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Does anybody know why one would want the touch probe to be wired directly to the drive? And is the probe wired directly to all x,y,and z drives in parallel?

i'm not sure about ethercat, but e,g, mechatrolink protocol has a LATCH function when drives remember the value of the motor position counter on a rising edge of external signal. this should give better resolution than sensing the probe at the controller and then reading back position. i guess ethercat does the same

It's not too bad once you see an example.

In general your ini will look something like this

X axis
Joint 0

Y axis
Joint 1
Joint 2

Z axis
Joint 3
Joint 4

Hal file
Will be basically the same thing.

Use the example provided by the builder and just copy it for z2 (instead of y2)

Hallo strahlensauger.

Danke für deine Antwort und auch die Files. Habe die Files gestern Abend auf die Steuerung gespielt und damit die Maschine gestartet. Linuxcnc startet und es gibt auch keine Fehlermeldungen. Nur bewegt sich an der Maschine rein gar nichts. Die Stepper lassen sich, bei aktiver Stromversorgung der Steppertreiber, von Hand durchdrehen. Ich denke, dass ich wohl einen Verkabelungsfehler habe. (Oder ich habe mir die 7C80 schon in nen Ziegel verwandelt)

LG

Hans Peter

I have a 5-DOF robot.  I have my Joypad setup so that in World/Cartesian, the left joystick is X and Y, the right Z.  I have the directions relative a 1st person POV.  This works as I intended.

When I switch to joint mode in Axis The individual axis that jogs is not natural and I would like to change that for joint mode jogging.

Is there a way to make the "input." assignments from the joypad conditional, one assignment set for World, another for Joint mode? 

 

 

Hi bkt
I'm also trying to install ethercat on LMDE6 but I can't get started. The process I went through is the same as what you found on the forum.

Unable to locate package ethercat-master
Unable to locate package libethercat-dev

Can you share your experience and specific steps for successful installation?
Thank you so much!

A spline sounds interesting and maybe what we would be looking for to create an easy curved motion based on shorter line segments no?

I'm good now, it was the number of bits, I found the answer in another post. 

forum.linuxcnc.org/24-hal-components/419...-x-and-y-axis#203090

Apparently the problem was in the number of bits of the number. I've gone from 8 bits to 16.
So
- setp input.0.abs-y-scale -32767.5
- setp input.0.abs-ry-scale -32767.5

Im trying to be inspired by these drives, looking at the manual I see it has touch probe functions in the drive itself. Does anybody know why one would want the touch probe to be wired directly to the drive? And is the probe wired directly to all x,y,and z drives in parallel?

Thanks for your knowledge.

What's the easiest interface board for a new user to use
Parport bob is easy to use.
There are guides to set it up.

Hi,

That number is quite normal to see in c or c++. And indeed using a limit on the decimals shows 0.0000
We often call this kind of number expressions : "scientific notations".
1e-6 is a common notation used by me to verify if something is close to zero.

In c++ we use std::fixed to get rid of scientific notations. Python uses


 

Related to the clothoid example's i feel stupid.
The lib i used is called G1fitting. As the name say's it's fitting G1 continuity.... And indeed
the results are G1 continuity.

To satisfy the G2 continuity needs, i came to a even bigger library.
Its cloned and builds ok in qt now. I hope i can now figur out wich algo to use.

There is a whole list of possible solutions. Even a clothoid spline G2 is on the menu.

The nicest algo would be a point overlay algo. Like just fitting a curve on top of our excisting gcode points.
Using start angles, end angles to construct curves is annoying. Hopely others can read also this website
document a little and together choose the right path.

ebertolazzi.github.io/Clothoids/api-cpp/root.html

@Chris,

Yeah, thanks to your hint i could find it.

~/linuxcnc/src/emc/motion/motion.h line 227.

located in the  emcmot_command_t structure.
     double tolerance;    /* tolerance for path deviation in CONTINUOUS mode */

Its quite hidden.

In the planner there is :

//! Status and config from motion.h
static emcmot_status_t *emcmotStatus;
static emcmot_config_t *emcmotConfig;

But we have to add the command channel to it.

//! Status and config from motion.h
static emcmot_status_t *emcmotStatus;
static emcmot_config_t *emcmotConfig;
static emcmot_command_t *emcmotCommand;

then i could do :
    double g64_tol=emcmotCommand->tolerance;

@Lcvette, also thanks for searching.
 

if you mean linuxcnc, it is called path_blending i believe:

https://​​​​​​​https://linuxcnc.org/docs/stable/html/gcode/g-code.html#gcode:g64

There is also a mesa & servo thread warning, could be related?

Grotius wrote:

@Lcvette,

G64 P# Q# to specify the deviation similar to the coherent trajectory planner?
Thats ok for me.

I was searching where they pass the G64 values to the planner for an hour.
So far i could not find it. Maybe someone knows how it's passed or knows the name in the code.

if you are referring to fusion 360, it is done in the customized post processor here: