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Thanks. Yes. This is what I have. Thank you.

Version Linux:
PRETTY_NAME="Debian GNU/Linux 12 (bookworm)"
NAME="Debian GNU/Linux"
VERSION_ID="12"
VERSION="12 (bookworm)"
VERSION_CODENAME=bookworm
ID=debian
HOME_URL="www.debian.org/"
SUPPORT_URL="www.debian.org/support"
BUG_REPORT_URL="bugs.debian.org/"

Probe_Basic Version:
Stable Install: 1.1
2024-12-24 13:27:40,363 - qtpyvcp - INFO - QtPyVCP Version: 0+unknown
2024-12-24 13:27:40,390 - qtpyvcp - DEBUG - Qt Version: 5.15.8
2024-12-24 13:27:40,391 - qtpyvcp - DEBUG - Qt API: QT_API
2024-12-24 13:27:40,391 - qtpyvcp - DEBUG - QtPy Version: 2.3.0

Is this enough?

For that board to work with the inputs you will have to connect a 12-24V supply to the terminals on the relay side of the board.

 I am using byte2bot and currently trying to use homing. I pressed the limit switch, but it still doesn’t trigger the homing. 
Regardless of whether I press the limit switch or not, it always returns TRUE.(Like the attached picture.)
Here are my HAL and INI files.

Hi Kam,
thanks

the warning and BadWindow stuff can be ignored

Cheers
Olli

controlword and statusword are part of the cia402 standard. We write to control word and read the results in status word. Just look at the examples and make sure you have the ones that connect to cia402.comp.

Use AI to get a tutorial on cia402 state machine. your manual is saying there is a 32 bit value (2 x 16 bit values) and it rx (receives a value) so it is an S32 in pin in hal
 

cool entered those. no change. (which i assume is expected)

I am looking at these hex things. where do i find the values? in the drive manual it lists them and then says the range.

eample:

<pdoEntry idx="6040" subIdx="00" bitLen="16" halPin="cia-controlword" halType="u32"/>
<pdoEntry idx="6060" subIdx="00" bitLen="8" halPin="opmode" halType="s32"/>

 

yeh these
Vendor Id: 0x00000083
Product code: 0x00000006

I actually registered here to say: Wow, really impressive work with the trajectory planner! looking forward to see it evolve.

We put the clothoid fitting algo in a seperate thread.

Creating a lockless, thread-save producer-consumer queue has a lot of pitfalls, I would recommend looking at this implementation  Lock-Free Single-Producer - Single Consumer Circular Queue    or in C  

 Besides that can I ask if the points raised by hmnijp ( smoothed polyline segmentation causing deviations, page 3) are addressed with the use of clothoid-curves? I guess to really have jerk limiting you not only need to be smooth in the time domain but also in the path, thus the use of clothoid(?)

For my 9x20 spindle, I used optical sensors and cut 65 teeth into a thin disk. With two carefully offset sensors I get 260 quadrature counts and haven't had any problems threading 120-150 rpm. A third optical sensor provides the index from a deeper tooth.

I ordered an omron encoder off eBay ($20) that will be a lot cleaner. When I get around to installing it I will probably 3d print gears for a small belt running around spindle and encoder. If you go this route don't go over board on pulses per revolution. 1024 ppr will be more than enough for threading.

The most difficult part of my 9x20 conversion was the modifications to fit a small ball screw under the cross slide good luck!

so vid is vendior id and pid is product?

== Master 0, Slave 0 ===
Device: Main
State: PREOP
Flag: +
Identity:
Vendor Id: 0x00000083
Product code: 0x00000006
Revision number: 0x00020001
Serial number: 0x1001007d
DL information:
FMMU bit operation: no
Distributed clocks: yes, 64 bit
DC system time transmission delay: 0 ns
Port Type Link Loop Signal NextSlave RxTime [ns] Diff [ns] NextDc [ns]
0 MII up open yes - 3318981850 0 0
1 MII up open yes 1 3318984170 2320 560
2 N/A down closed no - - - -
3 N/A down closed no - - - -
Mailboxes:
Bootstrap RX: 0x0000/0, TX: 0x0000/0
Standard RX: 0x1800/256, TX: 0x1c00/256
Supported protocols: CoE
General:
Group:
Image name:
Order number: R88D-KN02H-ECT
Device name: R88D-KN02H-ECT G5 Series ServoDrive/Motor
CoE details:
Enable SDO: yes
Enable SDO Info: yes
Enable PDO Assign: yes
Enable PDO Configuration: yes
Enable Upload at startup: no
Enable SDO complete access: yes
Flags:
Enable SafeOp: yes
Enable notLRW: no
Current consumption: 0 mA