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  • 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,
  • Grotius
  • Grotius's Avatar
20 Feb 2025 11:12
Replied by Grotius on topic scurve trajectory planner

scurve trajectory planner

Category: General LinuxCNC Questions

@Arciera,

Today i started coding the clothoid compound fit using the gsl solver. It worked right away.
I think because yesterday we did it succesfully for just one clothoid.

This is really a milestone for us !!!

What we see here is a 3d clothoid spline, build from 4 individual clothoids, given start, end posture.

Given the abstract :
"Space corner smoothing of CNC machine tools through developing 3D general clothoid"
by Qun-Bao Xiao, Min Wan, Yang Liu, Xue-Bin Qin, and Wei-Hong Zhang.
Published in Robotics and Computer Integrated Manufacturing, Volume 64, 2020.


However if you look closely at the individual clothoid curve transitions there is a tiny change in curvature.
Somewhere in the code is a buggybug. 
File Attachment:
  and or alien obstruction.
I think in eq45 where the constrains of the joints are calculated must be something signed to "-" ?
// Start point.
double xs = 0.0;
double ys = 0.0;
double zs = 0.0;

// Target point.
double xe = 520.05;
double ye = 266.50;
double ze = 125.50;

// Start angles, end angles.
double degrees_xy_start = 45.0;
double degrees_xy_end = 0.0;
double degrees_z_start = 0.0;
double degrees_z_end = -45.0;

  
Converged after 315 iterations
Solution found: gamma10 = 0.000000, gamma20 = -0.000000, s1 = 198.587624
endpoint x: 520.050004 y: 266.500006 z: 125.499999
  • denhen89
  • denhen89's Avatar
20 Feb 2025 11:06
Replied by denhen89 on topic (LPT) Debian 12 Latency spikes/unexpected real time delay. Looking for solution.

(LPT) Debian 12 Latency spikes/unexpected real time delay. Looking for solution.

Category: General LinuxCNC Questions

I am planning to do a fresh debian 12 install and delete everything what is currently on the system.
Do i understand correctly, after Debian 12 is installed, i need to do this:
sudo dpkg -i (package name here without brackets)
for each deb that is here onelaboratories.us/abc/ and after that reboot and choose the rtai kernel in grub?
  • denhen89
  • denhen89's Avatar
20 Feb 2025 10:51
Replied by denhen89 on topic (LPT) Debian 12 Latency spikes/unexpected real time delay. Looking for solution.

(LPT) Debian 12 Latency spikes/unexpected real time delay. Looking for solution.

Category: General LinuxCNC Questions

Just started and i have to post because this is a good example how it always goes for me:
1. sudo apt purge linuxcnc*
works, buty doesnt remove Linuxcnc because: (Package 'linuxcnc' is not installed, so not removed)

cncpc@debian:~$ sudo apt purge linuxcnc*
Reading package lists... Done
Building dependency tree... Done
Reading state information... Done
Package 'linuxcnc' is not installed, so not removed
The following packages were automatically installed and are no longer required:
libwpe-1.0-1 libwpebackend-fdo-1.0-1 linux-headers-6.1.0-18-amd64
linux-headers-6.1.0-18-common linux-headers-6.1.0-18-common-rt
linux-headers-6.1.0-18-rt-amd64 linux-image-6.1.0-18-rt-amd64
Use 'sudo apt autoremove' to remove them.
0 upgraded, 0 newly installed, 0 to remove and 0 not upgraded.

Linuxcnc is of course installed. I dont get it, but thats standard for me already:)
  • royka
  • royka
20 Feb 2025 09:31
Replied by royka on topic (LPT) Debian 12 Latency spikes/unexpected real time delay. Looking for solution.

(LPT) Debian 12 Latency spikes/unexpected real time delay. Looking for solution.

Category: General LinuxCNC Questions

As written in the first post, first uninstall the current LinuxCNC with:
sudo apt purge linuxcnc*

After that install all the deb files, I think that placing these deb files in a separate folder and entering: sudo apt update && sudo apt install ./*.deb will be the easiest way. Otherwise like in the first post
  • unknown
  • unknown
20 Feb 2025 09:29
Replied by unknown on topic Trouble with Linucnc RPi

Trouble with Linucnc RPi

Category: Installing LinuxCNC

You never specified the resolutions of your monitor nor your make\model of monitor so kind of hard to diagnose.

