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  • drboeller
  • drboeller
26 Jun 2024 19:08
Replied by drboeller on topic Problems with Lichuan Ethercat servo drive

Problems with Lichuan Ethercat servo drive

Category: EtherCAT

Very good crosjat, have you tried to use the openethercat master? Does it work with linuxcnc? Ive searched for the code which handles the synchronisation but didnt find it. I think its in the ethercat master lib.
  • newbynobi
  • newbynobi's Avatar
26 Jun 2024 18:50
Replied by newbynobi on topic Error adding tool

Error adding tool

Category: Gmoccapy

It seems, that you are using the master branch, aren't you?

If so, you have to calculate with such errors and that solving them could take some tioome, as you are using a development version.

Regards Norbert
  • HansU
  • HansU's Avatar
26 Jun 2024 18:50
Replied by HansU on topic Error adding tool

Error adding tool

Category: Gmoccapy

Hello,
I understand that linuxcnc is free software and no one owes anyone, but can't the developers solve the problem of zeroing the table if they themselves created this error???
 

First, we don't create errors/bugs willfully. That's not a nice wording. This kind of bug seem to arose by the migration from Python 2 to Python 3 (LinuxCNC 2.8 to LinuxCNC 2.9).
And yes I agree, such destructive bugs should be fixed asap. But as we are doing this in our free time, this time and those time slots are sometimes very small.
I tried to fixed that some time ago, but on that PC I could't reproduce this bug. So this got a little bit out of focus.
  • greg23_78
  • greg23_78
26 Jun 2024 17:57 - 26 Jun 2024 18:02
pin "pyvcp.XXX" does not exist was created by greg23_78

pin "pyvcp.XXX" does not exist

Category: pyVCP

I have a problem with pyvcp commands.
am I missing something?

XML file
<labelframe text="TAILSTOCK">
       <font>("Helvetica",16)</font>

        <!-- le bouton de jog de la poupee mobile -->
        <hbox>
            <relief>RAISED</relief>
            <bd>3</bd>
            <button>
                <font>("Helvetica",20)</font>
                <width>3</width>
                <halpin>"tailstock-plus"</halpin>
                <text>"H+"</text>
            </button>
            <button>
                <font>("Helvetica",20)</font>
                <width>3</width>
                <halpin>"tailstock-moins"</halpin>
                <text>"H-"</text>
            </button>
        </hbox>
    </labelframe>

    <labelframe text="CONVOYOR">
       <font>("Helvetica",16)</font>
        <!-- le bouton de jog de la poupee mobile -->
        <hbox>
            <relief>RAISED</relief>
            <bd>3</bd>
            <button>
                <font>("Helvetica",20)</font>
                <width>3</width>
                <halpin>"convoyor-rev"</halpin>
                <text>"RV"</text>
            </button>
            <button>
                <font>("Helvetica",20)</font>
                <width>3</width>
                <halpin>"convoyor-fwd"</halpin>
                <text>"FW"</text>
            </button>
        </hbox>
    </labelframe>
INI file
HAL]
HALFILE = main.hal
HALFILE = io.hal
HALFILE = sserial.hal
HALFILE = custom.hal
HALFILE = Carousel.hal
POSTGUI_HALFILE = postgui.hal
SHUTDOWN = shutdown.hal
HALUI = halui

Postgui file
show pin
# Put HAL commands in this file that you want to run after the GUI loads

net tailstock-moins     =>      pyvcp.tailstock-moins
net tailstock-plus      =>      pyvcp.tailstock-plus
net convoyor-rev        =>      pyvcp.convoyor-rev
net convoyor-fwd        =>      pyvcp.convoyor-fwd

