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  • jschulze
  • jschulze
15 Sep 2025 13:05
Replied by jschulze on topic Kinematic model for a 5axis mill with universal (nutating) head

Kinematic model for a 5axis mill with universal (nutating) head

Category: Show Your Stuff

I was able to test this out a bit today and I've figured out it wasn't working because after setting the TWP, the G59 offset made the axis positions outside my soft limits,  I made my soft limits massive and it worked as expected.  If I have G54 zeroed out, then I don't get any values in G59, but my axis position are still outside the soft limits. 


Ah yes, I'm sorry I have not caught onto this before,  this is expected behavior, which is unavoidable since the motion planner lives in cartesian space and assumes that each joint is aligned with its assigned axis which is no longer the case when the work coordinate system is rotated and thus no longer aligns with the machine coordinate system. Joint limits will be respected but are only triggered at runtime (ie when the joint position violates the limit) and will thus trigger an emergency stop.
It is possible to expand the axis limits when switching to TOOL kinematics and change them back to restrictive values when switching back to other modes but you will have to expand axis limit values when using TWP.

I will need to point this out in the README file.

Ok, thanks again for all your work on this, I figured I had just messed something up along the way.  I found your example of the mill turn machine with the switchable soft limits, so I'll try to work on getting that working.    
  • WKS-3D
  • WKS-3D's Avatar
15 Sep 2025 12:30
Replied by WKS-3D on topic Glasmaßstab EIA-422 an Mesa 7i85 (S)

Glasmaßstab EIA-422 an Mesa 7i85 (S)

Category: Deutsch

I think I'm a little confused today. The card is installed upside down, so the jumpers are in the down position.
Now I don't know what to do next.
  • WKS-3D
  • WKS-3D's Avatar
15 Sep 2025 10:56 - 15 Sep 2025 11:02
Replied by WKS-3D on topic Glasmaßstab EIA-422 an Mesa 7i85 (S)

Glasmaßstab EIA-422 an Mesa 7i85 (S)

Category: Deutsch

I tried a few more things and just couldn't get anywhere. So I decided to take another look at the wiring and the 7i85. I noticed that the jumpers for the signal are not set to RS-422 (in the down position) but to the up position for TTL signal.
Unfortunately, the nine-pin TTL signal pin assignment is the same as the RS-422 assignment, except that A-, B-, and R- are omitted. The signals are then ignored anyway. So there's probably no point in changing the jumpers.
Or should I try?

 
 
  • RobotMatic
  • RobotMatic's Avatar
15 Sep 2025 10:00 - 15 Sep 2025 10:09
Replied by RobotMatic on topic 7i76E Spindle configuration

7i76E Spindle configuration

Category: PnCConf Wizard

I can't see that page, it goes up to P1-P2.

I see only TB2/TB3 P1 P2

it doesn't allow me to add a PWM. I set it to 1 and it goes back to 0
  • RobotMatic
  • RobotMatic's Avatar
15 Sep 2025 09:57
Replied by RobotMatic on topic 7i76E Spindle configuration

7i76E Spindle configuration

Category: PnCConf Wizard

yes!
  • Aciera
  • Aciera's Avatar
15 Sep 2025 09:21 - 15 Sep 2025 09:22
Replied by Aciera on topic Kinematic model for a 5axis mill with universal (nutating) head

Kinematic model for a 5axis mill with universal (nutating) head

Category: Show Your Stuff

Note that a similar problem can arise when using TCP:
Whenever a pure rotary move (eg G0 A45 C90) is handled by the motion planner it will not expect a displacement in any linear axis. The TCP kinematic however WILL cause linear displacement to compensate the change in tool orientation and this may cause runtime limit violations that lead to an emergency stop.
  • jmp97
  • jmp97
15 Sep 2025 08:35
Replied by jmp97 on topic 5-axis CNC recommendation

5-axis CNC recommendation

Category: General LinuxCNC Questions

Hi

I have performed the latency test. One with nothing running and the other with seven windows playing YouTube videos simultaneously.

