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cakeslob wrote:

Warning: Spoiler!

Alright its starting to look like the inmates are running the asylum. Everyone just hold on for a moment, breath in and out, and cool our heads. I know english or linuxcnc isnt everyones first language, but it looks like everyone is working off each others confusion, and you guys are spiraling out. I think there are some core concepts we arent all understanding completely. Its clear that you guys are smart people, so lets hold on for a moment and regroup, and always read the manual. If you atre getting frustrated, just start from page one and read. If there are things getting lost in translation on the documents, letting us know would be great, and we can change some of the wording. I know the docs arent perfect, but the core concepts are the same for the whole of remora.


Also, if its a remora specific question, it is best to ask in the thread. remora isnt really a big wide linuxcnc thing, it makes it harder to find your thread.

  

 
First of all thank you so much for your interest in the problems of all of us newbies. And yes I can't speak English at all, I only understand a few technical words as the little I know was learned by myself. I'm sure that the things you wrote in the following posts will solve all my problems even future ones and I will keep these posts as documentation.

I have one last question, is there a specific post of remora? Could you kindly link because I thought it was this post here! Thanks again infinitely!!!

a little help links for NVEM RT1052 pins1      NVEM RT1052 pins2 

Hallo Hans, bei deinem ersten Post - meitest du Hartberg in Österreich - Stmk?   Falls ja, bin aus Rohrbach a.d.L.
Eventuell könnten wir uns gegenseitig etwas helfen.
lg Hermann

Where can I find an example of how to connect and integrate a handwheel (MPG)? Is it possible with Remora to use both a handwheel and an encoder for the spindle, or is only one of the two possible?

The background is that I drive the spindle with an AC servo, and this should be controlled via step/dir as a C axis. In the Gcode, the spindle should then work as a C axis, depending on the call, or rotate as a spindle. For the C axis to function correctly, not only the index must be evaluated, but also the angle via A/B.

EStop tested on NVEM board, works with mushroom button. In the GUI, EStop can be released and the machine started if the switch is not pressed. If it is pressed afterwards, the machine goes back into EStop.
Thanks to the "stupid" AI, I now seem to have managed to get a command to be issued on Joint2 with G0 C10 or with an M3 S300.
 

ini hall and xml file adedd

Wow, something I actually know something about on this forum.

For anyone wanting to explore FreeCAD I would highly recommend using the latest development versions. There are nightly builds available through a ppa but I personally would (and do) opt for the near weekly builds of the AppImages from here - github.com/FreeCAD/FreeCAD-Bundle/releases/tag/weekly-builds - Linux, Mac and Window$. No worries about dependences and if any given build has a showstopper bug, you can still have the last weeks to keep going until the next build that will, 99% of the time have that bug fixed. Lots of advanced and more complete features keep showing up. Especially in the CAM workbench. 

FreeCAD is my daily driver and unlike this LinuxCNC stuff, I took to FreeCAD like a duck to water. I personally find it very easy to use but I know I am amoung only a few that do. There are a vast number of vids on youtube and a forum every bit as active as this one to help get you started.

For the money, you won't beat it, and before you know, you will be knocking out parts left and right.

cnc@debian:~$ ethercat slaves
0  0:0  PREOP  E  L7NH - Standard EtherCAT drive(CoE,EoE,FoE)
1  0:1  OP     +  L7NH - Standard EtherCAT drive(CoE,EoE,FoE)
2  0:2  OP     +  L7NH - Standard EtherCAT drive(CoE,EoE,FoE)
cnc@debian:~$ ethercat slaves
0  0:0  OP  +  L7NH - Standard EtherCAT drive(CoE,EoE,FoE)
1  0:1  OP  +  L7NH - Standard EtherCAT drive(CoE,EoE,FoE)
2  0:2  OP  +  L7NH - Standard EtherCAT drive(CoE,EoE,FoE)
cnc@debian:~$ ethercat slaves
0  0:0  PREOP  +  L7NH - Standard EtherCAT drive(CoE,EoE,FoE)
1  0:1  OP     +  L7NH - Standard EtherCAT drive(CoE,EoE,FoE)
2  0:2  OP     +  L7NH - Standard EtherCAT drive(CoE,EoE,FoE)
cnc@debian:~$ ethercat slaves
0  0:0  OP  +  L7NH - Standard EtherCAT drive(CoE,EoE,FoE)
1  0:1  OP  +  L7NH - Standard EtherCAT drive(CoE,EoE,FoE)
2  0:2  OP  +  L7NH - Standard EtherCAT drive(CoE,EoE,FoE)
cnc@debian:~$ 

