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Good morning, I don't know if I should make a new topic, but I discovered from the worker with the machine that just opening Linuxcnc with feed and rapid at zero doesn't completely solve my problem, when I open Linuxcnc it opens at zero as expected, but it works only for the first piece of the day, because then I adjust the feed override and rapid override as I work, when I load a new file without closing Linuxcnc and run gcode, the feed and rapid override are in the last position I placed, I wanted to know How can I make it read when I open a new gcode it resets the feed and the fast again? I don't know much about Python, but I believe it is possible to check LinuxCNC's status to perform zeroing in Python. Could you give me a tip on how I can write this? I'm kinda lost

forum.linuxcnc.org/9-installing-linuxcnc...ebian-12-rtai#304017

forum.linuxcnc.org/9-installing-linuxcnc...-2-9?start=30#305682

Hello everyone!
I intend to learn how to use LinuxCNC and I immediately saw an ISO 2.92 RT.
However, I use LPT and a PCI Express. What I need is a step-by-step guide to installing RTAI with the newest ISO possible or if this ISO can be configured. I don't really know anything about Linux, but in tests with the pendrive simulator I saw that the machine ran much better than Mach3 even though it wasn't RTAI.
I'm counting on my friends' help.

besriworld wrote:

You need to set up the driver manually. If there is software for the driver it is a very easy task. Automatic settings have never worked well for me.
A minimum error of 1 is too large for most machines.

Unfortunately there isn't software available for automatic tuning of CTB servo drives So it has to be done manually...

I can't seem to get rid of the delay between commanded position and actual position... this does not seem to be a property of PID-tuning... is this a EtherCAT thing or something else?

You say that 1 is to large for most machines... what is a good goal to have? What are the units of this? Is it milimeters of error between commanded and actual position, if the machine is metric? Or what does these two properties represent?

/Thomas

Hello,
I have servo drive from Tsino-Dynatron which has strange design:
- One Drive has built-in 2 Slaves
- One Slave has 3 modules which drive 3 motors
I attach file of esi from manufacturer and export from "ethercat xml" command.

I did xml too, but do not know how to command to motor-2 and motor-3 of slave-1
I checked lcec_conf data type, there is no "module" or "device" type, so how to address module-2, module-3 ?

Any idea ? Thank you.
 
 
 

If I were to try and do something like this I would get a few RPis with Linuxcnc running on each of them and figure out a way to feed them with gcode from a master PC. The synchronization would be through hardware IO shared between the individual installations.
[edit]
This really seems the most sensible way of doing this as you really just have a number of machines running in parallel without the problem of one interfering in the space of the other. Each station runs it's own Gcode and simply waits for the signal to start. Once it is done it sets a hardware output so the master installation knows when to rotate the carousel. This would also eliminate the need for fancy CAM solutions to generate multi channel gcode and you would have total freedom in the design of the individual stations.

I copied this from a previous question that seems similar....does the partial answer i pasted below seem appropriate for my desired use?...

Using additional axis letters will only let you run different tool paths by running them sequentially (ie you would have to wait for one to finish until you could start the other). If that is all you need then it may do what you want but that is not multi-channel use.
Multi-channel controllers can run different toolpaths in parallel, basically like running two machines at the same time with the added benefit of being able to synchronize the two to avoid conflicts.

An extra joint is just a single 'axis' .

LinuxCNC can handle 16 joints in total (any combination of XYZABCUVW plus 'extra joints')
So if you need XYZA for your coordinated station then you have 16-4=12 extra joints left.
If your coordinated station needs a tandem axis (eg for a gantry) then you have 16-4-1=11 extra joints left.
Extra joints can have a homing procedure, min / max limits, max velocity and max acceleration values.
Extra joints can be moved by setting the 'in' pin of the assigned 'limit3' hal component, this can also be done from GCode using a custom Mcode.

I'm afraid I don't know what would be needed to add multi-channel capability to LinuxCNC but I'm sure there aren't many people who know the code base well enough to even think of taking on such a challenge.

Is there a limit on those "extra joints" ?

But "extra joints" can be used only as one axis? or each has it's set of axis?

What is limiting the coordinated motion to run at the same time? maybe there is a way to create multiple instances of motion controller ?