I am unsure if this is how the test should be performed or if it is sufficient to determine whether my laptop is compatible with LinuxCNC.

ibb.co/V0twrbVc
ibb.co/vCXQSWt6
  • Aciera
  • Aciera's Avatar
15 Sep 2025 08:27
Replied by Aciera on topic G81 Spindle Reversal Between Each Hole

G81 Spindle Reversal Between Each Hole

Category: General LinuxCNC Questions

As suggested try G83 'Peck drilling':
linuxcnc.org/docs/html/gcode/g-code.html#gcode:g83
  • Aciera
  • Aciera's Avatar
15 Sep 2025 08:06 - 15 Sep 2025 09:11
Replied by Aciera on topic Kinematic model for a 5axis mill with universal (nutating) head

Kinematic model for a 5axis mill with universal (nutating) head

Category: Show Your Stuff

I was able to test this out a bit today and I've figured out it wasn't working because after setting the TWP, the G59 offset made the axis positions outside my soft limits,  I made my soft limits massive and it worked as expected.  If I have G54 zeroed out, then I don't get any values in G59, but my axis position are still outside the soft limits. 


Ah yes, I'm sorry I have not caught onto this before,  this is expected behavior, which is unavoidable since the motion planner lives in cartesian space and assumes that each joint is aligned with its assigned axis which is no longer the case when the work coordinate system is rotated and thus no longer aligns with the machine coordinate system. Joint limits will be respected but are only triggered at runtime (ie when the joint position violates the limit) and will thus trigger an emergency stop.
It is possible to expand the axis limits when switching to TOOL kinematics and change them back to restrictive values when switching back to other modes but you will have to expand axis limit values when using TWP.

I will need to point this out in the README file.
  • Kuzma30
  • Kuzma30
15 Sep 2025 06:24
7i97T -> 7i74 -> two 7i84U (no link) was created by Kuzma30

7i97T -> 7i74 -> two 7i84U (no link)

Category: Driver Boards

I am changing CNC system on milling machine with 3 analog axies drives.
I  planning use such board 7i97T -> 7i74 -> two 7i84U. 
I connected P2 of 7i97T with DB25 7i74, loaded 7i97_7i74D firmware