Hal file
# PyVCP button #

loadrt and2 names=and2_tailstock_manu_moins,and2_tailstock_manu_plus
loadrt or2 names=or2_tailstock_manu_auto_moins,or2_tailstock_manu_auto_plus

addf and2_tailstock_manu_moins           servo-thread
addf and2_tailstock_manu_plus            servo-thread
addf or2_tailstock_manu_auto_moins       servo-thread
addf or2_tailstock_manu_auto_plus        servo-thread

net program_no_running     halui.program.is-idle
net program_no_running        and2_tailstock_manu_moins.in0
net program_no_running     and2_tailstock_manu_plus.in0

# headstock

net my-jogtailstock-moins-auto            motion.digital-out-00
net my-jogtailstock-moins                 tailstock-moins and2_tailstock_manu_moins.in1
net my-jogtailstock-moins-manu            and2_tailstock_manu_moins.out => or2_tailstock_manu_auto_moins.in0
net my-jogtailstock-moins-manu-auto       or2_tailstock_manu_auto_moins.out => hm2_7i97.0.7i84.0.0.output-00


net my-jogtailstock-plus-auto            motion.digital-out-01
net my-jogtailstock-plus                 tailstock-plus and2_tailstock_manu_plus.in1
net my-jogtailstock-plus-manu            and2_tailstock_manu_plus.out => or2_tailstock_manu_auto_plus.in0
net my-jogtailstock-plus-manu-auto       or2_tailstock_manu_auto_plus.out => hm2_7i97.0.7i84.0.0.output-01


# convoyor
net my-jogconvoyor-rev     hm2_7i97.0.7i84.0.0.output-02 <= convoyor-rev
net my-jogconvoyor-fwd     hm2_7i97.0.7i84.0.0.output-03 <= convoyor-fwd
  • sensille
  • sensille
26 Jun 2024 15:54
Replied by sensille on topic New project, litehm2: a hostmot2 port to linsn rv901t

New project, litehm2: a hostmot2 port to linsn rv901t

Category: Driver Boards

Yes, the patch is not in 2.9.2, just in the current master, scheduled for 2.10.
  • 10K
  • 10K's Avatar
26 Jun 2024 15:39
Replied by 10K on topic Threading

Threading

Category: Lathe Library

Threading routine now fortified with ACME threads!!

I had an ACME threading project, and realized my threading routine would require a bit of revision to cut them. The parameters for ACME are a bit different than regular threading.  I made some modifications, and this new version will now cut ACME threads.

I did not modify the metric version of this code. Metric threads are Trapezoidal, which are similar but not the same as ACME. It would require a bit of tweaking of the ACME code, and I don't currently plan any work on this.

I hadn't looked at these posts in a while, and saw that robertspark made some revisions to my original code. I have not looked at those, so this new version does not include them. I'll try to take a look at them in the future to blend them in.
  • abdulasis12
  • abdulasis12
26 Jun 2024 15:09 - 26 Jun 2024 20:59
Replied by abdulasis12 on topic Please HELP config ethercat servo motor

