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I am late to the party but would like to add some of my experience if it helps.

Typically, you would want to have some means to store the values of the current pocket ready, the tool number in that pocket, and whether the tool in the spindle is equal to the first 2 if power is lost. You would do this via some parameter that is written on LCNC exit and read into memory at startup. In LCNC, these parameters are stored in the var file. User assigned variables in RS274 GCODE are 31-5000 in LCNC. Typically in most controls outside the LCNC world 30-100 are volatile, while 500-999 are non-volatile. Meaning they are persistent.

With that, I would create a set of variables in the ATC routine that stores the tool numbers by pocket numbers in the drum, and also the value of the tool loaded in the spindle in thses variables. Given LCNC allows up to 5000, I would use(assuming a 12 station drum) 4000 ~4014. 4000 is the current tool in the spindle. 4001 is the current tool in the slot facing the spindle. 4002 is the current slot number/pocket number. The balance would be the slots.

Once the tool is loaded in the spindle, the value for the pocket it came from should become 0. If I have tool 1 in the spindle 4000 = 1. If it came from slot 6 and it is facing the spindle or tool arm, then 4001 = 0. 4008 = 0. If I call tool 3 and it is in slot 9 and tool 6 was in the spindle, then the drum should rotate to pocket 9, see that tool 3 is there via 4011 = 3, swap tools, 4011 = 6, 4000 = 3, 4001 = 6.

This method allows for one to assign the correct values via MDI in the event the coordination of the tools and pockets is lost because power was lost before the file was written. You can also call a python sub routine that once the tool change cycle completes writes the file but this is difficult and must be very precise.

Example:
(Assign the tool number of the spindle)
#4000 = 1

(Assign the tool number in the slot at the ready)
#4001 = 3

etc....

You can test this by assigning the values in MDI. Power of LCNC. Open the var file for your profile. Check to see the var number to the left and the value stored on the right. It should be what you assigned in MDI in the file. ex... #4004 = 10. Slot 2 has tool 10 in the slot will appear as:

~ other vars...
4000 10
~other vars

in the var file.

Hope that helps.

Ja genau. Mit dem Handrad hatte ich auch Probleme (und länger gebraucht wie Du) und da war letztlich auch die Lösung einen nativen Port zu benutzen. K.A. warum ich nicht gleich auf die Lösung gekommen bin. Manchmal ist man vernagelt.
LG Arno

gern geschehen
die Sache mit dem Hub hat mich zwei Tage Zeit und Nerven gekostet, als ich mein WHB-Handrad angeschlossen habe.

or the remora project:

forum.linuxcnc.org/18-computer/44828-rem...ernet-nvem-cnc-board
...
and some esp32 projects

wow, ok, in germany/amazon (not the cheapest):

Pi5/4GB = 67,84€
PI4/2GB = 47,80€

ich weis habs nur ausprobiert weil man den jitter ermitteln soll. ich habe schon viel ausprobiert aber nichts hilft.
was ich noch probieren werde eine ältere als 2.9.2 zu installieren

meister wrote:

tommylight wrote:

Sorry but i do not use RPI's at all,and that will not change untill their price drops back to under 50$.

Sorry, why not ? i like the RPI's, especially via SPI

It is 150 Euro here, be it 4 or 5, i can get a full used PC for that money.

Danke Dir, dg9mdr! Ich hatte das USB tatsächlich an einem Hub hängen, das ging nicht. Direkt am PC tada! Ging sofort mit allen Funktionen, auch Doppelklick (was wohl manchmal nicht ging). Und auch im LCNC (QTDragon GUI).
Wenn alles so einfach wäre

Danke und LG Arno

Das muss 1000000 sien, nicht 25000.

Finally got it running without latency errors when coming out of estop. Finally get to use the RPi5.
Tho I can not rule out my messy SPI wiring from the FPGA to the WT32-ETH01.

Still have to have a try with a W5500 module.

1 second search covers installing the sherline steppers and other stuff.

