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"Ethercat should be running. If the above command is not found, you have a problem
You can list the slaves if you type
ethercat slaves"
So far I found the servo everything fine... but then it didn't go, from my understanding there is no lcec_conf file...

raspberrypi4b 8 giga, servo ethercat I will add a xml of the drive too 

thank you for sharing your code, but my configuration is a little bit different.
Indeed, you have a lubrication every 30 seconds so you can control not to keep in memory the timer when the condition spindle and motion are not met.

on the other hand, in my configuration I have lubrication every 10-15 min. so if I have a programme that lasts 8 min I will never see the oil pressure information. I will have to wait for a programme that lasts more than 10-15 min to find out if I have an motor fault or a big leak.

Unfortunately I don't know the python language or c (I can read it if there are a lot of comments) only the ladder but it's the last thing to set on my lathe and I haven't used classic ladder so I wouldn't want to use it just for that.

how can i implement your code with a timer in memory?

You can run the stepgen in position mode and not use the PID loop at all,
but its been found that using the PID loop deals better with random latency
spikes.

When using the PID loop, the stepgen is in velocity mode so unless you close the loop
with some P term, the actual stepgen position will drift from the commanded position
due to the small (say 50 PPM) differences in LinuxCNCs clock and the hardware's 
crystal oscillator.

Velocity mode without feedback is a bit like telling someone how to get somewhere
by telling them the speed and direction to go at any given time. Unless the speeds
are perfect you wont end up exactly where you should be.
 

Wait, what exactly are you using?

Welcome and feel free to ask/teach/entertain us.

I have 4 siemens 1200 safety cpu unit with digital input and output .... completely non used because too big for our electric cabinet ... if someone need 1 or all 4 .... cheaper price ... my wharehouse is too little for all ....

Hello all, 
In this thread i intend to to document my attempt to to build a controller for a 4 axis mill, from concept to implementation. 

I am highly inexperienced with Linux and programming in general,  so this may be new source of entertainment for the more experienced members. The hope is to leave a trail someone as daft as me could follow, to create a workable controller.

The Photo's of screens and other dubious content is aimed at providing a quick and dirty temporary reference for those of us who don't know what the result is supposed to look like, if this ends up being of use i will tidy it up.  


The end goal  is a 4 axis ethercat motion control system with RPI gpio performing a few less timing sensitive functions such as spindle direction and gear selection.  with closed loop position control.



 

I will change it tmr,
I always thought the drive takes in the step gen and handle the rest. So in case of a open loop system, does P term still need to be 1/servo period?

it is somewhat complicated. The stepgens do not get their position commands directly from the g-code. There are a few layers in between.

One of the motion planners (there is more than one) sends the commands for movement to the kinematics model, that then sends the joint position commands either directly to or via a PID loop to the stepgen. (I understand that the motion planner used for jogging isn't the same as the one used for program execution.)

The motion planner reads the G-code, calculates what the current commanded position should be and adds required offsets, before sending the axis positio commands to the Kinematics program.

After the Kinematics program translates the axis positions to joint positions, then any additional joint offsets will be added (such as home offsets.

Thanks. I will try using another cable. Is there any other way to connect the Mesa 7C81 with the Raspberry Pi 4? I have heard that you can connect the Mesa 7C81 using PNCoff, but I don’t understand how. If possible, could you explain it to me?

Not sure, could possible be a bad cable.
 

i had also tried the --readhmid command but It gives me the same error . There is an orange indication light on the mesa board after I power it up using the IDC26 cable which is not longer than 2.5 inches as mentioned in the manual. Note : No red leds after powering on the mesa board.

viski post=288949 userid=14009How to program scara to draw a circle ?

Assuming you have set up your SCARA arm appropriately using the correct kinematics, you would program it to do a circle exactly the same way as you would program a circle for an ordinary XYZ Cartesian machine that used Trivkins.   The kinematics program will automatically convert the rotary angular movement of the joints into linear XYZ Cartesian coordinates and vice versa.

The tricky part ia collecting all of the precise measurements and calibration settings that you will need to make the kinematics model work correctly.for your machine.

It's probably a bad idea to run commands that write to 7C81 flash without
a fully tested interface (If the --readhmid mesaflash command does not work
100% reliably, I would  not try any write commands or especially write-boot-block
commands)

Does the 7C81 FPGA configuration load at power up (no red LEDs after power-on)?

How long is the 40 pin cable? It may be a cable length or wiring error.

Hello rodw

A few weeks ago I run apt update to both amd64 and Raspi5 successfully. Now I have linuxcnc v2.9.3 / Ethercat up and running on both platforms but I can not any more update or upgrade either due to errors in repositories (new keys?).
Additionally it will require much effort to scratch install the provided ISO (linuxcnc.org/downloads/) so I would prefer to skip this option

So just to understand, by running the above script ecat.sh I will be able to nomally update my systems or I have to do something else?

I would appreciate your response
Best Regards and thanks in advance
Konstantinos