Please HELP config ethercat servo motor

Category: EtherCAT

I try re download file from github.com/rodw-au/linuxcnc-cia402/tree/main
and first time show error shutdown.hal   i go to # all line
run linuxcnc from cmd
show  this  massege  :
linuxcnc@debian:~/linuxcnc/configs/linuxcnc-cia402-main$ linuxcnc
LINUXCNC - 2.9.2
Machine configuration directory is '/home/linuxcnc/linuxcnc/configs/linuxcnc-cia402-main'
Machine configuration file is 'cia402.ini'
Starting LinuxCNC...
emc/iotask/ioControl_v2.cc 888: iov2: can't load tool table.
linuxcnc TPMOD=tpmod HOMEMOD=homemod EMCMOT=motmod
Note: Using POSIX realtime
Found file(REL): ./cia402.hal
Failed to execute SDO download: Input/output error
LCEC: slave 0.0: Failed to execute SDO download (0x2000:0x00, size 2, byte0=112, error -5, abort_code 06020000)
LCEC: failed to configure slave 0.0 sdo 2000:00
Failed to execute SDO download: Input/output error
LCEC: slave 0.0: Failed to execute SDO download (0x2007:0x06, size 1, byte0=5, error -5, abort_code 06020000)
LCEC: failed to configure slave 0.0 sdo 2007:06
Failed to execute SDO download: Input/output error
LCEC: slave 0.0: Failed to execute SDO download (0x2007:0x05, size 1, byte0=5, error -5, abort_code 06020000)
LCEC: failed to configure slave 0.0 sdo 2007:05
Failed to execute SDO download: Input/output error
LCEC: slave 0.0: Failed to execute SDO download (0x2011:0x00, size 2, byte0=1, error -5, abort_code 06020000)
LCEC: failed to configure slave 0.0 sdo 2011:00
Failed to execute SDO download: Input/output error
LCEC: slave 0.0: Failed to execute SDO download (0x6098:0x00, size 2, byte0=17, error -5, abort_code 06070010)
LCEC: failed to configure slave 0.0 sdo 6098:00
Failed to execute SDO download: Input/output error
LCEC: slave 0.0: Failed to execute SDO download (0x607c:0x00, size 2, byte0=0, error -5, abort_code 06070010)
LCEC: failed to configure slave 0.0 sdo 607c:00
Failed to execute SDO download: Input/output error
LCEC: slave 0.0: Failed to execute SDO download (0x609a:0x00, size 2, byte0=244, error -5, abort_code 06070010)
LCEC: failed to configure slave 0.0 sdo 609a:00
Failed to execute SDO download: Input/output error
LCEC: slave 0.0: Failed to execute SDO download (0x6099:0x01, size 2, byte0=196, error -5, abort_code 06070010)
LCEC: failed to configure slave 0.0 sdo 6099:01
Failed to execute SDO download: Input/output error
LCEC: slave 0.0: Failed to execute SDO download (0x6099:0x02, size 2, byte0=244, error -5, abort_code 06070010)
LCEC: failed to configure slave 0.0 sdo 6099:02
Failed to execute SDO download: Input/output error
LCEC: slave 0.1: Failed to execute SDO download (0x2000:0x00, size 2, byte0=112, error -5, abort_code 06020000)
LCEC: failed to configure slave 0.1 sdo 2000:00
Failed to execute SDO download: Input/output error
LCEC: slave 0.1: Failed to execute SDO download (0x2007:0x06, size 1, byte0=5, error -5, abort_code 06020000)
LCEC: failed to configure slave 0.1 sdo 2007:06
Failed to execute SDO download: Input/output error
LCEC: slave 0.1: Failed to execute SDO download (0x2011:0x00, size 2, byte0=1, error -5, abort_code 06020000)
LCEC: failed to configure slave 0.1 sdo 2011:00
Failed to execute SDO download: Invalid argument
LCEC: slave 0.2: Failed to execute SDO download (0x2000:0x00, size 2, byte0=88, error -22, abort_code 08e49a08)
LCEC: failed to configure slave 0.2 sdo 2000:00
Failed to execute SDO download: Invalid argument
LCEC: slave 0.2: Failed to execute SDO download (0x2007:0x06, size 1, byte0=5, error -22, abort_code 08e49a08)
LCEC: failed to configure slave 0.2 sdo 2007:06
Failed to execute SDO download: Invalid argument
LCEC: slave 0.2: Failed to execute SDO download (0x2011:0x00, size 2, byte0=0, error -22, abort_code 08e49a08)
LCEC: failed to configure slave 0.2 sdo 2011:00
Failed to register PDO entry: No such file or directory
LCEC: master 0 PDO entry registration failed
LCEC: failure, clearing config
LCEC: exiting
LCEC: returning -EINVAL
lcec: rtapi_app_main: Invalid argument (-22)
./cia402.hal:15: waitpid failed /usr/bin/rtapi_app lcec
./cia402.hal:15: /usr/bin/rtapi_app exited without becoming ready
./cia402.hal:15: insmod for lcec failed, returned -1
Shutting down and cleaning up LinuxCNC...
Running HAL shutdown script
iov2: exiting
Note: Using POSIX realtime
LinuxCNC terminated with an error.  You can find more information in the log:
    /home/linuxcnc/linuxcnc_debug.txt
and
    /home/linuxcnc/linuxcnc_print.txt
as well as in the output of the shell command 'dmesg' and in the terminal


