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  • amanker
  • amanker
04 Sep 2025 12:18
Replied by amanker on topic Remora - Rpi Software Stepping Using External Microcontroller via SPI

Remora - Rpi Software Stepping Using External Microcontroller via SPI

Category: Computers and Hardware

I was using Octopus Pro Board for LinuxCNC. That one is giving some problems. So I bought new board BTT SKR3 so that I can use TMC5160. Can anyone help me setting up its config.txt and LinuxCNC configuration. And connection diagram. I have wired it as per SKR2 board. Pinouts of both boards seems similar. I cant get Machine out of estop. I think there is no communication between rpi and skr3.
Remora.ini
# Basic LinuxCNC config for testing of Remora firmware

[EMC]
MACHINE = Remora-XYZ
DEBUG = 0
VERSION = 1.1

[DISPLAY]
DISPLAY = axis
EDITOR = gedit
POSITION_OFFSET = RELATIVE
POSITION_FEEDBACK = ACTUAL
ARCDIVISION = 64
GRIDS = 10mm 20mm 50mm 100mm
MAX_FEED_OVERRIDE = 1.2
MIN_SPINDLE_OVERRIDE = 0.5
MAX_SPINDLE_OVERRIDE = 1.2
DEFAULT_LINEAR_VELOCITY = 50.00
MIN_LINEAR_VELOCITY = 0
MAX_LINEAR_VELOCITY = 200.00
DEFAULT_ANGULAR_VELOCITY = 36.00
MIN_ANGULAR_VELOCITY = 0
MAX_ANGULAR_VELOCITY = 45.00
INTRO_GRAPHIC = linuxcnc.gif
INTRO_TIME = 5
PROGRAM_PREFIX = ~/linuxcnc/nc_files
INCREMENTS = 50mm 10mm 5mm 1mm .5mm .1mm .05mm .01mm

[KINS]
JOINTS = 3
#KINEMATICS =trivkins coordinates=XYZ kinstype=BOTH
KINEMATICS =trivkins coordinates=XYZ

[FILTER]
PROGRAM_EXTENSION = .py Python Script
py = python

[TASK]
TASK = milltask
CYCLE_TIME = 0.010

[RS274NGC]
PARAMETER_FILE = linuxcnc.var

[EMCMOT]
EMCMOT = motmod
COMM_TIMEOUT = 1.0
COMM_WAIT = 0.010
BASE_PERIOD = 0
SERVO_PERIOD = 1000000

[HAL]
HALFILE = remora.hal
POSTGUI_HALFILE = postgui_call_list.hal

[TRAJ]
COORDINATES =  X Y Z 
LINEAR_UNITS = mm
ANGULAR_UNITS = degree
CYCLE_TIME = 0.010
DEFAULT_LINEAR_VELOCITY = 50.00
MAX_LINEAR_VELOCITY = 200.00
NO_FORCE_HOMING = 1 

[EMCIO]
EMCIO = io
CYCLE_TIME = 0.100
TOOL_TABLE = tool.tbl

[AXIS_X]
MAX_VELOCITY = 500
MAX_ACCELERATION = 1000.0
MIN_LIMIT = -500
MAX_LIMIT = 500.0

[JOINT_0]
TYPE = LINEAR
HOME = 0.0
MIN_LIMIT = -500.0
MAX_LIMIT = 500.0
MAX_VELOCITY = 500.0
MAX_ACCELERATION = 1000.0
STEPGEN_MAXACCEL = 2000.0
SCALE = 200.0
FERROR = 2
MIN_FERROR = 2.0
HOME_OFFSET = 0.0
HOME_SEARCH_VEL = 0
HOME_LATCH_VEL = 0
HOME_SEQUENCE = 0

[AXIS_Y]
MAX_VELOCITY = 250.0
MAX_ACCELERATION = 750.0
MIN_LIMIT = -300.0
MAX_LIMIT = 300.0

[JOINT_1]
TYPE = LINEAR
HOME = 0.0
MIN_LIMIT = -300.0
MAX_LIMIT = 300.0
MAX_VELOCITY = 250.0
MAX_ACCELERATION = 750.0
STEPGEN_MAXACCEL = 2000.0
SCALE = 80.0
FERROR = 9.0
MIN_FERROR = 5.0
HOME_OFFSET = 0.0
HOME_SEARCH_VEL = 0
HOME_LATCH_VEL = 0
HOME_SEQUENCE = 0

