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  • Aciera
  • Aciera's Avatar
20 Feb 2025 12:21
Replied by Aciera on topic scurve trajectory planner

scurve trajectory planner

Category: General LinuxCNC Questions

I can't quite tell from your repo so you may already have but just in case:
Remember that we need to run eq 45 with the gamma11, gamma21 and s1 values found with dogleg. With the 6 resulting gamma values it should then satisfy G1, G2 and G3 continuity.

 
  • Aciera
  • Aciera's Avatar
20 Feb 2025 12:10
Replied by Aciera on topic scurve trajectory planner

scurve trajectory planner

Category: General LinuxCNC Questions

This is really a milestone for us !!!

Indeed! Congratulations.

However if you look closely at the individual clothoid curve transitions there is a tiny change in curvature.


Is eq 45 in the loop yet?
  • Traken
  • Traken
20 Feb 2025 12:07 - 20 Feb 2025 12:19
Replied by Traken on topic Servo Oscillation Issue at ±6.6V 5i25 + 7i77, Analog Control

Servo Oscillation Issue at ±6.6V 5i25 + 7i77, Analog Control

Category: Basic Configuration

It checks your method and shows no error. I will try to turn on linuxcnc and control from the servopack to read a higher speed and exclude the encoder reading.
Because it still seems to me that it is not related to the encoder reading but to the analog power supply.
What still surprises me is that if I drive the axle in the positive direction, I can achieve 10 m/min, and if I drive the axle in the negative direction, 8.3 m/min.
  • mc_cubus
  • mc_cubus
20 Feb 2025 11:37
Issue with LinuxCNC Pins showing zero was created by mc_cubus

Issue with LinuxCNC Pins showing zero

Category: EtherCAT

Hello Everyone,
I'm have an IFC2411 confocal sensor (Micro-Epsilon) on my EtherCAT network. The sensor is recognized and appears in OP state:
0  0:0  OP  +  ECOMODUL
1  0:1  OP  +  PD4-Ex-E-65-1 EtherCAT Drive (CoE)
2  0:2  OP  +  ECAT-2513 4-Port EtherCAT Junction(IN/OUT1)
3  0:3  OP  +  ECAT-2513 4-Port EtherCAT Junction(OUT2/OUT3)
4  0:4  OP  +  IFC2411
I can do an SDO read of 0x6000:01 and get non-zero distance values—proving the sensor is physically measuring and returning data internally:
ethercat upload -p 4 0x6000 0x01 --type uint32
0x001d6fe3 1929187

The ethercat pdos -p 4 says:
SM0: PhysAddr 0x1000, DefaultSize 1024, ControlRegister 0x26, Enable 1
SM1: PhysAddr 0x1400, DefaultSize 1024, ControlRegister 0x22, Enable 1
SM2: PhysAddr 0x1800, DefaultSize    0, ControlRegister 0x64, Enable 1
SM3: PhysAddr 0x1818, DefaultSize   24, ControlRegister 0x20, Enable 1
  TxPDO 0x1a00 ""
    PDO entry 0x6000:01, 32 bit, ""
  TxPDO 0x1a30 ""
    PDO entry 0x6010:01, 32 bit, ""
  TxPDO 0x1a80 ""
    PDO entry 0x6030:01, 32 bit, ""
  TxPDO 0x1ae0 ""
    PDO entry 0x7000:01, 32 bit, ""
  TxPDO 0x1ae8 ""
    PDO entry 0x7001:01, 32 bit, ""
  TxPDO 0x1af0 ""
    PDO entry 0x7002:01, 32 bit, ""

However, in LinuxCNC’s HAL pins (e.g.
lcec.0.IFC2411Sensor.ifc2411-distance
), the value stays at 0.
halcmd show pin lcec.0.IFC2411Sensor
Component Pins:
Owner   Type  Dir         Value  Name
    37  s32   OUT             0  lcec.0.IFC2411Sensor.ifc2411-counter ==> ifc2411-counter
    37  s32   OUT             0  lcec.0.IFC2411Sensor.ifc2411-distance ==> ifc2411-distance
    37  s32   OUT             0  lcec.0.IFC2411Sensor.ifc2411-frequency ==> ifc2411-frequency
    37  s32   OUT             0  lcec.0.IFC2411Sensor.ifc2411-intensity ==> ifc2411-intensity
    37  s32   OUT             0  lcec.0.IFC2411Sensor.ifc2411-shutter ==> ifc2411-shutter
    37  s32   OUT             0  lcec.0.IFC2411Sensor.ifc2411-timestamp ==> ifc2411-timestamp
    37  bit   OUT          TRUE  lcec.0.IFC2411Sensor.slave-online
    37  bit   OUT          TRUE  lcec.0.IFC2411Sensor.slave-oper
    37  bit   OUT         FALSE  lcec.0.IFC2411Sensor.slave-state-init
    37  bit   OUT          TRUE  lcec.0.IFC2411Sensor.slave-state-op
    37  bit   OUT         FALSE  lcec.0.IFC2411Sensor.slave-state-preop
    37  bit   OUT         FALSE  lcec.0.IFC2411Sensor.slave-state-safeop


The slave is defined in ethercat_conf.xml as follows:
<slave idx="4" name="IFC2411Sensor" type="generic" vid="0x00000607" pid="0x62ece209" configPdos="true">
            
