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1. I don't see anything obviously wrong with your DH parameters
2. I would agree with @heaven that you are in a singular position. Which will lead to the inverse kinematics failing. In your pictures j5 is collinear with j3. Trying a different start position for j4 should help.

i already try that too, change the hal into lcec.0.0.cia-statusword but still got the same error. is it because my drive is not detectable using "halcmd show pin lcec" comand? because when i try that there is no result, but its still show up by using ethercat slaves.

Thars a shame, So much going on in the builds and repos

Peter, I am curious if you have tested pinning the NIC IRQ to a non RT core (say second last core). From my research it was better to put the NIC on a different CPU to the RT program which will be running on an isolated core.

There are so many sources of latency to quell on newer hardware and Linux versions

Your slaves are numbered from 0 so I think you should use lcec.0.0.cia-statusword

I want to know did I used correct values for genserkins pins according to my geometry

I’m currently learning LinuxCNC with EtherCAT, following several tutorials such as those on YouTube by MetalMusings. I’m trying to connect one servo and a servo drive to make it move with LinuxCNC. I’ve followed the video and adjusted the configuration according to my slave device.However, I’m getting an error like the following. I’ve already made sure that the XML file and HAL pins are correctly matched. Maybe I missed something, or there’s something wrong with my XML/HAL file.

Machine configuration directory is '/home/linux-cnc/linuxcnc/configs/sim.axis'
Machine configuration file is 'lathe.ini'
Starting LinuxCNC...
linuxcnc TPMOD=tpmod HOMEMOD=homemod EMCMOT=motmod
Note: Using POSIX realtime
Found file(REL): ./ethercatlathe.hal
./ethercatlathe.hal:39: Pin 'lcec.0.1.cia-statusword' does not exist
Shutting down and cleaning up LinuxCNC...
Note: Using POSIX realtime

 

I found a hal and ini for a parker drive and commented out errors until it made it through and booted linuxcnc and had flashing lights on tx and rx. So we now have communication. Of course its all wrong cause its for a different VFD, but the communication is actually working.

Woo.

Maybe you are in singularities, try another homing position

Jean Philippe,

Thank you for sharing these. I greatly appreciate your generosity.

Am I correct I. My thinking that the magic for this is in the spindle.hal file?

Rich

Inching my way foreward.
Have a hal and ini for modbus now, and im getting an "out of range" error.

This happens if the drive in on or off, and im seeing no leds on the adapter. so perhaps the adapter is not enabled? Does it require a driver?

The chip on the adapter is CH340

Great, in meantime I am wondering, rough estimation could it be all logic (6x uart + quadrature logic + 6 to 8 stepgens + 1 smart serial) packed to 6i25 or 7i92?
I think that I don't need C signal from encoder to count full revolutions.
Yes uart parameters are fixed.
I am seeing the next sequence, LinuxCNC will issue power up of servo drivers and encoders would be connected both to drivers and RS422 to TTL converters (encoders are RS422), so there would be 2 listeners per encoder on RS422 network (think this should not be a problem for RS422).
Drivers will issue power on for encoders and this is trigger for them to send data.
After RS422 -> TTL conversion then will be signal isolation and then fpga.

Review the config in settings section to make sure everything is there that needs to be. 30-40 seconds means something is wrong in the config most likely. Just go through line by line and read everything carefully to make sure you didn't overlook anything. Should fix your issue. When in doubt compare to the SIM config. If it works as expected then go through your machine config again and find the error or missing item.

Thanks. Problem is I don't really know what to do with this.

Doesn't qualify as walk through but here are some hints. I used mb2hal.

forum.linuxcnc.org/10-advanced-configura...h100-inverter#335652