/////////////////////////////////////////////////////////////////////////////////////////////////////////////////

ethercat slaves -v
cnc@debian:~$ ethercat slaves -v
=== Master 0, Slave 0 ===
Device: Main
State: OP
Flag: +
Identity:
  Vendor Id:       0x00007595
  Product code:    0x00010001
  Revision number: 0x00000001
  Serial number:   0x00000000
DL information:
  FMMU bit operation: no
  Distributed clocks: yes, 64 bit
  DC system time transmission delay: 0 ns
Port  Type  Link  Loop    Signal  NextSlave  RxTime [ns]  Diff [ns]   NextDc [ns]
   0  MII   up    open    yes             -   2788414231           0           0
   1  MII   up    open    yes             1   2788417151        2920         720
   2  N/A   down  closed  no              -            -           -           -
   3  N/A   down  closed  no              -            -           -           -
Mailboxes:
  Bootstrap RX: 0x0000/0, TX: 0x0000/0
  Standard  RX: 0x1000/128, TX: 0x1400/128
  Supported protocols: EoE, CoE, FoE
General:
  Group: ServoDrive
  Image name: DRIVE
  Order number: L7NH - Standard EtherCAT drive
  Device name: L7NH - Standard EtherCAT drive(CoE,EoE,FoE)
  CoE details:
    Enable SDO: yes
    Enable SDO Info: yes
    Enable PDO Assign: yes
    Enable PDO Configuration: yes
    Enable Upload at startup: no
    Enable SDO complete access: yes
  Flags:
    Enable SafeOp: yes
    Enable notLRW: yes
  Current consumption: 0 mA
=== Master 0, Slave 1 ===
Device: Main
State: OP
Flag: +
Identity:
  Vendor Id:       0x00007595
  Product code:    0x00010001
  Revision number: 0x00000001
  Serial number:   0x00000000
DL information:
  FMMU bit operation: no
  Distributed clocks: yes, 64 bit
  DC system time transmission delay: 720 ns
Port  Type  Link  Loop    Signal  NextSlave  RxTime [ns]  Diff [ns]   NextDc [ns]
   0  MII   up    open    yes             0   2898738888           0         720
   1  MII   up    open    yes             2   2898740368        1480         740
   2  N/A   down  closed  no              -            -           -           -
   3  N/A   down  closed  no              -            -           -           -
Mailboxes:
  Bootstrap RX: 0x0000/0, TX: 0x0000/0
  Standard  RX: 0x1000/128, TX: 0x1400/128
  Supported protocols: EoE, CoE, FoE
General:
  Group: ServoDrive
  Image name: DRIVE
  Order number: L7NH - Standard EtherCAT drive
  Device name: L7NH - Standard EtherCAT drive(CoE,EoE,FoE)
  CoE details:
    Enable SDO: yes
    Enable SDO Info: yes
    Enable PDO Assign: yes
    Enable PDO Configuration: yes
    Enable Upload at startup: no
    Enable SDO complete access: yes
  Flags:
    Enable SafeOp: yes
    Enable notLRW: yes
  Current consumption: 0 mA
=== Master 0, Slave 2 ===
Device: Main
State: OP
Flag: +
Identity:
  Vendor Id:       0x00007595
  Product code:    0x00010001
  Revision number: 0x00000001
  Serial number:   0x00000000
DL information:
  FMMU bit operation: no
  Distributed clocks: yes, 64 bit
  DC system time transmission delay: 1460 ns
Port  Type  Link  Loop    Signal  NextSlave  RxTime [ns]  Diff [ns]   NextDc [ns]
   0  MII   up    open    yes             1   2768192999           0         740
   1  MII   down  closed  no              -            -           -           -
   2  N/A   down  closed  no              -            -           -           -
   3  N/A   down  closed  no              -            -           -           -
Mailboxes:
  Bootstrap RX: 0x0000/0, TX: 0x0000/0
  Standard  RX: 0x1000/128, TX: 0x1400/128
  Supported protocols: EoE, CoE, FoE
General:
  Group: ServoDrive
  Image name: DRIVE
  Order number: L7NH - Standard EtherCAT drive
  Device name: L7NH - Standard EtherCAT drive(CoE,EoE,FoE)
  CoE details:
    Enable SDO: yes
    Enable SDO Info: yes
    Enable PDO Assign: yes
    Enable PDO Configuration: yes
    Enable Upload at startup: no
    Enable SDO complete access: yes
  Flags:
    Enable SafeOp: yes
    Enable notLRW: yes
  Current consumption: 0 mA
cnc@debian:~$ 