When I try run linuxcnc I see such log
LINUXCNC - 2.9.4
Machine configuration directory is '/home/cnc/linuxcnc/configs/analog'
Machine configuration file is 'analog.ini'
Starting LinuxCNC...
linuxcnc TPMOD=tpmod HOMEMOD=homemod EMCMOT=motmod
Note: Using POSIX realtime
Found file(REL): ./main.hal
hm2: loading Mesa HostMot2 driver version 0.15
hm2_eth: loading Mesa AnyIO HostMot2 ethernet driver version 0.2
hm2_eth: 192.168.1.121: INFO: Hardware address (MAC): 00:60:1b:17:80:fe
hm2_eth: discovered 7I97T
hm2/hm2_7i97.0: Low Level init 0.15
hm2/hm2_7i97.0: Smart Serial Firmware Version 43
hm2/hm2_7i97.0: 51 I/O Pins used:
hm2/hm2_7i97.0:     IO Pin 000 (TB3-04): PWMGen #0, pin Out0 (PWM or Up) (Output)
hm2/hm2_7i97.0:     IO Pin 001 (TB3-08): PWMGen #1, pin Out0 (PWM or Up) (Output)
hm2/hm2_7i97.0:     IO Pin 002 (TB3-12): PWMGen #2, pin Out0 (PWM or Up) (Output)
hm2/hm2_7i97.0:     IO Pin 003 (TB3-16): PWMGen #3, pin Out0 (PWM or Up) (Output)
hm2/hm2_7i97.0:     IO Pin 004 (TB3-20): PWMGen #4, pin Out0 (PWM or Up) (Output)
hm2/hm2_7i97.0:     IO Pin 005 (AN_ENA4): PWMGen #4, pin Not-Enable (Output)
hm2/hm2_7i97.0:     IO Pin 006 (TB3-24): PWMGen #5, pin Out0 (PWM or Up) (Output)
hm2/hm2_7i97.0:     IO Pin 007 (AN_ENA5): PWMGen #5, pin Not-Enable (Output)
hm2/hm2_7i97.0:     IO Pin 008 (AN-ENA0..3): PWMGen #0, pin Not-Enable (Output)
hm2/hm2_7i97.0:     IO Pin 009 (TB1-01/TB1-09): Muxed Encoder #0, pin Muxed A (Input)
hm2/hm2_7i97.0:     IO Pin 010 (TB1-04/TB1-12): Muxed Encoder #0, pin Muxed B (Input)
hm2/hm2_7i97.0:     IO Pin 011 (TB1-07/TB1-15): Muxed Encoder #0, pin Muxed Index (Input)
hm2/hm2_7i97.0:     IO Pin 012 (TB1-17/TB2-01): Muxed Encoder #1, pin Muxed A (Input)
hm2/hm2_7i97.0:     IO Pin 013 (TB1-20/TB2-04): Muxed Encoder #1, pin Muxed B (Input)
hm2/hm2_7i97.0:     IO Pin 014 (TB1-23/TB2-07): Muxed Encoder #1, pin Muxed Index (Input)
hm2/hm2_7i97.0:     IO Pin 015 (TB2-09/TB2-17): Muxed Encoder #2, pin Muxed A (Input)
hm2/hm2_7i97.0:     IO Pin 016 (TB2-12/TB2-20): Muxed Encoder #2, pin Muxed B (Input)
hm2/hm2_7i97.0:     IO Pin 017 (TB2-15/TB2-23): Muxed Encoder #2, pin Muxed Index (Input)
hm2/hm2_7i97.0:     IO Pin 018 (Internal EncMux): Muxed Encoder Select #0, pin Mux Select 0 (Output)
hm2/hm2_7i97.0:     IO Pin 019 (TB5-13/TB5-14): SSR #0, pin Out-00 (Output)
hm2/hm2_7i97.0:     IO Pin 020 (TB5-15/TB5-16): SSR #0, pin Out-01 (Output)
hm2/hm2_7i97.0:     IO Pin 021 (TB5-17/TB5-18): SSR #0, pin Out-02 (Output)
hm2/hm2_7i97.0:     IO Pin 022 (TB5-19/TB5-20): SSR #0, pin Out-03 (Output)
hm2/hm2_7i97.0:     IO Pin 023 (TB5-21/TB5-22): SSR #0, pin Out-04 (Output)
hm2/hm2_7i97.0:     IO Pin 024 (TB5-23/TB5-24): SSR #0, pin Out-05 (Output)
hm2/hm2_7i97.0:     IO Pin 025 (Internal InMux0): SSR #0, pin AC Ref (internal) (Output)
hm2/hm2_7i97.0:     IO Pin 026 (Internal InMux1): InMux Input Mux #0, pin addr0 (Output)
hm2/hm2_7i97.0:     IO Pin 027 (Internal InMux2): InMux Input Mux #0, pin addr1 (Output)
hm2/hm2_7i97.0:     IO Pin 028 (Internal InMux3): InMux Input Mux #0, pin addr2 (Output)
hm2/hm2_7i97.0:     IO Pin 029 (Internal InMuxData): InMux Input Mux #0, pin addr3 (Output)
hm2/hm2_7i97.0:     IO Pin 030 (TB4-15/TB4-16): InMux Input Mux #0, pin muxdata (Input)
hm2/hm2_7i97.0:     IO Pin 031 (TB4-17/TB4-18): IOPort
hm2/hm2_7i97.0:     IO Pin 032 (TB4-17/TB4-18): IOPort
hm2/hm2_7i97.0:     IO Pin 033 (P1-01/DB25-01): IOPort
hm2/hm2_7i97.0:     IO Pin 034 (P1-02/DB25-14): IOPort
hm2/hm2_7i97.0:     IO Pin 035 (P1-03/DB25-02): IOPort
hm2/hm2_7i97.0:     IO Pin 036 (P1-04/DB25-15): IOPort
hm2/hm2_7i97.0:     IO Pin 037 (P1-05/DB25-03): IOPort
hm2/hm2_7i97.0:     IO Pin 038 (P1-06/DB25-16): IOPort
hm2/hm2_7i97.0:     IO Pin 039 (P1-07/DB25-04): IOPort
hm2/hm2_7i97.0:     IO Pin 040 (P1-08/DB25-17): IOPort
hm2/hm2_7i97.0:     IO Pin 041 (P1-09/DB25-05): IOPort
hm2/hm2_7i97.0:     IO Pin 042 (P1-11/DB25-06): IOPort
hm2/hm2_7i97.0:     IO Pin 043 (P1-13/DB25-07): IOPort
hm2/hm2_7i97.0:     IO Pin 044 (P1-15/DB25-08): IOPort
hm2/hm2_7i97.0:     IO Pin 045 (P1-17/DB25-09): IOPort
hm2/hm2_7i97.0:     IO Pin 046 (P1-19/DB25-10): IOPort
hm2/hm2_7i97.0:     IO Pin 047 (P1-21/DB25-11): IOPort
hm2/hm2_7i97.0:     IO Pin 048 (P1-23/DB25-12): IOPort
hm2/hm2_7i97.0:     IO Pin 049 (P1-25/DB25-13): IOPort
hm2/hm2_7i97.0: registered
Found file(REL): ./io.hal
But in firmware P2 pins configured as SSerial chanells. In log I see that this pins configured as IOPort.
  • Kuzma30
  • Kuzma30
15 Sep 2025 06:09
Replied by Kuzma30 on topic AMSAMOTION IO module