I'll try to catch up with the developer manual

Hey this is great! thanks for you reply! I do have an Rpi4 and the color light already... I think using them together with PWM and an offset op-amp might be the way i go... It is hardware that i already own and i have time to burn... lol sorta....  And on second thought maybe 12 bits. haha but PWM is probably better. A 7i97 (which is what i think i would need) runs $400+ delivered to my door.... I dont have that much to put into this at the moment.... Does anyone have a used one? 

endian wrote:

this is status without SDO mapping done

user@user:~/ethercat-master$ ethercat slaves
0  0:0  PREOP  +  EK1100 EtherCAT Coupler (2A E-Bus)
1  0:1  PREOP  +  EL1008 8Ch. Dig. Input 24V, 3ms
2  0:2  PREOP  +  EL1018 8Ch. Dig. Input 24V, 10�s
3  0:3  PREOP  +  EL1018 8K. Dig. Eingang 24V, 10�s
4  0:4  PREOP  +  EL1018 8K. Dig. Eingang 24V, 10�s
5  0:5  PREOP  +  EL1018 8K. Dig. Eingang 24V, 10�s
6  0:6  PREOP  +  EL2008 8K. Dig. Ausgang 24V, 0.5A
7  0:7  PREOP  +  EL2124 4K. Dig. Ausgang 5V, 20mA
8  0:8  PREOP  +  EL6751 CANopen Master