I think your best bet would be to google something along the lines of "RPi4B skewed login screen" if you get asked what operating system on any forums tell them Debian Bookworm with a kernel built from Raspberry Pi kernel sources. If you mention Linuxcnc their heads will explode and tell you to come back here. The thing is this is the first time I can think of this issue has come up on the forum, so not a lot of knowledge.
Whilst we can diagnose some issues others are out of out league, whilst we could offer suggestions we've searched for not having your particular monitor makes it a bit hit & miss.
The images we provide are just a Raspberry Pi kernel built for realtime plus some binaries need for the RPi, a minimal Debian Desktop install, ie no packages for editing images, playing music, chatting or office stuff, ie packages not essential to controlling a cnc machine. On top of that there is Linuxcnc installed which needs nothing special as it is a debian package, but updated from what you'd find in the Debian repos.
To be perfectly honest these current build method has only been in use since about late 2023. So far we haven't had any major bugs, and your issue seems particular to your site.
So far I've tested both the current Rpi4 & RPi5 images with a small HDMI touch monitor and a 4:3 17" monitor using a HDMI to DVI Monitor, none have shown this behavior.
  • Aciera
  • Aciera's Avatar
20 Feb 2025 08:45
Replied by Aciera on topic Hal-Pin - Werte aus dem Programm heraus in eine Datei schreiben lassen

Hal-Pin - Werte aus dem Programm heraus in eine Datei schreiben lassen

Category: Deutsch

Ja das sollte gehen mit '#<_hal[HAL item]>'

Für aktuelle Werte musst du jedoch vorher den read ahead mit einem queue buster synchronisieren. Zum Beispiel so:
M66 E0 L0
(LOG,  #<_hal[hm2_5i25.0.encoder.01.count]>)


linuxcnc.org/docs/html/gcode/overview.ht...:overview-parameters
  • Hakan
  • Hakan
20 Feb 2025 08:38
Replied by Hakan on topic Beckhoff EL5101-0011 vs plain EL5101

Beckhoff EL5101-0011 vs plain EL5101

Category: EtherCAT

There is another way and that is to use the "generic" driver instead of the built-in one and specify the sdos and pdos you need in the config xml file
"lcec_configgen -generic_pdos" will give you a nice starting point.
  • JB-Motoring
  • JB-Motoring
20 Feb 2025 07:59
Replied by JB-Motoring on topic Mesa 7i97T + 7i84 + 7i78 configuration

Mesa 7i97T + 7i84 + 7i78 configuration

Category: General LinuxCNC Questions

So coming to the next "problem"....

The machine uses Heidenhain LS486 Linear scales (XYZ) and RON285 rotary encoders (A/B).

What would be the best way to get that signal into the MESA?

Buying 5 IBV boxes?

Thanks guys!

BR
  • Sziggy_NC
  • Sziggy_NC
20 Feb 2025 07:23
Replied by Sziggy_NC on topic Issues with Configuring Axis Limits in LinuxCNC for New CNC Machine

Issues with Configuring Axis Limits in LinuxCNC for New CNC Machine

Category: General LinuxCNC Questions

This might be enough for someone else to help, but I need more information.
Could you share/attach your ini file?
  • cumbent
  • cumbent
20 Feb 2025 07:07
Issues with Configuring Axis Limits in LinuxCNC for New CNC Machine was created by cumbent

Issues with Configuring Axis Limits in LinuxCNC for New CNC Machine

Category: General LinuxCNC Questions

Hi all,I'm a beginner with LinuxCNC and just got a new CNC machine set up with the software. I’m having trouble configuring the axis limits properly and I’m unsure if I’m missing something simple or if it's a common issue.Here’s the problem: I’ve set the machine’s physical axis limits, but when I try to run a test program, LinuxCNC doesn't seem to respect them. The machine sometimes attempts to move past the set limits and throws an error, even though the limits are configured in the machine’s INI file.Here’s what I’ve tried so far:
  1. Checked my INI file and made sure the axis limits are set under the
    [AXIS_0]
    ,
    [AXIS_1]
    , and
    [AXIS_2]
    sections.
  2. Ensured the “MAX_VELOCITY” and “MAX_ACCELERATION” values are correctly configured for each axis.
  3. Looked through the documentation but couldn’t find any specifics on ensuring these limits are respected during operation.
Has anyone encountered this before? Is there an additional setting I may need to adjust or something I'm overlooking?Thanks in advance for any guidance!
  • JuFu
  • JuFu
20 Feb 2025 06:54 - 20 Feb 2025 06:56
Replied by JuFu on topic gmoccapy - tool change and edge finder do not work

gmoccapy - tool change and edge finder do not work

Category: Gmoccapy

 

File Attachment:

File Name: Foxy_gmoccapy.zip
File Size:23 KB
attached the compressed config folder.
 
  • Aciera
  • Aciera's Avatar
20 Feb 2025 06:10
Replied by Aciera on topic scurve trajectory planner

scurve trajectory planner

Category: General LinuxCNC Questions

yes that looks much better and compiles for me too.
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