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Hello everyone, it's been a while since I've been here, I've tried several things since the last time and of course problems have arisen, thanks Aciera again.

I've tried using extrajoint and it works, after performing the home process limit3 is activated and then you just have to change the position value on the pin hal limit3.in, here only one complaint I haven't managed to get the joint to go to the HOME position = PosHome configured in the *.ini file, it always stays at the minimum position MIN_LIMIT.

I've also developed a real-time component that controls the cutting behavior, right now I use the MOTION motion controller not extrajoint which is what I want in the future, to know when the machine is in position I've used the motion.in-position signal, I've found that the joint.in-position signal doesn't switch for extrajoints, so I need to know when a movement has been executed.
For the latter I have thought about comparing the position that I establish in limit3.in with the joint.pos-fb position, here I have another question, how would it be possible to feedback the count of the driver encoder, for example the Ethercat drivers from Lichuan.

That's a known issue.
I've been building 6.12.11 kernels, for arm, but it needs a patch.

In case you aren't aware.
You'll also have to select Fully Preempt kernel, not low latency desktop, this option will only show up if you select enable expert under general.


[*] Configure standard kernel features (expert users)

(X) Fully Preemptible Kernel (Real-Time)

I'm giving it a go now, just to make sure I'm giving you the right info, if it works out I'll post a link to the debs. I'm building on Mint 21.3 Virginia.

Editing the above message appears to break it so replying instead - running uname -r it appears I have a skill issue and it returns 6.12.0, which is what I clearly accidentally had built. There may be issues in 6.12.0 that were resolved by 6.12.9 that resolve this, so a quick rebuild (well, not quick it takes forever) and I'll report back.

I've tried both RIP and building into a .deb and installing, but both ways it appears that it doesn't recognize the kernel has PREEMPT_RT enabled.

I have kernel 6.12.9 (although latency-test displays 6.12.0 for some reason?) and went through the menu config to set it for fully pre-emptable kernel and build it.

I'm on Linux Mint 22.1 and I can run simulations just fine in both RIP and the installed versions, but I run a mesa card and require HOSTMOT2 functioning properly which is where the issue arises.

Running latency-test results in some crazy huge numbers   and it specifies POSIX non-realtime in the terminal.

I'm not sure if there's an additional step that I've missed to ensure LCNC "sees" the kernel has the patch enabled - perhaps the string has changed? I tried searching the forum and only came across RPI results but not x86.

 

I'm sorry but I don't understand why and when you would need to push a button during a programmed tool change.
Usually a tool change in gcode defines the T word (eg T3 M6) and your python remap would then handle the ATC tool change.

Unfortunately, I remapped M6, and in my Python code due to certain reasons, I cannot use mdi mode.

Not sure what that means but in a remap you can add command to the queue like this:


[edit]
Are you maybe confusing python remaps with the python interface?
linuxcnc.org/docs/html/remap/remap.html
linuxcnc.org/docs/html/config/python-interface.html