[code]user@user:~/ethercat-master$ ethercat pdos
=== Master 0, Slave 1 ===
SM0: PhysAddr 0x1000, DefaultSize    1, ControlRegister 0x00, Enable 1
  TxPDO 0x1a00 "Channel 1"
    PDO entry 0x6000:01,  1 bit, "Input"
  TxPDO 0x1a01 "Channel 2"
    PDO entry 0x6010:01,  1 bit, "Input"
  TxPDO 0x1a02 "Channel 3"
    PDO entry 0x6020:01,  1 bit, "Input"
  TxPDO 0x1a03 "Channel 4"
    PDO entry 0x6030:01,  1 bit, "Input"
  TxPDO 0x1a04 "Channel 5"
    PDO entry 0x6040:01,  1 bit, "Input"
  TxPDO 0x1a05 "Channel 6"
    PDO entry 0x6050:01,  1 bit, "Input"
  TxPDO 0x1a06 "Channel 7"
    PDO entry 0x6060:01,  1 bit, "Input"
  TxPDO 0x1a07 "Channel 8"
    PDO entry 0x6070:01,  1 bit, "Input"
=== Master 0, Slave 2 ===
SM0: PhysAddr 0x1000, DefaultSize    1, ControlRegister 0x00, Enable 1
  TxPDO 0x1a00 "Channel 1"
    PDO entry 0x6000:01,  1 bit, "Input"
  TxPDO 0x1a01 "Channel 2"
    PDO entry 0x6010:01,  1 bit, "Input"
  TxPDO 0x1a02 "Channel 3"
    PDO entry 0x6020:01,  1 bit, "Input"
  TxPDO 0x1a03 "Channel 4"
    PDO entry 0x6030:01,  1 bit, "Input"
  TxPDO 0x1a04 "Channel 5"
    PDO entry 0x6040:01,  1 bit, "Input"
  TxPDO 0x1a05 "Channel 6"
    PDO entry 0x6050:01,  1 bit, "Input"
  TxPDO 0x1a06 "Channel 7"
    PDO entry 0x6060:01,  1 bit, "Input"
  TxPDO 0x1a07 "Channel 8"
    PDO entry 0x6070:01,  1 bit, "Input"
=== Master 0, Slave 3 ===
SM0: PhysAddr 0x1000, DefaultSize    1, ControlRegister 0x00, Enable 1
  TxPDO 0x1a00 "Channel 1"
    PDO entry 0x6000:01,  1 bit, "Input"
  TxPDO 0x1a01 "Channel 2"
    PDO entry 0x6010:01,  1 bit, "Input"
  TxPDO 0x1a02 "Channel 3"
    PDO entry 0x6020:01,  1 bit, "Input"
  TxPDO 0x1a03 "Channel 4"
    PDO entry 0x6030:01,  1 bit, "Input"
  TxPDO 0x1a04 "Channel 5"
    PDO entry 0x6040:01,  1 bit, "Input"
  TxPDO 0x1a05 "Channel 6"
    PDO entry 0x6050:01,  1 bit, "Input"
  TxPDO 0x1a06 "Channel 7"
    PDO entry 0x6060:01,  1 bit, "Input"
  TxPDO 0x1a07 "Channel 8"
    PDO entry 0x6070:01,  1 bit, "Input"
=== Master 0, Slave 4 ===
SM0: PhysAddr 0x1000, DefaultSize    1, ControlRegister 0x00, Enable 1
  TxPDO 0x1a00 "Channel 1"
    PDO entry 0x6000:01,  1 bit, "Input"
  TxPDO 0x1a01 "Channel 2"
    PDO entry 0x6010:01,  1 bit, "Input"
  TxPDO 0x1a02 "Channel 3"
    PDO entry 0x6020:01,  1 bit, "Input"
  TxPDO 0x1a03 "Channel 4"
    PDO entry 0x6030:01,  1 bit, "Input"
  TxPDO 0x1a04 "Channel 5"
    PDO entry 0x6040:01,  1 bit, "Input"
  TxPDO 0x1a05 "Channel 6"
    PDO entry 0x6050:01,  1 bit, "Input"
  TxPDO 0x1a06 "Channel 7"
    PDO entry 0x6060:01,  1 bit, "Input"
  TxPDO 0x1a07 "Channel 8"
    PDO entry 0x6070:01,  1 bit, "Input"
=== Master 0, Slave 5 ===
SM0: PhysAddr 0x1000, DefaultSize    1, ControlRegister 0x00, Enable 1
  TxPDO 0x1a00 "Channel 1"
    PDO entry 0x6000:01,  1 bit, "Input"
  TxPDO 0x1a01 "Channel 2"
    PDO entry 0x6010:01,  1 bit, "Input"
  TxPDO 0x1a02 "Channel 3"
    PDO entry 0x6020:01,  1 bit, "Input"
  TxPDO 0x1a03 "Channel 4"
    PDO entry 0x6030:01,  1 bit, "Input"
  TxPDO 0x1a04 "Channel 5"
    PDO entry 0x6040:01,  1 bit, "Input"
  TxPDO 0x1a05 "Channel 6"
    PDO entry 0x6050:01,  1 bit, "Input"
  TxPDO 0x1a06 "Channel 7"
    PDO entry 0x6060:01,  1 bit, "Input"
  TxPDO 0x1a07 "Channel 8"
    PDO entry 0x6070:01,  1 bit, "Input"
=== Master 0, Slave 6 ===
SM0: PhysAddr 0x0f00, DefaultSize    0, ControlRegister 0x44, Enable 9
  RxPDO 0x1600 "Channel 1"
    PDO entry 0x7000:01,  1 bit, "Output"
  RxPDO 0x1601 "Channel 2"
    PDO entry 0x7010:01,  1 bit, "Output"
  RxPDO 0x1602 "Channel 3"
    PDO entry 0x7020:01,  1 bit, "Output"
  RxPDO 0x1603 "Channel 4"
    PDO entry 0x7030:01,  1 bit, "Output"
  RxPDO 0x1604 "Channel 5"
    PDO entry 0x7040:01,  1 bit, "Output"
  RxPDO 0x1605 "Channel 6"
    PDO entry 0x7050:01,  1 bit, "Output"
  RxPDO 0x1606 "Channel 7"
    PDO entry 0x7060:01,  1 bit, "Output"
  RxPDO 0x1607 "Channel 8"
    PDO entry 0x7070:01,  1 bit, "Output"
=== Master 0, Slave 7 ===
SM0: PhysAddr 0x0f00, DefaultSize    0, ControlRegister 0x44, Enable 9
  RxPDO 0x1600 "Channel 1"
    PDO entry 0x7000:01,  1 bit, "Output"
  RxPDO 0x1601 "Channel 2"
    PDO entry 0x7010:01,  1 bit, "Output"
  RxPDO 0x1602 "Channel 3"
    PDO entry 0x7020:01,  1 bit, "Output"
  RxPDO 0x1603 "Channel 4"
    PDO entry 0x7030:01,  1 bit, "Output"
=== Master 0, Slave 8 ===
SM0: PhysAddr 0x1000, DefaultSize 1024, ControlRegister 0x26, Enable 1
SM1: PhysAddr 0x1400, DefaultSize 1024, ControlRegister 0x22, Enable 1
SM2: PhysAddr 0x1800, DefaultSize    0, ControlRegister 0x26, Enable 1
SM3: PhysAddr 0x2400, DefaultSize    0, ControlRegister 0x22, Enable 1