[AXIS_Z]
OFFSET_AV_RATIO = 0.2
MAX_VELOCITY = 5.0
MAX_ACCELERATION = 200.0
MIN_LIMIT = -280
MAX_LIMIT = 280

[JOINT_2]
TYPE = LINEAR
HOME = 0.0
MIN_LIMIT = -280
MAX_LIMIT = 280
MAX_VELOCITY = 5.0
MAX_ACCELERATION = 200.0
STEPGEN_MAXACCEL = 3000.0
SCALE = 400.0
FERROR = 5
MIN_FERROR = 1.0
HOME_OFFSET = 0.0
HOME_SEARCH_VEL = 0
HOME_LATCH_VEL = 0
HOME_SEQUENCE = 0

remora.hal
# load the realtime components

    loadrt [KINS]KINEMATICS
    loadrt [EMCMOT]EMCMOT base_period_nsec=[EMCMOT]BASE_PERIOD servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS

    loadrt remora-spi
    #loadrt remora_lpc chip_type=LPC SPI_clk_div=64


# estop loopback, SPI comms enable and feedback
    net user-enable-out     <= iocontrol.0.user-enable-out        => remora.SPI-enable
    net user-request-enable <= iocontrol.0.user-request-enable    => remora.SPI-reset
    net remora-status     <= remora.SPI-status             => iocontrol.0.emc-enable-in
    

# add the remora and motion functions to threads

    addf remora.read servo-thread
    addf motion-command-handler servo-thread
    addf motion-controller servo-thread
    addf remora.update-freq servo-thread
    addf remora.write servo-thread


# Joint 0 setup

    setp remora.joint.0.scale         [JOINT_0]SCALE
    setp remora.joint.0.maxaccel     [JOINT_0]STEPGEN_MAXACCEL

    net xpos-cmd         <= joint.0.motor-pos-cmd     => remora.SP.0  joint.0.motor-pos-fb
#    net j0pos-fb         <= remora.joint.0.pos-fb     => joint.0.motor-pos-fb
#    net j0enable         <= joint.0.amp-enable-out     => remora.joint.0.enable


# Joint 1 setup

    setp remora.joint.1.scale         [JOINT_1]SCALE
    setp remora.joint.1.maxaccel     [JOINT_1]STEPGEN_MAXACCEL

    net j1pos-cmd         <= joint.1.motor-pos-cmd     => remora.joint.1.pos-cmd
    net j1pos-fb         <= remora.joint.1.pos-fb     => joint.1.motor-pos-fb 
    net j1enable         <= joint.1.amp-enable-out     => remora.joint.1.enable


# Joint 2 setup

    setp remora.joint.2.scale         [JOINT_2]SCALE
    setp remora.joint.2.maxaccel     [JOINT_2]STEPGEN_MAXACCEL

    net j2pos-cmd         <= joint.2.motor-pos-cmd     => remora.joint.2.pos-cmd
    net j2pos-fb         <= remora.joint.2.pos-fb     => joint.2.motor-pos-fb
    net j2enable         <= joint.2.amp-enable-out     => remora.joint.2.enable

config.txt
{
    "Board": "BIGTREETECH SKR v3",
    "Modules":[
    {
    "Thread": "Servo",
    "Type": "Reset Pin",
        "Comment":            "Reset pin",
        "Pin":                "PC_4"
    },
    {
    "Thread": "On load",
    "Type": "Motor Power",
        "Comment": "Enable motor power SKR2",
        "Pin":                     "PC_13"
    },
    {
    "Thread": "Base",
    "Type": "Stepgen",
        "Comment":            "X - Joint 0 step generator",
        "Joint Number":        0,
        "Step Pin":         "PD_4",
        "Direction Pin":     "PD_3",
        "Enable Pin":         "PD_6"
    },
    {
    "Thread": "Base",
    "Type": "Stepgen",
        "Comment":            "Y - Joint 1 step generator",
        "Joint Number":        1,
        "Step Pin":         "PA_15",
        "Direction Pin":     "PA_8",
        "Enable Pin":         "PD_1"
    },
    {
    "Thread": "Base",
    "Type": "Stepgen",
        "Comment":            "Z - Joint 2 step generator",
        "Joint Number":        2,
        "Step Pin":         "PE_2",
        "Direction Pin":     "PE_3",
        "Enable Pin":         "PE_0"
    },

