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So now I'm stuck at this step. it says git command not found....

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If you are using cia402 compatible drives:

cd ~/dev
git clone github.com/dbraun1981/hal-cia402
cd hal-cia402
sudo halcompile --install cia402.comp

unknown wrote:

Been reading this for while, I think you need to reassess what you think you know compared to what you actually know.
Usually the stepper drivers are pretty hardy, the ones I have in my mill are about 15 years old and haven't missed a beat.
I've never heard of anyone having to make modifications.
Some of the early TB6600 drivers weren't as reliable as they should have been, no experience with them myself but many reports of them being that way.
So just settle down, do things the recommended way and don't try to modify things that don't require modification. And if you still insist of doing board level mods consult the data sheets for the components that will be affected. I'm sure this would have resolved the issue of "no flyback diodes".

 
I bought two 2nd hand machines with stepper system. They were pre configured for 4 axis, so I had some spares to kill. Out of the 8 drivers two or three are still working. (so I would say occasional death happens)
At least one or two I probably finished by creating a short when I was "repairing" the machines long time ago.
My guess is that the drivers were running at their limit for a long time and were a little undersized for the motors. (or can something age inside?)
The last year drivers started quitting service one by one. First by making some humming noises during machine start, then eventually stopped working.
Given the prices of new ones, not worth investigating. (but we are still talking 10-15 years, before failure)

If you have no space you can mount a Kuka robot on the seiling.


But I think plasma makes some mess, so a big feature is the water tray.
I skipped any ideas of laser or plasma. Laser I find too expensive for my hobby. $$$ and a plasma has to compete with the local laser company that cuts things for a small fee.

I am using LinuxCNC+EtherCAT to retrofit an old NC controller in Japan. I am not good at English, so I am posting on the forum using Google Translate.

I apologize if it is difficult to read.

I am currently using an old torque-controlled servo amplifier controlled by Beckhoff's EL5101+EL4132.

The problem is that in Homing, Index-enable is connected to jioint, PID, and Encoder, but when it is moving at the HOME_LATCH_VEL speed, when it seems to detect the C phase of the Encoder, it goes into a runaway state for a moment and immediately goes to the HOME_FINAL_VEL speed.

After Homing ends, the same phenomenon does not occur when Homing is performed again. It only occurs during Homing immediately after powering on.

When I made it with EM7004 before, I was told that I did not connect Index-enable to PID, but this time I am having trouble resolving the problem.

I cannot increase the PID gain because it goes out of control.

I am attaching the INI and HAL. Please let me know if there are any mistakes.

I am using LinuxCNC 2.9.4. The EM7004 system was created with 2.3.2 and has not been upgraded.

I have asked a question on "General LinuxCNC Questions" about whether there is a problem with the PID, but I was unable to find a solution.

Thank you in advance.