sudo dmesg

///////////////////////////////////////////////////////////////////////////////////////////////////////////////
cnc@debian:~$ sudo dmesg -C 
[sudo] password for cnc: 
cnc@debian:~$ sudo dmesg
[  136.638023] EtherCAT ERROR 0-1: AL status message 0x0032: "PLL error".
[  136.640259] EtherCAT 0-1: Acknowledged state SAFEOP.
[  136.664315] EtherCAT WARNING 0-1: Other mailbox protocol response for eoe0s1.
[  136.696316] EtherCAT WARNING 0-1: Other mailbox protocol response for eoe0s1.
[  137.046021] EtherCAT ERROR 0-2: AL status message 0x0032: "PLL error".
[  137.048223] EtherCAT 0-2: Acknowledged state SAFEOP.
[  137.096340] EtherCAT ERROR 0-2: Mailbox error response received - Unknown error reply code 0x0000.
[  137.096347] EtherCAT WARNING 0-2: Invalid mailbox response for eoe0s2.
[  137.128322] EtherCAT WARNING 0-2: Other mailbox protocol response for eoe0s2.
[  137.452212] EtherCAT 0: Slave states on main device: SAFEOP, OP + ERROR.
[  137.461022] EtherCAT ERROR 0-0: AL status message 0x0032: "PLL error".
[  137.463020] EtherCAT 0-0: Acknowledged state SAFEOP.
[  137.540312] EtherCAT WARNING 0-0: Other mailbox protocol response for eoe0s0.
cnc@debian:~$ sudo dmesg
[  136.638023] EtherCAT ERROR 0-1: AL status message 0x0032: "PLL error".
[  136.640259] EtherCAT 0-1: Acknowledged state SAFEOP.
[  136.664315] EtherCAT WARNING 0-1: Other mailbox protocol response for eoe0s1.
[  136.696316] EtherCAT WARNING 0-1: Other mailbox protocol response for eoe0s1.
[  137.046021] EtherCAT ERROR 0-2: AL status message 0x0032: "PLL error".
[  137.048223] EtherCAT 0-2: Acknowledged state SAFEOP.
[  137.096340] EtherCAT ERROR 0-2: Mailbox error response received - Unknown error reply code 0x0000.
[  137.096347] EtherCAT WARNING 0-2: Invalid mailbox response for eoe0s2.
[  137.128322] EtherCAT WARNING 0-2: Other mailbox protocol response for eoe0s2.
[  137.452212] EtherCAT 0: Slave states on main device: SAFEOP, OP + ERROR.
[  137.461022] EtherCAT ERROR 0-0: AL status message 0x0032: "PLL error".
[  137.463020] EtherCAT 0-0: Acknowledged state SAFEOP.
[  137.540312] EtherCAT WARNING 0-0: Other mailbox protocol response for eoe0s0.
[  142.548211] EtherCAT WARNING 0-0: Slave did not sync after 5000 ms.
[  142.888220] EtherCAT 0: Slave states on main device: OP.
cnc@debian:~$ sudo dmesg
[  136.638023] EtherCAT ERROR 0-1: AL status message 0x0032: "PLL error".
[  136.640259] EtherCAT 0-1: Acknowledged state SAFEOP.
[  136.664315] EtherCAT WARNING 0-1: Other mailbox protocol response for eoe0s1.