    {
    "Thread": "Servo",
    "Type": "Digital Pin",
        "Comment":            "X min",
        "Pin":                "PC_1",
        "Mode":                "Input",
        "Data Bit":            0
    },
    {
    "Thread": "Servo",
    "Type": "Digital Pin",
        "Comment":            "X max",
        "Pin":                "PC_2",
        "Mode":                "Input",
        "Data Bit":            1
    },
    {
    "Thread": "Servo",
    "Type": "Digital Pin",
        "Comment":            "Y min",
        "Pin":                "PC_3",
        "Mode":                "Input",
        "Data Bit":            2
    },
    {
    "Thread": "Servo",
    "Type": "Digital Pin",
        "Comment":            "Y max",
        "Pin":                "PA_0",
        "Mode":                "Input",
        "Data Bit":            3
    },
    {
    "Thread": "Servo",
    "Type": "Digital Pin",
        "Comment":            "Z min",
        "Pin":                "PC_0",
        "Mode":                "Input",
        "Data Bit":            4
    },
    {
    "Thread": "Servo",
    "Type": "Digital Pin",
        "Comment":            "Z max",
        "Pin":                "PC_15",
        "Mode":                "Input",
        "Data Bit":            5

    }
    ]
}
  • andypugh
  • andypugh's Avatar
04 Sep 2025 12:04
Replied by andypugh on topic 7i77 and VFD spindle control

7i77 and VFD spindle control

Category: Basic Configuration

Which version of LinuxCNC are you running? I would expect the spindle pins to look more like "spindle.0.speed-out" on any recent LinuxCNC version.

To get a list of HAL pins that you can copy and paste from, in the HAL file insert the line
show pin
just after the block of "loadrt" commands
Then start LinuxCNC from the command line
linuxcnc &
LinuxCNC probably won't start, but you will see a list of all the pins, and also a message about the first problem it has found in the HAL file.
Copy the pin list from the terminal window and squirrel it away in a text file for reference.
(Copy and paste in the terminal window is generally ctrl-shift-C and ctrl-shift-V as "normal" Ctrl-C is "Cancel")
  • laurentl38
  • laurentl38
04 Sep 2025 12:02
Replied by laurentl38 on topic orient spindle with ethercat EL5101

orient spindle with ethercat EL5101

Category: EtherCAT

I took the PID solution and modified the code a little. I initialized spindle-index-enable to 1 when starting Lcnc.
I also used ABS on spindle-Pos-fb-abs.
The spindle is positioned, but only in certain cases:
- When starting Lcnc, if I've never rotated the spindle at speed and the angular displacement is small (less than 20 degrees).
- If I rotate the spindle first and then try to orient it, almost every time, it will start at maximum speed, without orientation.
- If I rotate the spindle first, and then reposition it slightly by hand with my index finger, I can orient it, but always with small successive angular displacements.

It's progressing little by little, but from my point of view, it's more tinkering than mastery...

 

File Attachment:

File Name: EL7-schaublin-281.hal
File Size:11 KB
  • Hakan
  • Hakan
04 Sep 2025 10:14 - 04 Sep 2025 10:27
Replied by Hakan on topic AMSAMOTION IO module

AMSAMOTION IO module

Category: EtherCAT

ec_generic should autoload when ethercat master service is started and "generic" is mentioned in /etc/ethercat.conf
There was an issue where it didn't and the user had to modprobe it manually after start of linux.
Suspected Secure boot but it was off like in your case. Never understood why it didn't load.
I guess you have to experiment to see if you can get it to autoload.

 /usr/sbin/ethercatctl is the file that loads the modules when the service is started, it's a bash script.
 
  • ChrisB_II
  • ChrisB_II's Avatar
04 Sep 2025 10:09
Replied by ChrisB_II on topic G3-Kurven unterschiedlich bei höheren Geschwindigkeiten

G3-Kurven unterschiedlich bei höheren Geschwindigkeiten

Category: General LinuxCNC Questions

OK, found it! It because of G64... Case closed ;-)
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