AMSAMOTION IO module

Category: EtherCAT

I add pci-e to lpt controller in PC.
Then linuxcnc was started and I checked in / out ports in Hal monitor.
  • PCW
  • PCW's Avatar
15 Sep 2025 03:16
Replied by PCW on topic Glasmaßstab EIA-422 an Mesa 7i85 (S)

Glasmaßstab EIA-422 an Mesa 7i85 (S)

Category: Deutsch

Not sure what that issue is, the "cannot gain I/O privileges" is not related to index at all
  • PCW
  • PCW's Avatar
15 Sep 2025 01:50 - 15 Sep 2025 01:59
Replied by PCW on topic HAL help needed for MPG wheel jogging and machine enabling logic

HAL help needed for MPG wheel jogging and machine enabling logic

Category: HAL

A very basic bit of hal code for a 7I76E MPG would be:

net mpg-counts  hm2_7i76e.0.7i76.0.0.enc0.count 
net mpg-counts  axis.x.jog-counts
net mpg-counts  axis.y.jog-counts
net mpg-counts  axis.z.jog-counts
net x-jog-enable hm2_7i76e.0.7i76.0.0.input-07 axis.x.jog-enable
net y-jog-enable hm2_7i76e.0.7i76.0.0.input-08 axis.y.jog-enable
net z-jog-enable hm2_7i76e.0.7i76.0.0.input-09 axis.z.jog-enable

loadrt mux4
addf mux4.0 servo thread
net jog-inc0 hm2_7i76e.0.7i76.0.0.input-10  mux4.0.sel0
net jog-inc1 hm2_7i76e.0.7i76.0.0.input-11  mux4.0.sel1
setp mux4.0.in0 0.0001
setp mux4.0.in1 0.0010
setp mux4.0.in2 0.0100
setp mux4.0.in3 0.1000
net jog-scale mux4.0.out
net jog-scale axis.x.jog-scale
net jog-scale axis.y.jog-scale
net jog-scale axis.z.jog-scale

Notes:

This is for axis rather than for joints so will only work after homing
(a minor change is needed to jog before and after homing)

The I/O pins and jog increments are arbitrary

The mux4 select bits are a binary code 00,01,10,11 to select the jog increment.
This can usually be arranged with a wafer switch but can be redone for linear select
or button press to select the increments.

 
  • PCW
  • PCW's Avatar
15 Sep 2025 00:32
Replied by PCW on topic 7i76E Spindle configuration

7i76E Spindle configuration

Category: PnCConf Wizard

There is no PWM involved (at least at the configuration level)

pncconf setup looks like:


 


and:


 
 
  • stirra
  • stirra
15 Sep 2025 00:25
Replied by stirra on topic Problems with Lichuan Ethercat servo drive

Problems with Lichuan Ethercat servo drive

Category: EtherCAT

I'm sorry to be late to publish my codes.
This is my repository for it.

github.com/k-s-saki/LinuxCNC_EtherCAT/tr...in/Lichuan/LC10E-INC
 

Thank you so much @tar_san!  That is very helpful.  Could you also put your .ini and .hal files in your repository?
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