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je ne doit pas avoir la bonne configuration ou verssion de pncconf  je ne comprend pas . Quel verssion proposez vous a vos interlocuteurs ?
je dois etre avec une verssion trop ancienne  on ne parle pas du meme logiciel.
Desolé .
vous avez un model s'il vous plait.
"puis ajoutez le
support step/dir en l'ajoutant manuellement aux fichiers hal/ini."
cordialement.

Tobi wrote:

Thank you for your great help. I modified my XML file with the code you provided and its working now.
I will copy and modify the code for the EL1014 Module as well.

Great news, good luck with the EL1014!
cheers,
Steve
 

Thank you for your great help. I modified my XML file with the code you provided and its working now.
I will copy and modify the code for the EL1014 Module as well.
You are right, i have an older system from Beckhoff.
The next days i should get an newer EL2008 I'm looking forward to try an newer module.

Thank you for your help.
Kind regards,
Tobi

Isn't this the code for jogging? The s-curve solver I'm working on is for planning, where the final velocity and distance are known ahead of time and the seven segment time periods need to be solved. I don't think that would work for this. Currently, to get a solution, quadratic, cubic, and quartic polynomial roots need to be solved for. I'm pretty sure if an initial and final acceleration constraint were added it would turn into a problem with no closed-form solutions and need to be solved by some type of iterative algorithm which would be much slower and more complex.

The acceleration here is just linear acceleration. You can still use this even in the middle of a curve. The constraints you would need to set are the max jerk, max acceleration, and max velocity. The velocity on the curve would determine the centripetal acceleration and jerk, and the total jerk and acceleration would be those plus the linear acceleration and jerk where all of them are vectors.

I finally managed to compile the Marco's cia402.comp file, but the el8_homecomp.com looking after homingc. file, which I did not have or not found on lcnc. But on lcnc github exists, but a bit afraid to use it, sinc I did not understad what contains and what is for.
Could someone help me to get a step further?

github.com/LinuxCNC/linuxcnc/blob/master.../emc/motion/homing.c

No, I never got around to reverse engineering its protocol
If you can find some protocol information, its probably possible.

What are the readings at the far ends of the scale?
26 bits sounds a bit odd since that's 67 meters in microns...

( There may be some status bits included in the 26 bits that
need to be reflected in the format string )

There is a maximum acceleration and maximum deceleration, but the start and end acceleration of each s-curve is zero. It would be nice if the initial and final acceleration could be chosen, but I think that would be computationally infeasible to do in near real-time. Of all of the papers I've looked at, none had a solution where you could have a initial and final acceleration constraint.

In the papers, maybe they say nothing about acceleration begin, end values.
But there is a trick to use it. You just have to use a workaround.

Link : example

There is a maximum acceleration and maximum deceleration, but the start and end acceleration of each s-curve is zero. It would be nice if the initial and final acceleration could be chosen, but I think that would be computationally infeasible to do in near real-time. Of all of the papers I've looked at, none had a solution where you could have an initial and final acceleration constraint.

I got it working. All the algorithms needed to solve the problem efficiently have been figured out. At this point it's just about cleaning up code and dealing with any bugs that pop up. This takes about 500us to solve 100 s-curve segments with velocity and acceleration continuity and no work has been done to try to optimize anything yet.
 

 Thank you.

i have a basic question - are my questions incomprehensible, inappropriate, not detailed enough, written way too much, boring to answer ...?

i am an absolute beginner in the field of LinuxCNC and the interfaces it creates. i am happy to receive advice and have no problem admitting my own mistakes.

i know that i am certainly not the only one who asks questions here, but i try very hard to describe my topics, the information i can give from my perspective i share as far as my knowledge allows me and form concerns and/or questions from this.

As already mentioned, I am and was very grateful for any help.
I have no ambition or claim to get my topic solved within a certain time here in the forum, but I imagine that a topic, especially for me as a beginner, will result in an in-depth conversation.

I have the uneasiness with your answer that my concern is not understood or does not want to be understood.
I think it's a pity that a topic can drag on for such a long time as the one on the previous pages of this thread. I would like to avoid this and don't want to waste your time unnecessarily and receive answers that frankly don't get me anywhere.

I would be very grateful if you would write if you are not interested, or ask if my question or information is too unclear.

Thank you for your understanding.

you can connect to machine power on using the halui pins. you might be able to do a hal thing to connect them both together. 
linuxcnc.org/docs/html/man/man1/halui.1.html

the encoder scale, thinking about it, setting the scale does nothing because its just counting pulses 

@Andrew,

Are u using acceleration begin and or acceleration end values within your code?
Then you could start somewhere on the curve and finish where you want.

@All,

After a long day of cleaning up old code, i have made a video off the current situation related to tri-clothoid fillets.
Here we solve the G2 problem in 3d. Hold on. It's like magic.



The blue is the 2d projection where the actual clothoid 2d calculation happens. You cant see it, but its done over there.
Then after this, the projection is transformed back into the current plane.
This works for all combinations line, arc.




 

OK so my suggestion is the same, make a 7I92+7I77 configuration
with pncconf, get that working on your analog drives and then add the
step/dir support by adding it to the hal/ini files by hand.

 

I would disable everything you can on the frequency page and try the ping test again

For a general enable output, "Control" -->  "Machine Is Enabled"
is a good choice