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Well, I can help with both. I am working with LS Electric to provide some lab materials just for that fact. The hardware is affordable and LS has complete compliance with all cia_402 and EC ISO standards. With all options for setup available so a standard for all methods can be created in one file with zero need to "tweak" for special reasons. The only group who would maybe need to do some "tweaks" would be persons using robotics vs standard CNC use as they are typically 6 servo systems but only use 2 per axis to create XYZ.

I am currently going through all the LS docs and the lcec drivers. It is a lot of code. And a bit confusing. Once I have the hardware, I will work with Rod to hopefully have a single homing procedure for all methods in a single driver. Maybe an Enum to select the homing method. I can forsee a need to use an SDO though which in several of the xml's for Beckoff I/O use. But the few servo xml's available simply use the based RPDO/TPDO method. So that pushes that to the cia side on the slow bus. No worries, just needs to be figured out.

I am aware of Rod's work on that and his goals match my own. Hopefully with enough brains we can see some progress this year toward a solid integration using the ISO standards set forth by the ETCAT symposium.

Like I said, the idea of ECAT is determinism. Given a specific input a specific output is always realized in real time. The lack of free will and randomness is the secret sauce that makes it work so well and be so reliable.

Love the debate. Five thumbs up.

Poštovanje, zanima me da li popravljate strojeve na terenu? Odnosno da li bi Vi mogli pomoći spojiti stroj na LinuxCNC, imate li neki kontakt? LIjep Pozdrav, Dominik

Peter, yes i just tried 7i90 then 7i90hd so it was a name change. problem solved! I new you had changed the 7i80 to 7i80HD-16 or 7i80HD-25 but didn't think about that on this card

What version of linuxcnc are you using and can you post your INI file?

Instead of a custom homing driver, a standard driver with deterministic behavior as I described should be used that way everyone involved speaks a common language.

I think you are misinterpreting the term 'custom homing driver'. The reason custom homing modules were brought in is the simple fact that before the 'standard' procedure, that comes with an installation, had to handle all the possible homing scenarios which means that with every new addition the source code got more complicated. The custom homing module makes it possible to create homing procedures built for specific purposes without having to retain all the built in functionality. But if you want you can even use that custom module only for specific joints while choosing from the built in homing procedures for the others.
If you feel so passionate about a standard homing module for EtherCAT users then I would encourage you to open a thread about creating such a module. And, yes, that would then be the 'standard custom homing module' for EtherCAT.
I think @rodw is actually working on that. See here: github.com/rodw-au/cia402_homecomp

The general problem is that those who do the programming often don't have the hardware to test things and those that have the hardware just want the machine to start making parts and can't be bothered to get involved in testing. Can be very frustrating.



 

Kudos Grotius!
Maybe the L1 can be made as a G64 parameter and the default value set at startup like the G64 P and Q parameters. 

Another option would be to set it up as an ini parameter. 

Will the clothoid interpolation work for 9 axis G1 moves?

Regards
automata

​

While I understand your concerns and do highly respect the concept of free and open. Like I said, it was not meant as an insult nor was it a "fit of rage". EtherCat is a simplification layer for deterministic control of machinery. Free and Open does not exclude a technology from at least seeking to match industry accepted standards so that millions of FrankenMachines are not out there.

One of the critcal and honestly best aspects of EtherCat is simplicity of setup. In regards to LCNC, that is no where near the case.

And lastly, I respect your helping this person with their unique concerns. I truly do. But, if the standards were in place his problem would not exist. And that is a fact.

Like I said, I was not blasting the budget user. Or I wasn't intending to do so. If I did, my apologies have already been issued in the original post. At the end of the day, if we can set aside our feelings maybe we can find a method to make this process easier through standardization. That is my argument and frustration with CNC. Not with users.

The reason for no custom setups is as I said, they should not be required. Period. The drive if it has followed ECAT drive ISO's already has everything it needs to what he wants. The issue is the LCNC side. Instead of a custom homing driver, a standard driver with deterministic behavior as I described should be used that way everyone involved speaks a common language. Take that for what it is, like I said it was not an insult not a fit. Just fact.

hm2_eth: ERROR: 192.168.1.121: Could not retrieve mac address

This is a hardware or setup error of some kind, basically
meaning there is no communication from your PC to the
Mesa Ethernet card.

 

hm2_eth: ERROR: 192.168.1.121: Could not retrieve mac address

Seems that it's looking for a mesa ethernet card at that address and fails to find one.

It seems highly illogical to try to make some custom this and that to accommodate any drive that is A. Not a registered ECAT OEM and B. Uses antiquated technology. For those who cannot afford the higher price points to step up to ECAT should continue to use the basic ParPort versions with S/D motion controllers. It is way less expensive.

