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  • Hakan
  • Hakan
21 Jun 2025 06:01 - 21 Jun 2025 06:01
Replied by Hakan on topic Do I need a better PC?

Do I need a better PC?

Category: EtherCAT

I have had this gravel sound. Starts by sounding like tick, tick gradually transitioning to gravel and going back to tick,tick and disappear.
Repeats itself after some minutes.
It may not be what causes it for you, but in my case it was a slight difference in the DC cycle time and linuxcnc cycle time.
One is running slightly faster than the other. Both nominally 1 millisec, Combined with some latency of the linuxcnc computer
ethercat will send and receive data not from the current servo cycle, but from the previous or the next cycle.
The gravel sound would appear with the transition over this mixed period to stabilize when the cycles are so much out of phase that they always receive data from the same servo cycle phase.

You can check with halscope of the actual position for example. When the gravel sound happens you will see that
the actual position isn't a smooth line anymore as is expected. Instead you will see that it stays on the same
position for a cycle, to maybe jump double distance another. This is worthwhile checking. 
Two curves in halscope, commanded position and actual position, with and without gravel sound would be interesting to see.
  • PCW
  • PCW's Avatar
21 Jun 2025 04:58
Replied by PCW on topic Using Mesa 7i95T for laser + galvo (xy2-100) control

Using Mesa 7i95T for laser + galvo (xy2-100) control

Category: Driver Boards

The TXEN pins corresponding GPIO pins would need to be set as outputs 
and into the correct state in the hal file, something like:

setp hm2_7i95.0.gpio.014.is_output true
setp hm2_7i95.0.gpio.014.out false
setp hm2_7i95.0.gpio.017.is_output true
setp hm2_7i95.0.gpio.017.out false
 
 
  • djdelorie
  • djdelorie
21 Jun 2025 04:19
Replied by djdelorie on topic M6 shuts off spindle, but no UI confirmation, and program doesn't pause

M6 shuts off spindle, but no UI confirmation, and program doesn't pause

Category: Basic Configuration

something to try - switch to relative moves, then G1 Z0 ? Even though you're not moving, it may count as a wait point for M3
Or use M66 instead? You could hook that up to a button near the spindle, or a GUI button.
  • tuxcnc
  • tuxcnc
21 Jun 2025 03:42 - 21 Jun 2025 09:23
Replied by tuxcnc on topic Remora - ethernet NVEM / EC300 / EC500 cnc board

Remora - ethernet NVEM / EC300 / EC500 cnc board

Category: Computers and Hardware

Maybe I some don't know...
Maybe I do something wrong...
But :
root@HP-15:/temp/temppp# ls -n remora*
-rw-r--r-- 1 0 0 24206 2024-12-19  remora-eth-3.0.c
-rw-r--r-- 1 0 0   894 2024-12-19  remora-eth-3.0.h
root@HP-15:/temp/temppp# md5sum remora*
b447865ec7d51854e3baae2c9649fc65  remora-eth-3.0.c
4d64b37ed9177dbdb67f64479a2985f5  remora-eth-3.0.h
root@HP-15:/temp/temppp# cat remora-eth-3.0.c | grep comp_id,
            comp_id, "%s.enable", prefix);
            comp_id, "%s.reset", prefix);
            comp_id, "%s.status", prefix);
                    comp_id, "%s.joint.%01d.pos-cmd", prefix, n);
                    comp_id, "%s.joint.%01d.vel-cmd", prefix, n);
                comp_id, "%s.joint.%01d.enable", prefix, n);
                comp_id, "%s.joint.%01d.pos-cmd", prefix, n);
                    comp_id, "%s.joint.%01d.vel-cmd", prefix, n);
                comp_id, "%s.joint.%01d.freq-cmd", prefix, n);
                comp_id, "%s.joint.%01d.pos-fb", prefix, n);
                comp_id, "%s.joint.%01d.scale", prefix, n);
                comp_id, "%s.joint.%01d.counts", prefix, n);
                comp_id, "%s.joint.%01d.pgain", prefix, n);
                comp_id, "%s.joint.%01d.ff1gain", prefix, n);
                comp_id, "%s.joint.%01d.deadband", prefix, n);
                comp_id, "%s.joint.%01d.maxaccel", prefix, n);
                comp_id, "%s.SP.%01d", prefix, n);
                comp_id, "%s.PV.%01d", prefix, n);
                comp_id, "%s.output.%02d", prefix, n);
                comp_id, "%s.input.%02d", prefix, n);
                comp_id, "%s.input.%02d.not", prefix, n);
                comp_id, "%s.NVMPGinput.%01d", prefix, n);
root@HP-15:/temp/temppp#
Is the PV raw count?
Is the index some input?
Where is position captured at index ?
  • scotta
  • scotta's Avatar
21 Jun 2025 01:00
Replied by scotta on topic Remora - ethernet NVEM / EC300 / EC500 cnc board

Remora - ethernet NVEM / EC300 / EC500 cnc board

Category: Computers and Hardware

Hi tuxcnc,

Have a bit more of a look at the module code.

1. Index count is captured in an ISR.
2. When the next servo period runs the module, the index input is set in the data packet so LinuxCNC knows that the index was detected.
3. The index count captured in the ISR is stored in the data packet.

On the LinuxCNC side, if the index enable hal pin is set and the phase Z input (the index input) then the the index count is set with the encoder count, the count that was captured in the ISR.

The ISR latency is the only potential timing miss match.
  • phino
  • phino
21 Jun 2025 00:43
Replied by phino on topic Using Mesa 7i95T for laser + galvo (xy2-100) control

Using Mesa 7i95T for laser + galvo (xy2-100) control

Category: Driver Boards

The differential input is because the full XY2-100 interface has a status channel
but its not required for operation.

Ok, in that case the status channel can be skipped as the galvo does not seem to implement it.
So the options are using two step/dir channels, or one step/dir and two sserial  for their tx channels? There's no way to avoid stealing step/dir channels if using the galvo on the 7i95T?
Although, in the end, the 7i78 might be needed anyway.

The serial TXEna pins would end up as GPIO pins and have to be set into the enabled
state in the hal file. 

What does this entail?
  • Kieran
  • Kieran
21 Jun 2025 00:26 - 21 Jun 2025 00:28
Replied by Kieran on topic Do I need a better PC?

Do I need a better PC?

Category: EtherCAT

I don't think its a servo hardware issue. All of them sound like gravel sometimes. Or they are all smooth. I'm wondering if its something to do with the feedback loop between the servo and linuxcnc? It sounds like they are being commanded unsteady changing speeds at a somewhat high frequency. They only have UVW coming out of the motor. And encoder seems to have standard a/b v+ v- stuff going on. I don't think there's any hall sensor for the rotor.
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