this my ethercat network
linuxcnc@debian:~/linuxcnc/configs/linuxcnc-cia402-main$ ethercat slaves
0  0:0  PREOP  +  BK1120 EtherCAT Buskoppler
1  1:0  PREOP  +  HCFA X3E Servo Driver
linuxcnc@debian:~/linuxcnc/configs/linuxcnc-cia402-main$ 
some can guild me ?

Thank you.
Asis
  • aparecido
  • aparecido
26 Jun 2024 15:04
Replied by aparecido on topic Linuxcnc 2.8.4 does not show tandem items.

Linuxcnc 2.8.4 does not show tandem items.

Category: General LinuxCNC Questions

Hi guys, good news, the homming square worked perfectly.
 I already backed up hal and ini so I wouldn't have any more problems...
 I have a new question, is it possible to jog any of the axes before homming?
 Because imagine that for some reason Linux closes or the PC restarts with the axis stopped at the other end, the travel of Y and X is approximately 1000mm, when I give the homming command it slowly comes looking for point 0 (sensor) . Before, when I could move the motors before homing it was quick, I would bring it close to the jog sensor and give the homming command, but now I have to wait a long time....
 Is there a way to get around it?
  • tommylight
  • tommylight's Avatar
26 Jun 2024 14:30
Replied by tommylight on topic andN orN - n-dimmensional and/or gates

andN orN - n-dimmensional and/or gates

Category: HAL

Dekuju pane.
:)
  • rumking
  • rumking
26 Jun 2024 14:01
andN orN - n-dimmensional and/or gates was created by rumking

andN orN - n-dimmensional and/or gates

Category: HAL

Dear all,
recetly I needed to manage some multi-conditional motion safety of relatively complex system. The problem is in the lines of "if a limit switch is hit or one of the many optical gates is triggerred, stop the motion".
For this purpose, I made n-dimensional and/or hal components - see attachment. Maybe, components such these could find wide use throughout our community, maybe become part of the main line (I am not a linuxcnc developer).
So, this is just me sharing these.
Best regards,
Vaclav Rada
ITAM CAS
Czech Republic
  • rodw
  • rodw's Avatar
26 Jun 2024 13:14
Replied by rodw on topic Position vs Velocity mode

Position vs Velocity mode

Category: EtherCAT

Thanks, it was interesting to hear somebody else's take on homing.i had actually forgotten about the home offset in the drive.
Different machines will have different stiffness. I was horrified when I racked my plasma gantry to see it twist at least 6 inches out of alignment, then fully correct itself when homed. And I thought it was stiff!

Getting drives to home all together won't be a problem. The lcec driver reads all pdos at the beginning of  the servo loop and writes out all pdos at the end after Linuxcnc has updated anything heading for the ethercat bus. Even a modest PC completes the servo thread in about 200 usec, then sleeps for about 800usec until the thread is fired again. So at a guess, all drives will commence homing within a 50 usec time slot.

