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sensors at the time of error:
 
Also this is how I have my pc mounted with plexiglass. Should I holesaw a vent for it through the plexiglass? 

Hi Arciera,

After investing more time into the 3d clothoids. I wasn't able to get it work like it would be. So now the
green line is a bspline 3-degree. This works ok.
Let we use this bspline for the toolpath fillets.

You see there is a differance in clothoids and or bspline. The clothoids are bigger curves.
 

So tomorrow i can integrate the b-spline into the trajectory planner, it needs interpolation function etc.
 

Sorry, went past my bed time!

The only way I got it to work was to set incremental  mode with the M03

And a bit more gymnastics  because you can't always assume G90 is active
 

slowpoke wrote:

Andy,
1) I guess that you connect the 7i73 RS-422 interface to a serial port of the Linux PC,

No, it plugs into the smart-serial expansion port on the 7i95 that you mentioned.

and then enable some sort of 7i73 driver in LinuxCNC that magically establishes the communication link between the two?

"SmartSerial" is pretty smart. If you plug boards in, then they communicate their capabilities and pin names to the main Mesa card and it all just works automatically to create HAL pins that you can then use in your config.

and the icebreaker driver-board (or other FPGA's with fitting PMOD)

You don’t waste anytime getting things done.

I just followed linuxcnc.org/docs/stable/html/getting-st...th_preempt_rt_kernel and installed Raspbian bookworm Lite on a Raspberry 3B, and installed the Preempt-RT Kernel, and then installed LinuxCNC using the install script.

I have no desktop environment and want to run only the LinuxCNC application using the X11 server, without any other bloat.

Now, after installing xorg, i can successfully run LinuxCNC using


Now, the terminal of the rpi turns into a black window, that renders LinuxCNC fullscreen, without a desktop environment. (Screenshot in Attachments)

However, when I select any config (e.g. sim->axis->axis) and click ok, the window closes and the normal EMC2 splash screen appears for a few seconds, like it should, and then it just closes without any message and the X11 server stops.

Following is the command line output:


And here is the same command with a script that just echos "hi":


X.Org X Server 1.21.1.7
X Protocol Version 11, Revision 0
Current Operating System: Linux cnc 6.6.31+rpt-rpi-v8 #1 SMP PREEMPT Debian 1:6.6.31-1+rpt1 (2024-05-29) aarch64
Kernel command line: coherent_pool=1M 8250.nr_uarts=0 snd_bcm2835.enable_headphones=0 snd_bcm2835.enable_headphones=1 snd_bcm2835.enable_hdmi=1 snd_bcm2835.enable_hdmi=0  vc_mem.mem_base=0x3ec00000 vc_mem.mem_size=0x40000000  console=ttyS0,115200 console=tty1 root=PARTUUID=6396eb0b-02 rootfstype=ext4 fsck.repair=yes rootwait cfg80211.ieee80211_regdom=GB
xorg-server 2:21.1.7-3+rpt2+deb12u7 (www.debian.org/support)
Current version of pixman: 0.42.2
        Before reporting problems, check wiki.x.org
        to make sure that you have the latest version.
Markers: (--) probed, (**) from config file, (==) default setting,
        (++) from command line, (!!) notice, (II) informational,
        (WW) warning, (EE) error, (NI) not implemented, (??) unknown.
(==) Log file: "/var/log/Xorg.0.log", Time: Mon Jul  8 21:44:26 2024
(==) Using config directory: "/etc/X11/xorg.conf.d"
(==) Using system config directory "/usr/share/X11/xorg.conf.d"
hi
xinit: connection to X server lost

waiting for X server to shut down (II) Server terminated successfully (0). Closing log file.
[/code]

So, as you can see, command line output is printed directly and LinuxCNC does not produce any.

How can I diagnose this issue? If LinuxCNC stops without any command line output, can I find a log file somewhere? Or can I enable some debug features?

Thank you for any answers!

But the 7i96s manual says that spindle + has to be between 5-20v and spindle- has to be between 5-20V - so how do you get a range of 0-9v from that? Unless the manual means that the difference has to be between 5 - 20v?

Or can you connect spindle+ to 9v and spindle- to negative 9 voltsand use 50% of the PWM range?

1 if it is a component that has been compiled, then in hal:
loadrt arduino-connector
-if it is a userspace component with no compiling
loadusr arduino-connector
In this case i would assume the second is correct, although might need add -W, no idea why but i see this used a lot, so if the above does not work
loadusr -W arduino-connector

2 to complicated and not the right sequence, so
-use the hal scope to monitor output 8 and input 7, set it to single trigger on output
-set the output true in hal show
-check the scope for how long it took from triggering the output to when the input was sensed

3
a : net halui.machine.is-on ==> arduino.pin.number
or net x-enable ==> arduino.pin.number
also y-enable and z-enable work
or net e-stop.out ==> arduino.pin.number
The last one works if e-stop is in use and when it is not pressed, not when machine is enabled with F2

b : net halui.mode.mdi ==> arduino.pin.number

Here is some info I got from Peter Wallace at Mesa Electronics- (7-8-24)
1. We will not make the 5I25 anymore

2. The 5I25T is a drop in replacement for the 5I25 _if_ you upgrade to LinuxCNC 2.9.2 or greater and you use 5I25T firmware that matches the 5I25 firmware you are using.

3. Another option is a 6I25 (PCIE version of the 5I25) This is a drop in replacement for any LinuxCNC version that supports the 5I25.

4. There is complete compatibility of any Mesa FPGA card with a 25 pin interface and any 25 pin daughtercard

no hardware errors found so far,
but still need to test the modbus and adc

 

I followed with interest the initial discussion on the machining precision, with respect to the response delay of the motor position, via PDO to the LNCNC. In reality the numerical controls, for example Siemens 840d, have 2 parameters for each axis, which are the coarse stop and the 'precise stop. The problem arises, for example, when you finish one movement and start the next. Siemens at least waits for the axis interested in making the first movement to return to the precise stop control window.
Only after returning to the precise positioning window will the next line be executed.
LNCNC does not have this parameter, so in reality the passage between one movement and another does not take into account the real position of the axis, unless it is in the following error window.
Therefore, a tracking error that is too high, or an excessive delay in the information via ethercat, will lead to a premature transition to the next line of gcode and therefore a profile that is not perfectly equal to the programmed one, especially when you go faster.

I have really minimal expeirience tweaking HAL files, I hope someone can help.

I have an Arduino board communicating with HAL via the USB port.

Details if interested can be found here: forum.linuxcnc.org/10-advanced-configura...oard?start=10#304669
When I stimulate an Arduino input the target in HAL watch changes, when I change the status of an output from within HAL watch using the set and clear buttons, the output on the Arduino  changes as commanded by HAL.

I'm now thinking about the data I need to transfer and how I would go about that using HAL. If I can do the following I can probably figure out everything else I need to do.

Questions:
1) At the moment I need to execute "loadusr arduino-connector" in HALshow to start the python program that receives the serial data and then passes it to HAL, How would I do this automatically every time LinuxCNC starts?

2) I would like to run a single bit loop timing test, and see how fast or slow a round-trip message takes. So assume I will activate Arduino input 7 and then I want HAL to activate Arduino output 8 when and while input 7 is active. I will then scope the response.

3) How would I activate output 9 when
a) machine power is on
b) when say the MDI screen is selected

Much appreciated

Jeff
 

Ok, sounds very legit, I definitely can try that. How does the "q" mode work? Bldc man page is not very descriptive on this. I guess I have to disconnect index-enable pin and observe bldc.0.offset-measured. Anything else?

With runaway I mean fast motion in the opposite direction until following error is triggered, so I guess that does correspond to "continuous motion". Yes, I am sure that encoder signal is good because I have old servo drives still in the cabinet that export the signal to LinuxCNC and this machine was introduced to LinuxCNC 3-4 years ago and never have been issues with encoder feedback (there have been no changes so far how the encoder signal is delivered to LinuxCNC).

Well I booted to the other HD running uspace and no menu or panel there.

I turned it off and walked away and now both RTAI and Uspace "seem" normal.

JT