65-1 EtherCAT Drive (CoE)
2  0:2  OP  +  ECAT-2513 4-Port EtherCAT Junction(IN/OUT1)
3  0:3  OP  +  ECAT-2513 4-Port EtherCAT Junction(OUT2/OUT3)
4  0:4  OP  +  IFC2411
I can do an SDO read of 0x6000:01 and get non-zero distance values—proving the sensor is physically measuring and returning data internally:
ethercat upload -p 4 0x6000 0x01 --type uint32
0x001d6fe3 1929187

The ethercat pdos -p 4 says:
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 ""
    PDO entry 0x6000:01, 32 bit, ""
  TxPDO 0x1a30 ""
    PDO entry 0x6010:01, 32 bit, ""
  TxPDO 0x1a80 ""
    PDO entry 0x6030:01, 32 bit, ""
  TxPDO 0x1ae0 ""
    PDO entry 0x7000:01, 32 bit, ""
  TxPDO 0x1ae8 ""
    PDO entry 0x7001:01, 32 bit, ""
  TxPDO 0x1af0 ""
    PDO entry 0x7002:01, 32 bit, ""

However, in LinuxCNC’s HAL pins (e.g.
lcec.0.IFC2411Sensor.ifc2411-distance
), the value stays at 0.
halcmd show pin lcec.0.IFC2411Sensor
Component Pins:
Owner   Type  Dir         Value  Name
    37  s32   OUT             0  lcec.0.IFC2411Sensor.ifc2411-counter ==> ifc2411-counter
    37  s32   OUT             0  lcec.0.IFC2411Sensor.ifc2411-distance ==> ifc2411-distance
    37  s32   OUT             0  lcec.0.IFC2411Sensor.ifc2411-frequency ==> ifc2411-frequency
    37  s32   OUT             0  lcec.0.IFC2411Sensor.ifc2411-intensity ==> ifc2411-intensity
    37  s32   OUT             0  lcec.0.IFC2411Sensor.ifc2411-shutter ==> ifc2411-shutter
    37  s32   OUT             0  lcec.0.IFC2411Sensor.ifc2411-timestamp ==> ifc2411-timestamp
    37  bit   OUT          TRUE  lcec.0.IFC2411Sensor.slave-online
    37  bit   OUT          TRUE  lcec.0.IFC2411Sensor.slave-oper
    37  bit   OUT         FALSE  lcec.0.IFC2411Sensor.slave-state-init
    37  bit   OUT          TRUE  lcec.0.IFC2411Sensor.slave-state-op
    37  bit   OUT         FALSE  lcec.0.IFC2411Sensor.slave-state-preop
    37  bit   OUT         FALSE  lcec.0.IFC2411Sensor.slave-state-safeop


The slave is defined in ethercat_conf.xml as follows:
<slave idx="4" name="IFC2411Sensor" type="generic" vid="0x00000607" pid="0x62ece209" configPdos="true">
            
            <syncManager idx="3" dir="in">
                <!-- Channel 1 distance 1 TxPDOMap OV1 -->
                <pdo idx="1a00">
                  <pdoEntry idx="6000" subIdx="01" bitLen="32" halPin="ifc2411-distance" halType="s32"/>
                </pdo>
                <!-- Channel 1 intensity 1 TxPDOMap OV1 -->
                <pdo idx="1a30">
                  <pdoEntry idx="6010" subIdx="01" bitLen="32" halPin="ifc2411-intensity" halType="s32"/>
                </pdo>
                <!-- Channel 1 shutter TxPDOMap OV1 -->
                <pdo idx="1a80">
                  <pdoEntry idx="6030" subIdx="01" bitLen="32" halPin="ifc2411-shutter" halType="s32"/>
                </pdo>
                <!-- Counter TxPDOMap OV1 -->
                <pdo idx="1ae0">
                  <pdoEntry idx="7000" subIdx="01" bitLen="32" halPin="ifc2411-counter" halType="s32"/>
                </pdo>
                <!-- Time stamp TxPDOMap OV1 -->
                <pdo idx="1ae8">
                  <pdoEntry idx="7001" subIdx="01" bitLen="32" halPin="ifc2411-timestamp" halType="s32"/>
                </pdo>
                <!-- Frequency TxPDOMap OV1 -->
                <pdo idx="1af0">
                  <pdoEntry idx="7002" subIdx="01" bitLen="32" halPin="ifc2411-frequency" halType="s32"/>
                </pdo>
            </syncManager>
        </slave>

The .hal file contains the following mappings:
#PDOs to HAL Pins mapping for IFC2411 Confocal Sensor
net ifc2411-distance <= lcec.0.IFC2411Sensor.ifc2411-distance
net ifc2411-intensity <= lcec.0.IFC2411Sensor.ifc2411-intensity
net ifc2411-shutter <= lcec.0.IFC2411Sensor.ifc2411-shutter
net ifc2411-counter <= lcec.0.IFC2411Sensor.ifc2411-counter
net ifc2411-timestamp <= lcec.0.IFC2411Sensor.ifc2411-timestamp
net ifc2411-frequency <= lcec.0.IFC2411Sensor.ifc2411-frequency

I have the feeling that I am overseeing something trivial and would be thankful for any kind of help!

Cheers,
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