            <syncManager idx="3" dir="in">
                <!-- Channel 1 distance 1 TxPDOMap OV1 -->
                <pdo idx="1a00">
                  <pdoEntry idx="6000" subIdx="01" bitLen="32" halPin="ifc2411-distance" halType="s32"/>
                </pdo>
                <!-- Channel 1 intensity 1 TxPDOMap OV1 -->
                <pdo idx="1a30">
                  <pdoEntry idx="6010" subIdx="01" bitLen="32" halPin="ifc2411-intensity" halType="s32"/>
                </pdo>
                <!-- Channel 1 shutter TxPDOMap OV1 -->
                <pdo idx="1a80">
                  <pdoEntry idx="6030" subIdx="01" bitLen="32" halPin="ifc2411-shutter" halType="s32"/>
                </pdo>
                <!-- Counter TxPDOMap OV1 -->
                <pdo idx="1ae0">
                  <pdoEntry idx="7000" subIdx="01" bitLen="32" halPin="ifc2411-counter" halType="s32"/>
                </pdo>
                <!-- Time stamp TxPDOMap OV1 -->
                <pdo idx="1ae8">
                  <pdoEntry idx="7001" subIdx="01" bitLen="32" halPin="ifc2411-timestamp" halType="s32"/>
                </pdo>
                <!-- Frequency TxPDOMap OV1 -->
                <pdo idx="1af0">
                  <pdoEntry idx="7002" subIdx="01" bitLen="32" halPin="ifc2411-frequency" halType="s32"/>
                </pdo>
            </syncManager>
        </slave>

The .hal file contains the following mappings:
#PDOs to HAL Pins mapping for IFC2411 Confocal Sensor
net ifc2411-distance <= lcec.0.IFC2411Sensor.ifc2411-distance
net ifc2411-intensity <= lcec.0.IFC2411Sensor.ifc2411-intensity
net ifc2411-shutter <= lcec.0.IFC2411Sensor.ifc2411-shutter
net ifc2411-counter <= lcec.0.IFC2411Sensor.ifc2411-counter
net ifc2411-timestamp <= lcec.0.IFC2411Sensor.ifc2411-timestamp
net ifc2411-frequency <= lcec.0.IFC2411Sensor.ifc2411-frequency

I have the feeling that I am overseeing something trivial and would be thankful for any kind of help!

Cheers,
  • Grotius
  • Grotius's Avatar
20 Feb 2025 11:12
Replied by Grotius on topic scurve trajectory planner

scurve trajectory planner

Category: General LinuxCNC Questions

@Arciera,

Today i started coding the clothoid compound fit using the gsl solver. It worked right away.
I think because yesterday we did it succesfully for just one clothoid.

This is really a milestone for us !!!

What we see here is a 3d clothoid spline, build from 4 individual clothoids, given start, end posture.

Given the abstract :
"Space corner smoothing of CNC machine tools through developing 3D general clothoid"
by Qun-Bao Xiao, Min Wan, Yang Liu, Xue-Bin Qin, and Wei-Hong Zhang.
Published in Robotics and Computer Integrated Manufacturing, Volume 64, 2020.


However if you look closely at the individual clothoid curve transitions there is a tiny change in curvature.
Somewhere in the code is a buggybug. 
File Attachment:
  and or alien obstruction.
I think in eq45 where the constrains of the joints are calculated must be something signed to "-" ?
// Start point.
double xs = 0.0;
double ys = 0.0;
double zs = 0.0;

// Target point.
double xe = 520.05;
double ye = 266.50;
double ze = 125.50;

// Start angles, end angles.
double degrees_xy_start = 45.0;
double degrees_xy_end = 0.0;
double degrees_z_start = 0.0;
double degrees_z_end = -45.0;

  
Converged after 315 iterations
Solution found: gamma10 = 0.000000, gamma20 = -0.000000, s1 = 198.587624
endpoint x: 520.050004 y: 266.500006 z: 125.499999
  • denhen89
  • denhen89's Avatar
20 Feb 2025 11:06
Replied by denhen89 on topic (LPT) Debian 12 Latency spikes/unexpected real time delay. Looking for solution.

(LPT) Debian 12 Latency spikes/unexpected real time delay. Looking for solution.

Category: General LinuxCNC Questions

I am planning to do a fresh debian 12 install and delete everything what is currently on the system.
Do i understand correctly, after Debian 12 is installed, i need to do this:
sudo dpkg -i (package name here without brackets)
for each deb that is here onelaboratories.us/abc/ and after that reboot and choose the rtai kernel in grub?
  • denhen89
  • denhen89's Avatar
20 Feb 2025 10:51
Replied by denhen89 on topic (LPT) Debian 12 Latency spikes/unexpected real time delay. Looking for solution.

(LPT) Debian 12 Latency spikes/unexpected real time delay. Looking for solution.

Category: General LinuxCNC Questions

Just started and i have to post because this is a good example how it always goes for me:
1. sudo apt purge linuxcnc*
works, buty doesnt remove Linuxcnc because: (Package 'linuxcnc' is not installed, so not removed)

cncpc@debian:~$ sudo apt purge linuxcnc*
Reading package lists... Done
Building dependency tree... Done
Reading state information... Done
Package 'linuxcnc' is not installed, so not removed
The following packages were automatically installed and are no longer required:
libwpe-1.0-1 libwpebackend-fdo-1.0-1 linux-headers-6.1.0-18-amd64
linux-headers-6.1.0-18-common linux-headers-6.1.0-18-common-rt
linux-headers-6.1.0-18-rt-amd64 linux-image-6.1.0-18-rt-amd64
Use 'sudo apt autoremove' to remove them.
0 upgraded, 0 newly installed, 0 to remove and 0 not upgraded.

Linuxcnc is of course installed. I dont get it, but thats standard for me already:)
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