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I see people use the word tune a lot, but I guess I don't exactly know what it means. Generally, I would think it just means working a certain value towards the best value. How would I tune the servo in this case? I know in the ClearPath Manual it says to auto-tune the servo using their software.

As for FERROR and MIN_FERROR, do those only apply when using PID calcs? Cause I think I have them set to 0 or maybe not included yet.

Lastly, what is ddt?

I might have to ship you a cake after all you've helped me with xD

Dear anyone but mostly Andy Pugh,

I would like to use your carousel component but for my life I cannot figure out how to.  I have seen a couple working examples that I have attempted to model mine after but nothing clicks.  I do realize that my machine is different and such, but I was hoping to catch onto a pattern. I will attach my files below, the meat of the carousel code is in custom.hal, the complete config is available on Github as well, ( github.com/RachelStarosta21/BostoMatic-w...oolChanger/tree/main ).  Any help or pointers would be amazing.  My config is currently modeled after this guy: www.forum.linuxcnc.org/38-general-linuxc...9-remap-m6-in-python and previously I was using Eric Salo's tutorial on youtube.

More information about my setup: The tool carousel motor is a servo motor that operates the angular axis of the carousel and spins. The encoder is a quadrature encoder with a scale of 8192(8192 total counts between each the index mark).  The machine itself is a bostomatic 312 from the 80s, the machine works.  We have previously actuated the tool carousel using a standard angular axis motor and encoder connections, but it seems silly to do work you already have. 

Constructive feedback only.
 

Maybe there is a guide, I don't remember it right away. I mean these are, shall we say, the common problems people encounter, nothing strange about it.
I'm patient so just keep asking.

When you get following errors in EtherCAT drives at high speed there are a couple of things.
1. Tune the servo. Settings in the servo drive.
2. If you still get following error, increase FERROR and MIN_FERROR

With EtherCAT it takes two servo cycles to receive the feedback value, so feedback position
is always two cycles behind. At 60 inch/min = 1inch/sec => 0.002 inch following error due to to turn-around time.
Position feedback isn't used for anything more than to warn when it becomes too large.
Tune the servo, that is the main thing.

Answering the second post here. With the minus sign in RefClockSyncCycles value the DC and the servo loop are synchronized.

forum.linuxcnc.org/ethercat/57349-import...ration-option#335710

I also might have stumbled upon a very similar, if not the exact same situation:
www.forum.linuxcnc.org/ethercat/56535-pi...ed-servo-in-csp-mode

'MANUAL_TOOL_CHANGE = True'  without remap M6, the toolchange popoup is working as expected. When m6 is remaped, the popup is not showing up, but the ui crashes:


  File "/usr/lib/python3/dist-packages/PyQt6/uic/ui_file.py", line 35, in __init__
    document = ElementTree.parse(ui_file)
               ^^^^^^^^^^^^^^^^^^^^^^^^^^
  File "/usr/lib/python3.11/xml/etree/ElementTree.py", line 1218, in parse
    tree.parse(source, parser)
  File "/usr/lib/python3.11/xml/etree/ElementTree.py", line 569, in parse
    source = open(source, "rb")
             ^^^^^^^^^^^^^^^^^^


I think its a similar problem i described with touchoff, its looking for the tool_change.ui in my config folder
 

Is there a good .hal tutorial you could point me towards? I'm guessing many of my problems stem from my incompetence there.

I fixed pos-scale so that linuxcnc and the drive match, but the other issues still occur. Odd thing is that it still gives the joint 0 following error at ~60in/min, despite the drive actually moving faster. I suspect, then, that I could make the drive move twice as fast and the jog error would stay at the same logical velocity.

I had loaded the images, must have done it wrong...
 

Okay, with "remove any current tool length offset" you mean to remove the offset saved in the tool table? Shouldn't the tool probing overwrite this offset?

 

I have extended the python code mentioned in forum.linuxcnc.org/24-hal-components/145...with-graphviz#325079 in github.com/JTrantow/LCNC_HAL_to_graphviz

With these changes I can use it to get 99% of the graphviz I use to document my configurations. 

The attached CompleteConfig.svg is an example I whipped up today to help a friend setup a spindle VFD and external estop switch.

Using an online graphvix editor, I can quickly delete the subgraphs and signals that were cluttering up the spindle VFD and estop we were working on. See attached VFDandEStop.svg.

See the readme.md in github for further detail. I have run this on multiple configurations without issue. When your config is divided into multiple files, it's relatively easy to only load the portions you want to document.

When I tried to attach individual .svg files it complains about "Unable to get properties for the image."???
 

Sorry for late reply. I've have made a new rebuild of my wiring, and i would appreciate if you guys would check if everything looks correct. I will make a video of the problem if it still there, if my wiring diagram looks right. 

The unit of pos-scale is increments/distance unit, like steps/mm or steps/inch.
If you motor's encoder has 500 pulses/rev, then it is 2000 increments/rev.
With a axis movement of 5 mm/motor revolution you should set pos-scale = 2000/5 and 2000/180 respectively.
400 and 11.111

It may be possible to set the increments/rev separately from the encoders value, check the drive manual if the above doesn't match.

 

Not sure what you mean by encoder_value.
You have the cia402.x.pos-scale to work with.
Instead of mathematically figuring it out, multiply the current value with 6.5/2 = 3.25 and try again.
If you find that number matches a known relation, use that.

I think the following errors follows from the pos-scale. At least get this right first.

More text here on how to calculate pos-scale
forum.linuxcnc.org/ethercat/22346-etherc...er?start=1360#338150

db1981 wrote:

state machine from my comp is ok . 0x6 -> 0x7 -> 0x7f . Bit 2 (quickstop) is always set.

mine too, do you fix that

Did you start the motor?