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@Konrad,

Thank you!

Besides that can I ask if the points raised by hmnijp ... are addressed?
A few are adressed now.

The algo is still using local smoothing. as shown on page 3.
But now it uses a 3d-clothoid instead of a spline, and uses the correct path deviation to fit the clothoid.

I guess to really have jerk limiting you not only need to be smooth in the time domain but also in the path, thus the use of clothoid(?)
1. The 3d clothoid fit's the trajectory with G3 continuity, as explained in the abstract.
2. Then we have scurve motion profile, wich is used for jerk limiting.
3. Then the trajectory can use different algo's for path optimalisation, like flattening out a zigzag motion. This will also contribute to jerk.

The ringbuffer is working. And to my surprise i did'nt need a seperate thread so far to fit clothoids.

 

Good morning.
I had a working system using a old linuxcnc version (+- 5 years old). It was running fine, but the motherboard needs to be replaced.
I was unable to boot the same SSD on the new motherboard, so I suppose that from what I have read that the issue is more likely because the current installation was done on the old MBR.
The new candidate motherboard only has UEFI so for what I have read, I must convert the current disk to use GPT.

I have read some online information, and there are many steps involved on the conversion. Should I try to start from a new installation or still the conversion would be less trouble. What is your opinion?

Thanks for your reply, andypugh.

Unfortunately, the counter and position values ​​of the EL5101 being used seem to be reset the moment index-enable is turned OFF. The position where it stopped at the end of homing is the correct position. The coordinates of LinuxCNC are 0, and the POS position of the EL5101 is the same as the HOME_OFFSET value. It seems that it is not possible to avoid the excessive PID deviation when index-enable is turned OFF. This phenomenon does not occur when homing is performed again.

Until now, I have tried converting the Count value instead of the EL5101 POS and using it for Feedback, but it did not work.

It worked fine with the EM7004, but I'm starting to think that an external torque mode amplifier cannot be used with the Ethercat driver.

Thank you.

Hi

thanks for your response. The input pin if the 5A BOB has to be inverted. It is giving an error that pin cannot be inverted. Please help.

 

The wiring will work for 3-4Axis mill and for Lathe.
For Lathe you need to set 'LinuxCNC->Machinetype' to lathe
and maybe remove 2 stepdir plugins.

If you need a Spindle-Encoder, you can add it freely to the other free ports.

It worked here. Running 40 times.