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Thanks @Aciera
Finally got it working. Added Home Offset and Home Values to Joint_1 since it was not aligned as in documents and I cant give my arm that postion due to its hardware limits. So Accordingly defined Home and HomeOffset. and Small offset to J2 so that I remain horizontal. And minor offsets to J4. and Assiged Home location of J4 so that it remains vertical.
Thanks a lot.
Yes as @Aciera mentioned DH parameters are good.

125000 bits/sec. All LDCN network comms must start at 19200, then get upgraded.

One sets a servo update rate multiplier (e.g. 20x) so the 51.2 µs becomes only the control loop update time, but the commanded position is updated every 1.024 ms. Yes, correct - at 51 µs, the bandwidth would be insufficient.

If interested, I developed HAL components to initialize the LDCN, enumerate the devices, and expose pins to LinuxCNC. Like any software project, it needs experienced eyes to pick apart the architecture.

github.com/ndemarco/linuxcnc-logosol

I am also trying to use servo from inovance, but I get an error from the configuration of the file where there are some unreadable pins. May I see how your file is configured or maybe there is a reference source that I can use. hope you still open this topic, thanks

@hanz24, Appologies, your profile got thrown out by accident. Feel free to reregister using your previous login data.

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