Also be aware that a router or plasma should mark out 4 points forming a rectangle or square on the table and the diagonals measured to ensure they are the same length as part of the squareness calibration.
  • tommylight
  • tommylight's Avatar
26 Jun 2024 13:12
Replied by tommylight on topic LinuxCNC vs Klipper

LinuxCNC vs Klipper

Category: General LinuxCNC Questions

Back when Ubuntu 10.04 was in use with LinuxCNC 2.6 i think, the pc locked up, the screen went black ( not off) and still the machine kept running and finished the part, 3 hours after the pc failed.
That is more a Linux thing, but still, the resiliance is impressive.
  • tommylight
  • tommylight's Avatar
26 Jun 2024 13:05
Replied by tommylight on topic Marco Reps video on youtube about EtherCAT

Marco Reps video on youtube about EtherCAT

Category: EtherCAT

Open a terminal, navigate to where the downloaded file is located and type:
sudo halcompile --install wj200_vfd wj200_vfd.comp
  • Anton
  • Anton
26 Jun 2024 11:48
Replied by Anton on topic ProbeBasic backplot issue?

ProbeBasic backplot issue?

Category: QtPyVCP

Hello, 
when I start the probe_basic_lathe simulation and change the view, I get an error in the file vtk_backplot.py. 
I have installed the latest LCNC 2.9 ISO.
  • Donb9261
  • Donb9261's Avatar
26 Jun 2024 11:05
Replied by Donb9261 on topic Position vs Velocity mode

Position vs Velocity mode

Category: EtherCAT

Sorry, Rod I was talking about your version in regard to Beta you have been working on. Not the custom homing overall. That is well established.

After too much coffee, and some serious good nerd time I agree the issue for gantry homing is trivial. Based on Rod's feedback I think the drives can handle the entire scope of homing using the cia402_homecomp.comp driver. Correct me if I am wrong. You know more about the LCNC side than I do.

Based on the LS Electric iX7 drive manual there are many homing methods. All that use the index and home switch seem to match that of Delta and other EC drives and follow ISO methods.

Regardless of whether an int n_extrajoints, the method in the drive should work by simply setting OP Mode 6 to the respective drives. In the case of extra joints(XYYZ), both YY motors would receive the OP 6 control word when it was their turn to home, and the drives would start the homing procedure at the same tick cycle(sync'd +-.001ms). This requires careful thinking on the drive side since the motor direction is opposite per motor. Which I think the direction of travel per motor should be set in the drive and not controlled by LCNC. Both drives must have the exact same homing method setup. Also, acc and dec should be the same which is typical. FF gains the same. Homing speeds(based on the drives home speed params for your drives) must be the same. The home limits must be pretty close to the same actuation time with a tolerance of around .125mm or .005". Both drives need to home to index since that value never changes(unless one motor slips the coupling or is changed). Each drive will have its' own home offset and each motor after finding the index will stop at the offset potion and call that zero or home(each motor has its' own home_offset in the drive not LCNC). At this point the home complete Tx is sent to LCNC and LCNC sets homed pin for each motor and resets the LCNC POS Counter/register to zero, update halui for gui. Set OP 8. Next drive in line to home until n_joints is satisfied for all joints.

The reason you need to have the home switches set very tightly is the reversal once the home switch is found so as not to create a large error between the 2 motors causing ballscrew or pinion damage if say they are .250mm out of sync mechanically. This will cause wear and eventually loss of accuracy.

Other than the above, I see very little need to make any real custom homing methods as long as the drives follow the cia402 homing methods. Mitsubishi, Delta, Yaskawa, Panasonic, Sanyo Denki, etc. all use the same or more homing methods as this home and index type has been standard for well over 4 decades.

Each drive will have to be set up according to the drive OEM properly and accurately. But, based on the above if correct the homing issue can be standardized without much fuss or C coding at all. Which is nice.

But, all the above is contingent on whether your drive supports this functionality.

Hope that helps.

The LS Electric iX7 manual is here:

cdn.automationdirect.com/static/manuals/.../ix7nhusermanual.pdf

Section 5.6 describes each homing method available.

Page 136 shows the breakdown of the homing PDO's. The Home Offset PDO is R only. You can RW the other values but I think this is best handled at the source which is the drive and hard coded in the drive. This will keep the fat fingers to a minimum and not send erroneous data on the pipe. KISS method applies as always.

I include LS Electric drives because they are my chosen vendor not as a sponsored endorsement.
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