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Just in terms of naming, something like seem a bit more readable

net home_y2_z hm2_7i96s.0.inm.00.input-03-not
net home_y2_z joint.2.home-sw-in  # assuming joint 2 is Y2
net home_y2_z joint.3.home-sw-in

also of course Z should home first (and I assume there is a Y switch as well so you can use gantry homing)

 

preamble:
i am converting an mr1 to linux cnc via 7i96s. the y axis is parallel stepper motors.  y2 and z home switches are nc type and in series. the box i am making is all new drivers/power supplies only thing i will be reusing out of the factory box is the vfd for the spindle. i want this to be a plug and play so i can swap back to stock box if needed. dealing with code is not completely forign to me but the last time i did anything serious was in msbasic, and a little dabbing into megasquirt engine control.

im not sure the best way to set up the homeing switches. i tried
1. assigning net home-y2     <=  hm2_7i96s.0.inm.00.input-03-not and
    net home-z     <=  hm2_7i96s.0.inm.00.input-03-not
   did not work gave errors

2.checking home is shared on y2 and z and only asigning an input to z.  did not work either

3. tied 2 inputs together and asigned them each as y2 and z
  worked but don't seem right to me

4. in z axis joint3 i put
net home-y2    =>  joint.3.home-sw-in and home is shared

that works but does not seem right.

what is the best way to do this, or is there another way

Each config should have it's own folders, and yes you can delete those, but if you edited the same config do not delete stuff before making a backup or copy the folder somewhere else.

ihavenofish wrote:

Woo servos arrived, among other things.

We don't believe you !
We want proof!

Not much there...

I recently built a small tutorial that goes over some basics for getting digital outputs working with Beckhoff EtherCAT modules (EK1100 and EL2008), and I'd welcome any feedback you all might be willing to share. Check it out.

I plan on continuing with more examples, but wanted to get this out there early in case you lovely people have any feedback that makes me pivot in my approach. 

Pretty strange, seems to be a issue with the 2.9.4 binary unless it's something subtle
wrong with the hal file syntax.

Can you post you hal/ini files?
 

On building a new machine, DELL Vostro 220, I have run the Stepper config multiple times as I have made improvements to the machine to achieve better latency and have multiple .ini and .hal files.
I'm now about to edit my the .ini and .hal files to add an extra Y joint.
As it seems to serve no purpose Is it ok to remove those earlier files from the config folder?
Thanks Paul
 

I am using a servo motor with an absolute encoder. I have successfully retrieved the encoder data via mb2hal and converted it into the motor shaft angle. Now, I want to use this data solely for homing. The process should be as follows: when a homing command is sent, a serial connection is established, the axis position is set equal to the encoder’s value, and then the serial connection is terminated.
Is this feasible, and how can I implement it?

jairobbo wrote:

scotta thank you so much!

the challenges I face that are left are:

1) homing -> I tried wiring to GND and 3.3v but joint.0.home (maybe it's called different) is never TRUE, I tried using halcmd show pin for that while linuxcnc was running and also live testing the home axis.

[code]27  bit   OUT         FALSE  remora.input.00 ==> X-home   
27  bit   OUT         FALSE  remora.input.01 ==> Y-home   
27  bit   OUT         FALSE  remora.input.02 ==> Z-home   
27  bit   OUT         FALSE  remora.input.03 ==> A-home

[code]I think it's weird that all my inputs are listed as OUT....

2) maybe related maybe unrelated: my A axis (joint3) is continuing to have follow joint problems. I thought maybe the motor or the driver went bad, but I swapped both. I tried several stepgen_maxaccel settings and fooled around with other settings as well.

Of course I appreciate the help so far and yes it's close to working, I was already very happy to see my XYZ axes moving!!!! :)

 

[/code][/code]

Hi, the inputs are "outputs" from the remora-spi component. The way I would approach this is the use halshow to confirm the the inputs are working.

1. ensure you have the inputs in your config.txt file
2. LinuxCNC has come out of eStop so comms are up. You will not see any input state changes unless you are out of eStop
3. Use halshow to monitor your inputs
4. Manually trigger the inputs and that they change state in halshow
5. setup you hal config

Yes, it consistently appears to be around 10ms.

However, I believe I’ve found a workaround. I have noticed, that the EL5101 outputs the encoder period which is an absolutely stable signal. So I wrote a custom component to calculate the frequency based on it, which in turn can be used in PlasmaC. In the attached Halscope screenshot, you can see the troublesome frequency signal with drops from the EL5101 in red, the encoder period in cyan, and the calculated frequency in green.

I did on both machines. No pktuart (only on the location where I copied your files). So the locate command works, but pretty sure that they are not installed anywhere by linuxcnc

github.com/dkogan/libdogleg

Dogleg runs.
You basicly provide the equatation in a callback function. Then it iterates until result is within treshold.

Startvalue a=1
Startvalue b= 1
Increment a= 1
Increment b = 1

10 = 3 + a x b

This will do
result = left hand - right hand
0 = 10 - 3 + 1 x 1
Finally
0 = 0