Thanks for your thoughts but to be honest I do not see much point in statements like this.
I know a fair number of people who think the whole idea of a free and open source machine controller is a waste of time. 'If somebody can't afford to buy a proper machine controller then they should just simply stay away from CNC.'

One of the most frustrating aspects of LCNC is the lack of pure standards. If EtherCat with LCNC is to become a mainstream a strict set of standards must be adopted by all users. No custom setups. Either the hardware and implementation follows the standard or it doesn't get done. No use of non-registered ECAT drives or knock off I/O modules from Amazon/Alibaba that will never be registered should be allowed to enter the discussion. CNC machines are very dangerous and the barrier to entry above a threshold must be maintained to keep novice users from hurting themselves or others. Period.

'No custom setups.' Are you serious? I'm sorry but I my opinion this just simply goes against everything LinuxCNC stands for. 
All I'm trying to do here is help a user to get homing working on his setup the way he envisions it and get a better understanding of the custom homing component in the process and frankly, I don't see why you would need to have such a fit about that.

Thank you very much I thought I was not going to get help, the version I use is nvem v2 which has the SMT 32 microcontroller, I have a PC with an x86 processor, the latest version that supports this architecture I understand that it is whezly although I have updated to Linuxcnc 2.8.4 ...is there a solution to make it work with whezly?

rodw wrote:

You don't need pncconf or stepconf to build a working config joint axes or not, you just need a text editor and do some reading. 
My Mesa 7i76e was not supported in pcconf so I had no choixe 7-8 years ago when 2.8 was relesed and I survived.
You could build a xyza config and edit the result
 

Yes, I'm working on it, I'm editing a configuration I made using stepconf and I'll test it on the machine as soon as possible. When you have tested it, I will return with the result whether it worked or not. Thank you for your help.

I am not getting a green light under spindle

Hal

# Generated by stepconf 1.1 at Wed Jun 19 11:44:22 2024
# If you make changes to this file, they will be
# overwritten when you run stepconf again
loadrt [KINS]KINEMATICS
loadrt [EMCMOT]EMCMOT base_period_nsec=[EMCMOT]BASE_PERIOD servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS
loadrt hal_parport cfg="0 out"
setp parport.0.reset-time 5000
loadrt stepgen step_type=0,0,0

addf parport.0.read base-thread
addf stepgen.make-pulses base-thread
addf parport.0.write base-thread
addf parport.0.reset base-thread

addf stepgen.capture-position servo-thread
addf motion-command-handler servo-thread
addf motion-controller servo-thread
addf stepgen.update-freq servo-thread

net xstep => parport.0.pin-02-out
setp parport.0.pin-02-out-reset 1
net xdir => parport.0.pin-03-out
net ystep => parport.0.pin-04-out
setp parport.0.pin-04-out-reset 1
net ydir => parport.0.pin-05-out
net zstep => parport.0.pin-06-out
setp parport.0.pin-06-out-reset 1
net zdir => parport.0.pin-07-out
net spindle-on => parport.0.pin-16-out
net estop-ext <= parport.0.pin-15-in-not

setp stepgen.0.position-scale [JOINT_0]SCALE
setp stepgen.0.steplen 1
setp stepgen.0.stepspace 0
setp stepgen.0.dirhold 35000
setp stepgen.0.dirsetup 35000
setp stepgen.0.maxaccel [JOINT_0]STEPGEN_MAXACCEL
net xpos-cmd joint.0.motor-pos-cmd => stepgen.0.position-cmd
net xpos-fb stepgen.0.position-fb => joint.0.motor-pos-fb
net xstep <= stepgen.0.step
net xdir <= stepgen.0.dir
net xenable joint.0.amp-enable-out => stepgen.0.enable

setp stepgen.1.position-scale [JOINT_1]SCALE
setp stepgen.1.steplen 1
setp stepgen.1.stepspace 0
setp stepgen.1.dirhold 35000
setp stepgen.1.dirsetup 35000
setp stepgen.1.maxaccel [JOINT_1]STEPGEN_MAXACCEL
net ypos-cmd joint.1.motor-pos-cmd => stepgen.1.position-cmd
net ypos-fb stepgen.1.position-fb => joint.1.motor-pos-fb
net ystep <= stepgen.1.step
net ydir <= stepgen.1.dir
net yenable joint.1.amp-enable-out => stepgen.1.enable

setp stepgen.2.position-scale [JOINT_2]SCALE
setp stepgen.2.steplen 1
setp stepgen.2.stepspace 0
setp stepgen.2.dirhold 35000
setp stepgen.2.dirsetup 35000
setp stepgen.2.maxaccel [JOINT_2]STEPGEN_MAXACCEL
net zpos-cmd joint.2.motor-pos-cmd => stepgen.2.position-cmd
net zpos-fb stepgen.2.position-fb => joint.2.motor-pos-fb
net zstep <= stepgen.2.step
net zdir <= stepgen.2.dir
net zenable joint.2.amp-enable-out => stepgen.2.enable

net estop-out <= iocontrol.0.user-enable-out
net estop-ext => iocontrol.0.emc-enable-in

loadusr -W hal_manualtoolchange
net tool-change iocontrol.0.tool-change => hal_manualtoolchange.change
net tool-changed iocontrol.0.tool-changed <= hal_manualtoolchange.changed
net tool-number iocontrol.0.tool-prep-number => hal_manualtoolchange.number
net tool-prepare-loopback iocontrol.0.tool-prepare => iocontrol.0.tool-prepared