[  136.696316] EtherCAT WARNING 0-1: Other mailbox protocol response for eoe0s1.
[  137.046021] EtherCAT ERROR 0-2: AL status message 0x0032: "PLL error".
[  137.048223] EtherCAT 0-2: Acknowledged state SAFEOP.
[  137.096340] EtherCAT ERROR 0-2: Mailbox error response received - Unknown error reply code 0x0000.
[  137.096347] EtherCAT WARNING 0-2: Invalid mailbox response for eoe0s2.
[  137.128322] EtherCAT WARNING 0-2: Other mailbox protocol response for eoe0s2.
[  137.452212] EtherCAT 0: Slave states on main device: SAFEOP, OP + ERROR.
[  137.461022] EtherCAT ERROR 0-0: AL status message 0x0032: "PLL error".
[  137.463020] EtherCAT 0-0: Acknowledged state SAFEOP.
[  137.540312] EtherCAT WARNING 0-0: Other mailbox protocol response for eoe0s0.
[  142.548211] EtherCAT WARNING 0-0: Slave did not sync after 5000 ms.
[  142.888220] EtherCAT 0: Slave states on main device: OP.
[  189.704214] EtherCAT 0: Slave states on main device: SAFEOP, OP + ERROR.
[  189.734024] EtherCAT ERROR 0-2: AL status message 0x0032: "PLL error".
[  189.736022] EtherCAT 0-2: Acknowledged state SAFEOP.
[  189.768320] EtherCAT WARNING 0-2: Other mailbox protocol response for eoe0s2.
[  189.820332] EtherCAT ERROR 0-2: Mailbox error response received - Unknown error reply code 0x0000.
[  189.820338] EtherCAT WARNING 0-2: Invalid mailbox response for eoe0s2.
[  190.146022] EtherCAT ERROR 0-0: AL status message 0x0032: "PLL error".
[  190.148223] EtherCAT 0-0: Acknowledged state SAFEOP.
[  190.184313] EtherCAT WARNING 0-0: Other mailbox protocol response for eoe0s0.
[  190.200317] EtherCAT WARNING 0-0: Other mailbox protocol response for eoe0s0.
[  190.232315] EtherCAT ERROR 0-0: Mailbox error response received - Unknown error reply code 0x0000.
[  190.232320] EtherCAT WARNING 0-0: Invalid mailbox response for eoe0s0.
[  195.229022] EtherCAT WARNING 0-0: Slave did not sync after 5000 ms.
[  195.550023] EtherCAT ERROR 0-1: AL status message 0x0032: "PLL error".
[  195.552216] EtherCAT 0-1: Acknowledged state SAFEOP.
[  195.636321] EtherCAT ERROR 0-1: Reception of CoE download response failed: 
[  195.636320] EtherCAT WARNING 0-1: Other mailbox protocol response for eoe0s1.
[  195.636325] No response.
[  195.636327] EtherCAT WARNING 0-1: Failed to set number of assigned PDOs of SM3.
[  195.636328] EtherCAT WARNING 0-1: Currently assigned PDOs: (none). PDOs to assign: 0x1A00
[  195.636332] EtherCAT WARNING 0-1: PDO configuration failed.
[  195.964216] EtherCAT 0: Slave states on main device: OP.
cnc@debian:~$ 


