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  • MTate01
  • MTate01
22 May 2025 06:17
Replied by MTate01 on topic RTelligent EtherCAT Servo Drive Setup: RS750E

RTelligent EtherCAT Servo Drive Setup: RS750E

Category: EtherCAT

hi Hakan,

Thanks for the recommendation to move to cia402 - the drive runs and i can at least move the motor! I feel like I might have taken some weird workarounds trying to chase linuxcnc compile errors, so I probably need to touch on whether these are "acceptable" - perhaps you can comment on the below?
ethercat-conf_n.xml:
<masters>
 <master idx="0" appTimePeriod="1000000" refClockSyncCycles="1000">
  <slave idx="0" type="generic" vid="00000A88" pid="0a880013" configPdos="true">
   <!-- Joint 0 -->
   <syncManager idx="0" dir="out"> </syncManager>
   <syncManager idx="1" dir="out"> </syncManager>
   <syncManager idx="2" dir="out">
    <pdo idx="1600">
     <pdoEntry idx="6040" subIdx="00" bitLen="16" halPin="cia-controlword" halType="u32"/>
     <pdoEntry idx="607a" subIdx="00" bitLen="32" halPin="target-position" halType="s32"/>
     <pdoEntry idx="60b8" subIdx="00" bitLen="16" halPin="touchprobefunction0" halType="bit"/>
    </pdo>
    <pdo idx="1601">
     <pdoEntry idx="6081" subIdx="00" bitLen="32" halPin="profile-velocity" halType="u32"/>
     <pdoEntry idx="6083" subIdx="00" bitLen="32" halPin="target-accel" halType="u32"/>
     <pdoEntry idx="6084" subIdx="00" bitLen="32" halPin="target-decel" halType="u32"/>
     <pdoEntry idx="6060" subIdx="00" bitLen="8" halPin="opmode" halType="s32"/>
    </pdo>
    <pdo idx="1602">
     <pdoEntry idx="60ff" subIdx="00" bitLen="32" halPin="target-velocity" halType="s32"/>
    </pdo>
   </syncManager>
   <syncManager idx="3" dir="in">
    <pdo idx="1a00">
     <pdoEntry idx="603f" subIdx="00" bitLen="16" halPin="errorcode" halType="bit"/>
     <pdoEntry idx="6041" subIdx="00" bitLen="16" halPin="cia-statusword" halType="u32"/>
     <pdoEntry idx="6061" subIdx="00" bitLen="8" halPin="opmode-display" halType="s32"/>
     <pdoEntry idx="6064" subIdx="00" bitLen="32" halPin="actual-position" halType="s32"/>
     <pdoEntry idx="60b9" subIdx="00" bitLen="16" halPin="touchprobestat" halType="bit"/>
     <pdoEntry idx="60ba" subIdx="00" bitLen="32" halPin="touchprobe1pos" halType="s32"/>
     <pdoEntry idx="60fd" subIdx="00" bitLen="32" halPin="digitalinputs" halType="s32"/>
    </pdo>
    <pdo idx="1a01">
     <pdoEntry idx="606c" subIdx="00" bitLen="32" halPin="actual-velocity" halType="s32"/>
    </pdo>
   </syncManager>
   <dcConf assignActivate="300" sync0Cycle="1000000"/>
  </slave>
 </master>
</masters>

and ethercat.hal:
loadusr -W lcec_conf ethercat-conf_n.xml

loadrt lcec
loadrt cia402 count=1
loadrt pid names=x-pid

##########################################

addf lcec.read-all servo-thread
addf cia402.0.read-all servo-thread

#addf motion-command-handler servo-thread
#addf motion-controller servo-thread

addf x-pid.do-pid-calcs servo-thread

addf cia402.0.write-all servo-thread
addf lcec.write-all servo-thread


#######################################

#net emc-enable => iocontrol.0.emc-enable-in
#sets emc-enable 1

setp cia402.0.csp-mode 1
setp cia402.0.pos-scale 3600000000

#from servo to cia402:
net x-statusword     lcec.0.0.cia-statusword     => cia402.0.statusword
net x-opmode-display lcec.0.0.opmode-display     => cia402.0.opmode-display
net x-drv-act-pos    lcec.0.0.actual-position    => cia402.0.drv-actual-position
net x-drv-act-velo   lcec.0.0.actual-velocity    => cia402.0.drv-actual-velocity

#from cia402 to servo
net x-controlword        cia402.0.controlword         => lcec.0.0.cia-controlword
net x-modes-of-operation cia402.0.opmode              => lcec.0.0.opmode
net x-drv-target-pos     cia402.0.drv-target-position => lcec.0.0.target-position
net x-drv-target-velo    cia402.0.drv-target-velocity => lcec.0.0.target-velocity

net Xpos => cia402.0.pos-cmd
#net x-pos-fb => joint.0.motor-pos-fb <= cia402.0.pos-fb

#from motion to cia
net x-enable    <= joint.0.amp-enable-out => cia402.0.enable
#net x-pos-cmd   <= joint.0.motor-pos-cmd  => cia402.0.pos-cmd

#from cia to motion
#net x-amp-fault => joint.0.amp-fault-in   <= cia402.0.drv-fault
#net x-pos-fb    => joint.0.motor-pos-fb   <= cia402.0.pos-fb

#homing
net x-home-index <= joint.0.index-enable  => cia402.0.home
note with the above: I had to comment out quite a few lines to avoid having to go "deeper" into ini files to remove errors from occuring... one such example was with the cia402.0.motor-pos-fb and cmd, I had errors stating that they were already linked to Xpos - so I just "reassigned" them. basically any line in the above that is commented out is just due to an error. definitely also need to uncomment the fault reporting...

next step for me is to set up a physical axis where I can test homing and rotation distance of a ball screw etc. and get an IO board working
  • H-S-W
  • H-S-W
22 May 2025 05:40
Replied by H-S-W on topic Index homing Heidenhain ls 403/exe602

Index homing Heidenhain ls 403/exe602

Category: Basic Configuration

My Maho homes off the Heindenhain LS-403 scale index marks. Works the same as homing to a a separate homing switch.