 
 

[/code]
 

 
I did some paint science ... 

there are in the 2 and 3 SM are data objects 1A00 and 1600 which are filled from array of bytes...

next

there is a 1A80 data type which are describtion EL6751 itselt... 

have a look

Thank you so much that is a HUGE help.

JT

@NoJo made a lathe like that a while ago. In this post he talks about his CAM solution (Not Fusion though):
forum.linuxcnc.org/10-advanced-configura...ling?start=50#288409

Today I've tried again and board seems to be empty, there is no eth connection. 3 diods are on. I cannot flash any firmware with stlink2.
Have you got any ideas how to fix it?

I'm not sure is my stlink is still good. I've tried to update firmware on stlink with their software and it shows firmware corrupted error 

Would 8 bits be enough resolution ?

Do your drives have a step & direction input ? That's also an option.

The easiest & most reliable solution (may end up cheaper at the end of the day) is a Mesa 7i77, has 6 analogue +-10v outputs, 6 inputs for encoders, 16 GP outputs & 32 GP inputs. Tho you would have to pair it with a 7i92T. Might be a couple hundred USD but you'll get a proven, reliable and well sorted setup. Something to think of considering your 10HP servomotors (10Hp was right ?).

I designed a couple of add cards that work in conjunction with a cheapish aliexpress FPGA board.
I've run 7c81 mesa firmware connecting via an SPI interface with a RPi4, 7i90 firmware using an EPP interface, a modified 7i90 firmware that is more specific to the setup, tho this needs some mods to mesaflash and the linuxcnc drivers. These are designed to work with Mesa DB25 daughter cards. Will also interface to standard Parallel Port breakout boards.
It's also possible to use a RV901T with modified firmware to run as a Smart Serial card, my poor old card has copped a bit of damage whilst soldering & desoldering bits on and off. Or with the correct adapter it also works with mesa smart serial cards, tested with a 7i73 card.

The same hardware will run Ollies linuxcnc rio firmware, either direct SPI or using a UDP to SPI bridge. There's a basic config in the riocore branch for this board. I have a couple of mates that are going this route.

Quick link to what I've been working on.
forum.linuxcnc.org/show-your-stuff/51142...pga-card-9d60#289226

Could have gone physically smaller with the boards, but wanted to keep as much as possible thru hole as it's easier to assemble and can get parts locally.

As much as I'd like ethernet, that means a move away from 2 layer boards and a lot of other issues that would bring it close to the 7i92T price point.

At the time of working on this project the 7i90 wasn't available and even know postage Down Under almost doubles the price. Pre covid things weren't so bad so the mill uses a few mesa cards. This project is for the FrankenMyford.

I know this is really long winded.....
When repurposing the colorlight boards theres as few things to take into account, outputs aren't an issue as they buffer are already at 5v. The issue arises with inputs. After having looked at a few options I came to the conclusion none are easier, and none are going to get you away from desoldering & resoldering. Some will let you have free reign on what pins are inputs\outputs other options will have pins fixed as inputs or outputs.
Whilst they do seem to be a cheaper option, there are extra costs, even more so if you are the one developing the hardware, if you can find suitable hardware that someone else has had a go out it may be come out a bit cheaper.

This setup isn't too bad, there is a etherent module some one designed for it. The i5 bundle is the cheaper version. A plus for this is that i\o is pretty much free form, tho you still have ot consider the whole 3.3v to 5v translation.
www.aliexpress.com/item/1005002997753428.html

If I was in your position (working and not having an effed up back, this is a guess), I'd more than likely go down the Mesa route, even taking into account what the postage would cost Down Under. The big pluses, as I said before, it's proven, it's reliable, large knowledge base, and direct support from Mesa via PCW. Actually without his generous help I would never had been able to get as far with my project running Mesa firmware.

I'm not trying to discourage you from "rolling your own" but just trying to pass on some of the stuff I've picked up on the way.