///////////////////////////////////////////////////////////////////////////////////////////////////////////////////
ethercat pdos -v
cnc@debian:~$ ethercat pdos -v
=== Master 0, Slave 0 ===
SM0: PhysAddr 0x1000, DefaultSize  128, ControlRegister 0x26, Enable 1
SM1: PhysAddr 0x1400, DefaultSize  128, ControlRegister 0x22, Enable 1
SM2: PhysAddr 0x1800, DefaultSize   12, ControlRegister 0x64, Enable 0
  RxPDO 0x1600 ""
    PDO entry 0x6040:00, 16 bit, ""
    PDO entry 0x607a:00, 32 bit, ""
    PDO entry 0x60ff:00, 32 bit, ""
    PDO entry 0x6071:00, 16 bit, ""
    PDO entry 0x60b8:00, 16 bit, ""
    PDO entry 0x6060:00,  8 bit, ""
SM3: PhysAddr 0x1c00, DefaultSize   20, ControlRegister 0x20, Enable 0
  TxPDO 0x1a00 "1st Transmit PDO Mapping"
    PDO entry 0x6041:00, 16 bit, ""
    PDO entry 0x6064:00, 32 bit, ""
    PDO entry 0x606c:00, 32 bit, ""
    PDO entry 0x6077:00, 16 bit, ""
    PDO entry 0x60b9:00, 16 bit, ""
    PDO entry 0x6061:00,  8 bit, ""
    PDO entry 0x60ba:00, 32 bit, ""
    PDO entry 0x603f:00, 16 bit, ""
    PDO entry 0x60fd:00, 32 bit, ""
=== Master 0, Slave 1 ===
SM0: PhysAddr 0x1000, DefaultSize  128, ControlRegister 0x26, Enable 1
SM1: PhysAddr 0x1400, DefaultSize  128, ControlRegister 0x22, Enable 1
SM2: PhysAddr 0x1800, DefaultSize   12, ControlRegister 0x64, Enable 0
  RxPDO 0x1600 "1st Receive PDO Mapping"
    PDO entry 0x6040:00, 16 bit, ""
    PDO entry 0x607a:00, 32 bit, ""
    PDO entry 0x60ff:00, 32 bit, ""
    PDO entry 0x6071:00, 16 bit, ""
    PDO entry 0x60b8:00, 16 bit, ""
    PDO entry 0x6060:00,  8 bit, ""
SM3: PhysAddr 0x1c00, DefaultSize   20, ControlRegister 0x20, Enable 0
  TxPDO 0x1a00 "1st Transmit PDO Mapping"
    PDO entry 0x6041:00, 16 bit, ""
    PDO entry 0x6064:00, 32 bit, ""
    PDO entry 0x606c:00, 32 bit, ""
    PDO entry 0x6077:00, 16 bit, ""
    PDO entry 0x60b9:00, 16 bit, ""
    PDO entry 0x6061:00,  8 bit, ""
    PDO entry 0x60ba:00, 32 bit, ""
    PDO entry 0x603f:00, 16 bit, ""
    PDO entry 0x60fd:00, 32 bit, ""
=== Master 0, Slave 2 ===
SM0: PhysAddr 0x1000, DefaultSize  128, ControlRegister 0x26, Enable 1
SM1: PhysAddr 0x1400, DefaultSize  128, ControlRegister 0x22, Enable 1
SM2: PhysAddr 0x1800, DefaultSize   12, ControlRegister 0x64, Enable 0
  RxPDO 0x1600 "1st Receive PDO Mapping"
    PDO entry 0x6040:00, 16 bit, ""
    PDO entry 0x607a:00, 32 bit, ""
    PDO entry 0x60ff:00, 32 bit, ""
    PDO entry 0x6071:00, 16 bit, ""
    PDO entry 0x60b8:00, 16 bit, ""
    PDO entry 0x6060:00,  8 bit, ""
SM3: PhysAddr 0x1c00, DefaultSize   20, ControlRegister 0x20, Enable 0
  TxPDO 0x1a00 "1st Transmit PDO Mapping"
    PDO entry 0x6041:00, 16 bit, ""
    PDO entry 0x6064:00, 32 bit, ""
    PDO entry 0x606c:00, 32 bit, ""
    PDO entry 0x6077:00, 16 bit, ""
    PDO entry 0x60b9:00, 16 bit, ""
    PDO entry 0x6061:00,  8 bit, ""
    PDO entry 0x60ba:00, 32 bit, ""
    PDO entry 0x603f:00, 16 bit, ""
    PDO entry 0x60fd:00, 32 bit, ""
cnc@debian:~$ 
/////////////////////////////////////////////////////////////////////////////////////////////////////////////