Do you have the LS 403 scale or the LS 403 C? Could explain why I have some problems since the "C" is the Distance-coded version of the scale...
  • H-S-W
  • H-S-W
22 May 2025 05:32 - 22 May 2025 05:37
Replied by H-S-W on topic Index homing Heidenhain ls 403/exe602

Index homing Heidenhain ls 403/exe602

Category: Basic Configuration

Link to pdf: www.heidenhain.com/fileadmin/pdf/en/01_P...ools_ID571470_en.pdf

 
  • mjoconr
  • mjoconr
22 May 2025 03:36
Replied by mjoconr on topic LinuxCNC 2.9.4 Released

LinuxCNC 2.9.4 Released

Category: Installing LinuxCNC

There is an issue with the ISO for Intel hardware, the package "raspi-firmware" is installed, suggest everyone remove this before running dist-upgrade.
  • claytoncramer
  • claytoncramer
22 May 2025 03:00
Replied by claytoncramer on topic Wireless USB suggestion

Wireless USB suggestion

Category: Computers and Hardware

thank you. Amazingly enough, available on Amazon for $6.99
  • claytoncramer
  • claytoncramer
22 May 2025 02:52
Replied by claytoncramer on topic Known good USB wifi for linux....

Known good USB wifi for linux....

Category: General LinuxCNC Questions

Ciould you give a brand and model number. I have an RTL88 TP Link USB WiFi working at about 40 Kbps, with thr special driver for it. My laqptop in the same spot has abiout 70 Mbps. I would like to buy a known working USB WiFi with whatever driver is needed.
  • Lcvette
  • Lcvette's Avatar
22 May 2025 02:32 - 22 May 2025 02:33
Replied by Lcvette on topic Probe_basic paramters not updating.

Probe_basic paramters not updating.

Category: QtPyVCP

Yeah Lathe UI is still using the old settings method, it will get updated in the future after the next major mill release.
  • Lcvette
  • Lcvette's Avatar
22 May 2025 02:31
Replied by Lcvette on topic Porbe basic lathe: Questions about the keyboard

Porbe basic lathe: Questions about the keyboard

Category: QtPyVCP

I'll take a look when I get some more time, I spent today on another issue I've run across, but hopefully in the next few days I'll have a few minutes to investigate the keyboard thing.
  • Lcvette
  • Lcvette's Avatar
22 May 2025 02:29
Replied by Lcvette on topic Losing some values after PB restart

Losing some values after PB restart

Category: QtPyVCP

Just reinstall from scratch would be my suggestion, it's pretty fast, then follow the latest docs to update your config.
  • Lcvette
  • Lcvette's Avatar
22 May 2025 02:27
Replied by Lcvette on topic config tool setter

config tool setter

Category: QtPyVCP

So your saying the decimal format creates the disappearing value?
  • Lcvette
  • Lcvette's Avatar
22 May 2025 02:26
Replied by Lcvette on topic Install Probe Basic

Install Probe Basic

Category: QtPyVCP

If you follow the instructions carefully it takes about an hour start to finish including creating and installing Linux on a clean system. I do it every few days for new builds and testing and it's not too bad considering what it is. The machine setup is the most challenging and that is really such a unique to user thing that is hard to make it simpler.
  • cmorley
  • cmorley
22 May 2025 01:21
Replied by cmorley on topic NativeCam on LinuxCNC 2.9.3

NativeCam on LinuxCNC 2.9.3

Category: NativeCAM

I would clone the repository and compile
  • langdons
  • langdons
22 May 2025 01:15
Replied by langdons on topic Install Probe Basic

Install Probe Basic

Category: QtPyVCP

Seems to be a time-consuming process!
  • unknown
  • unknown
22 May 2025 00:06
Replied by unknown on topic Linuxcnc 2.9.4 .iso on Rpi5: apt update does not build /boot/initrd.gz

Linuxcnc 2.9.4 .iso on Rpi5: apt update does not build /boot/initrd.gz

Category: Installing LinuxCNC

I had no issues when using the earlier RPi5 image, in fact I helped with testing that one prior to it being released as Rod didn't have an RPi5 to test with.
These things don't go out into the wild without testing.
The current RPi5 does have a small issue, which one user caught and another user actually had an issue with, the fix is very easy and is documented in the RPi5 image thread under zswap.
Maybe you accidentally were trying a RPi4 image ?
Actually that wouldn't even have a kernel panic as it would not be able to find a kernel to boot from. And to be honest I can't recall anyone having kernel panics or non booting machines from the first RPi5 image.

Another thing to note is that the kernel headers are pre installed so nothing needs to be done there. Anyways there is no suitable header package in any repos.
  • Doc_emmet
  • Doc_emmet
21 May 2025 22:28
Replied by Doc_emmet on topic Read the S-Command in the HAL

Read the S-Command in the HAL

Category: HAL

Hello, can you show me how to read the S command and what you changed.   
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