Here is the ini and hal

# Generated by stepconf 1.1 at Wed Jun 19 11:13:04 2024
# If you make changes to this file, they will be
# overwritten when you run stepconf again

[EMC]
MACHINE = Router5
DEBUG = 0
VERSION = 1.1

[DISPLAY]
DISPLAY = gmoccapy
EDITOR = gedit
POSITION_OFFSET = RELATIVE
POSITION_FEEDBACK = ACTUAL
ARCDIVISION = 64
GRIDS = 10mm 20mm 50mm 100mm 1in 2in 5in 10in
MAX_FEED_OVERRIDE = 1.2
MIN_SPINDLE_OVERRIDE = 0.5
MAX_SPINDLE_OVERRIDE = 1.2
DEFAULT_LINEAR_VELOCITY = 2.50
MIN_LINEAR_VELOCITY = 0
MAX_LINEAR_VELOCITY = 25.00
CYCLE_TIME = 0.100
INTRO_GRAPHIC = linuxcnc.gif
INTRO_TIME = 5
PROGRAM_PREFIX = /home/probotix/linuxcnc/nc_files
INCREMENTS = 5mm 1mm .5mm .1mm .05mm .01mm .005mm

[KINS]
JOINTS = 3
KINEMATICS = trivkins coordinates=XYZ

[FILTER]
PROGRAM_EXTENSION = .png,.gif,.jpg Greyscale Depth Image
PROGRAM_EXTENSION = .py Python Script
PROGRAM_EXTENSION = .nc,.tap G-Code File
png = image-to-gcode
gif = image-to-gcode
jpg = image-to-gcode
py = python

[TASK]
TASK = milltask
CYCLE_TIME = 0.010

[RS274NGC]
PARAMETER_FILE = linuxcnc.var

[EMCMOT]
EMCMOT = motmod
COMM_TIMEOUT = 1.0
BASE_PERIOD = 100000
SERVO_PERIOD = 1000000

[HAL]
HALUI = halui
HALFILE = Router5.hal
HALFILE = custom.hal
POSTGUI_HALFILE = postgui_call_list.hal

[HALUI]
# add halui MDI commands here (max 64)

[TRAJ]
COORDINATES = X Y Z
LINEAR_UNITS = mm
ANGULAR_UNITS = degree
DEFAULT_LINEAR_VELOCITY = 2.50
MAX_LINEAR_VELOCITY = 25.00

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

#*** AXIS_X *******************************
[AXIS_X]
MAX_VELOCITY = 25.0
MAX_ACCELERATION = 750.0
MIN_LIMIT = -0.001
MAX_LIMIT = 200.0

[JOINT_0]
TYPE = LINEAR
HOME = 0.0
MIN_LIMIT = -0.001
MAX_LIMIT = 200.0
MAX_VELOCITY = 25.0
MAX_ACCELERATION = 750.0
STEPGEN_MAXACCEL = 937.5
SCALE = 80.0
FERROR = 1
MIN_FERROR = .25
HOME_OFFSET = 0.0
#******************************************

#*** AXIS_Y *******************************
[AXIS_Y]
MAX_VELOCITY = 25.0
MAX_ACCELERATION = 750.0
MIN_LIMIT = -0.001
MAX_LIMIT = 200.0

[JOINT_1]
TYPE = LINEAR
HOME = 0.0
MIN_LIMIT = -0.001
MAX_LIMIT = 200.0
MAX_VELOCITY = 25.0
MAX_ACCELERATION = 750.0
STEPGEN_MAXACCEL = 937.5
SCALE = 80.0
FERROR = 1
MIN_FERROR = .25
HOME_OFFSET = 0.0
#******************************************

#*** AXIS_Z *******************************
[AXIS_Z]
MAX_VELOCITY = 25.0
MAX_ACCELERATION = 750.0
MIN_LIMIT = -100.0
MAX_LIMIT = 0.001

[JOINT_2]
TYPE = LINEAR
HOME = 0.0
MIN_LIMIT = -100.0
MAX_LIMIT = 0.001
MAX_VELOCITY = 25.0
MAX_ACCELERATION = 750.0
STEPGEN_MAXACCEL = 937.5
SCALE = 80.0
FERROR = 1
MIN_FERROR = .25
HOME_OFFSET = 0.0
#******************************************