ethercat cstruct

cnc@debian:~$ ethercat cstruct
/* Master 0, Slave 0, "L7NH - Standard EtherCAT drive"
 * Vendor ID:       0x00007595
 * Product code:    0x00010001
 * Revision number: 0x00000001
 */

ec_pdo_entry_info_t slave_0_pdo_entries[] = {
    {0x6040, 0x00, 16},
    {0x607a, 0x00, 32},
    {0x60ff, 0x00, 32},
    {0x6071, 0x00, 16},
    {0x60b8, 0x00, 16},
    {0x6060, 0x00, 8},
    {0x6041, 0x00, 16},
    {0x6064, 0x00, 32},
    {0x606c, 0x00, 32},
    {0x6077, 0x00, 16},
    {0x60b9, 0x00, 16},
    {0x6061, 0x00, 8},
    {0x60ba, 0x00, 32},
    {0x603f, 0x00, 16},
    {0x60fd, 0x00, 32},
};

ec_pdo_info_t slave_0_pdos[] = {
    {0x1600, 6, slave_0_pdo_entries + 0},
    {0x1a00, 9, slave_0_pdo_entries + 6}, /* 1st Transmit PDO Mapping */
};

ec_sync_info_t slave_0_syncs[] = {
    {0, EC_DIR_OUTPUT, 0, NULL, EC_WD_DISABLE},
    {1, EC_DIR_INPUT, 0, NULL, EC_WD_DISABLE},
    {2, EC_DIR_OUTPUT, 1, slave_0_pdos + 0, EC_WD_ENABLE},
    {3, EC_DIR_INPUT, 1, slave_0_pdos + 1, EC_WD_DISABLE},
    {0xff}
};

/* Master 0, Slave 1, "L7NH - Standard EtherCAT drive"
 * Vendor ID:       0x00007595
 * Product code:    0x00010001
 * Revision number: 0x00000001
 */

ec_pdo_entry_info_t slave_1_pdo_entries[] = {
    {0x6040, 0x00, 16},
    {0x607a, 0x00, 32},
    {0x60ff, 0x00, 32},
    {0x6071, 0x00, 16},
    {0x60b8, 0x00, 16},
    {0x6060, 0x00, 8},
    {0x6041, 0x00, 16},
    {0x6064, 0x00, 32},
    {0x606c, 0x00, 32},
    {0x6077, 0x00, 16},
    {0x60b9, 0x00, 16},
    {0x6061, 0x00, 8},
    {0x60ba, 0x00, 32},
    {0x603f, 0x00, 16},
    {0x60fd, 0x00, 32},
};

ec_pdo_info_t slave_1_pdos[] = {
    {0x1600, 6, slave_1_pdo_entries + 0}, /* 1st Receive PDO Mapping */
    {0x1a00, 9, slave_1_pdo_entries + 6}, /* 1st Transmit PDO Mapping */
};

ec_sync_info_t slave_1_syncs[] = {
    {0, EC_DIR_OUTPUT, 0, NULL, EC_WD_DISABLE},
    {1, EC_DIR_INPUT, 0, NULL, EC_WD_DISABLE},
    {2, EC_DIR_OUTPUT, 1, slave_1_pdos + 0, EC_WD_ENABLE},
    {3, EC_DIR_INPUT, 1, slave_1_pdos + 1, EC_WD_DISABLE},
    {0xff}
};

/* Master 0, Slave 2, "L7NH - Standard EtherCAT drive"
 * Vendor ID:       0x00007595
 * Product code:    0x00010001
 * Revision number: 0x00000001
 */

ec_pdo_entry_info_t slave_2_pdo_entries[] = {
    {0x6040, 0x00, 16},
    {0x607a, 0x00, 32},
    {0x60ff, 0x00, 32},
    {0x6071, 0x00, 16},
    {0x60b8, 0x00, 16},
    {0x6060, 0x00, 8},
    {0x6041, 0x00, 16},
    {0x6064, 0x00, 32},
    {0x606c, 0x00, 32},
    {0x6077, 0x00, 16},
    {0x60b9, 0x00, 16},
    {0x6061, 0x00, 8},
    {0x60ba, 0x00, 32},
    {0x603f, 0x00, 16},
    {0x60fd, 0x00, 32},
};

ec_pdo_info_t slave_2_pdos[] = {
    {0x1600, 6, slave_2_pdo_entries + 0}, /* 1st Receive PDO Mapping */
    {0x1a00, 9, slave_2_pdo_entries + 6}, /* 1st Transmit PDO Mapping */
};

ec_sync_info_t slave_2_syncs[] = {
    {0, EC_DIR_OUTPUT, 0, NULL, EC_WD_DISABLE},
    {1, EC_DIR_INPUT, 0, NULL, EC_WD_DISABLE},
    {2, EC_DIR_OUTPUT, 1, slave_2_pdos + 0, EC_WD_ENABLE},
    {3, EC_DIR_INPUT, 1, slave_2_pdos + 1, EC_WD_DISABLE},
    {0xff}
};

cnc@debian:~$