I think that by going by the info given and the fact that the error is 0.05mm they aren't 400 step per rev steppers, the error would be some what larger.

www.vcshobbies.com/wp-content/uploads/2017/12/67126inst.pdf

Meister's linuxcnc-rio project will do everything you want. Complete working hal & ini Configs are included when building a config. Tango type FPGA boards are supported and quite inexpensive. There are also modules that support different adc chips, spi expanders and a whole host of other chips.
Thread starts here:
forum.linuxcnc.org/18-computer/49142-lin...-ecp5?start=0#271608

There is no really sub $20 solution.
Unless you give a description of your machine, number of axis, number of spindles, number of I/O, whether you have stop and limit switches, whether they are shared or not, what other I/O you need, it's impossible to give you the ini & hal files, even with all that info you will more than likely have to edit yourself.

[video]www.youtube.com/shorts/GgnRE_FzmkM




Habe den PC heute noch mal neu aufgesetzt und wieder das gleiche ergebnis hoffe ihr könnt mir helfen. Habe mir nicht anders zu helfen gewust so das ich auf youtube hochgeladen habe und die links eingefügt habe.

Kann den gcode einfügen und die maschine arbeitet auch wenn ich den float switch immer per Brücke betätige nur eben mir fehlt die visualisierung
www.youtube.com/shorts/xabucZcrCow

 

Hello!

I am doing a Biesse retrofit and I am replacing original servodrives because they are showing errors and I decided to go with Mesa 8i20.
I have attached one 8i20 and am trying to get it to move the motor (belt is removed, motor is not connected to machine) without any PID modules or anything.

Here is the part of HAL file that relates to BLDC component and 8i20 pins:
loadrt bldc cfg=qi

addf bldc.0        servo-thread

setp bldc.0.scale     4000
setp bldc.0.poles    4
setp bldc.0.initvalue     0.7
setp bldc.0.init     0

# setp bldc.0.rev        1

setp bldc.0.encoder-offset     1517


setp hm2_5i24.0.8i20.0.4.current-minlim        -10
setp hm2_5i24.0.8i20.0.4.current-maxlim        10

net motor.02.rawcounts    hm2_[HOSTMOT2](BOARD).0.encoder.02.rawcounts
net motor.02.rawcounts    bldc.0.rawcounts

net motor.02.index-ena    hm2_[HOSTMOT2](BOARD).0.encoder.02.index-enable
net motor.02.index-ena    bldc.0.index-enable

net motor.02.angle     bldc.0.rotor-angle
net motor.02.angle     hm2_5i24.0.8i20.0.4.angle

net motor.02.current     bldc.0.out
net motor.02.current     hm2_5i24.0.8i20.0.4.current

net test-vel        bldc.0.value


Encoder-offset was calculated following way:
1) connected motor U to 24V, V and W to 0V
2) started LinuxCNC, halshow encoder counts and rawcounts
3) removed 24V from motor
4) setp encoder.index-enable 1
5) turn motor by hand until counts reset to 0
6) difference between counts and rawcounts is 1517

For encoder-offset value I have tried 1517, -1517, 2483 and -2483 (because 4000 - 1517 = 2483 as per suggestion by PCW somewhere in these forums).
I have tried with bldc.0.rev set to 0 and 1
I have tried bldc.0.scale both 4000 and -4000.

Signal test-vel is getting its value from pyvcp slider in range from 0 to 20 with increments of 0.1
The result I am getting:
with setp bldc.0.init 1 it starts rotor homing. With uneven motion it will finish it (initdone pin is set "true") although it is really hard to turn motor by hand with current set at 0.7
Then with slider giving input to bldc.0.value motor will snap to another position with jerking at value of around 8-10 and snap back around at 5-6.
With bldc.0.scale -4000 motor would constantly jerk with bldc.0.value at 7.4 or higher and stop jerking with bldc.0.value lower than 5.3

It was suggested that motor should turn equally fast in both directions with low current as an indication that encoder-offset parameter is correct. I just do not understand what do I need in HAL file to command the motor spin at constant speed.

I have no idea what exactly am I missing or what should I try differently, so any hints will be appreciated.

yathish wrote:

Hi @tommylight, thankyou for your insight.
Now i want to expand my inputs and outputs in raspberry pi 5, can you suggest me how to expand my i/o and if there is any solution can you also tell me how to configure HAl

Refer to this post forum.linuxcnc.org/18-computer/53136-can...g-step-pulses#304365