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Try using the sendkeys component linuxcnc.org/docs/html/man/man1/sendkeys.1.html

no problem .. you are welcome, I am proud to cooperate/test this feature for linuxcnc comunity... as you noticed, I am not soo focused in the perfect trajectory but mainly at timing stability... sometimes it's like chasing your own tail

its interesting job and I see many advantages ... I am using TP0 for lathe threading/synchronization of motion for now, but we will wait for new stuff I am looking forward ...

yes I saw but Yang Yang publish new crucking repo few days ago but I have not time to study it ...

Luca which will be the next steps now ?

that dark blue spline at the bottom is the servo-thread.time, in the 100k resolution, which are sharply jumping at start of cloud of points as ... I am not pretty sure how the TP1 works to from the start but other files starting well without that spiking... is it possible to precalculated it or add some waiting to start the motion to smooth the beginning timing? 

How much influence latency of using Mate instead of Xfce gui ?
 

After adding downi915.enable_dc=0 i915.enable_fbc=0 i915.enable_psr=0 to grub, and creating another thread for all non-motion related stuff I got servo-thread time down to ~400000 and tmax 1351609 (did not increase after startup). Not realtime delay errors so far.

Also tried again with [HMOT](CARD0).read-request in the end of servo-thread just for fun. It definitely shortens read.time, servo-thread time drops to around 50000, but something breaks and i get following error spikes in every 75ms (pyvcp refresh rate). I would be interested to know why, any speculations welcome.

But most importantly it seems to be working now. Thanks for help rodw and PCW.

one advantage of using switchable kinematics is that all joints can be homed normally on startup.

I'm currently running 2.9.4. BTW- the error always occurs at line 38, G0 Z0.

ihavenofish wrote:

andrax wrote:

Er, no. It’s not that simple; LinuxCNC isn’t plug-and-play. If you don’t have any prior knowledge, you should put the A6 aside for now and start with simple stepper motors. You’ll first need to learn how the system works and what each component does. With EtherCAT, you’re moving beyond the hobbyist level, and even professionals sometimes find it frustrating.

I only broke 4 mice from throwing them in anger... its fiiiinnnee.

In seriousness though, I find its less about beginner vs expert in CNC stuff, and more about if you are well versed in linux usage. Most of my troubles setting up were because the instructions just assume you know everything about linux already and leave a lot of critical details out. I am working with one of my customers to trying an make a true step by step guide.

If you do know "nothing", step and direction with a mesa card is generally pretty safe cause its mostly done by a wizard. You aren't mucking in the terminal or doing much editing in HAL.

(also important to note ethercat in linuxcnc has some quirks too, its not quite "final" in my opinion)

This sounds familiar to me.
I just ended up tearing the whole setup apart in frustration every time and starting over from scratch.

@Spezidrone, this isn’t meant to be a criticism. But it really is an advantage to build a test system with steppers first. That’s the best way to get to know the system and all its configurations.
Etercat sounds simple. Plug the LAN cable into the servo and it’s plug-and-play. If only it were that easy...
If you really want to go through with this, we’d be happy to help, of course.
Welcome to the world of jitter, EMC, XML errors, Hall errors, jumps, and dmesg error logs.
 

for a simple example of how to use switchable kinematics see:
configs/sim/axis/vismach/millturn

which uses this custom kinematics component:
github.com/LinuxCNC/linuxcnc/blob/master...onents/millturn.comp

for your use case it would look even simpler.

Forward mapping:
and the inverse:
Limit and acc/vel values can be switched as well (this is also shown in the millturn sim)

Axis UI => Machine menu => Show LinuxCNC Status => settings


or from linuxcnc.stat attributes
linuxcnc.org/docs/stable/html/config/pyt...ding_linuxcnc_status

settings
    (returns tuple of floats) - current interpreter settings. settings[0] = sequence number, settings[1] = feed rate, settings[2] = speed, settings[3] = G64 P blend tolerance, settings[4] = G64 Q naive CAM tolerance.

 

lcec.0.n.pos-scale
Set it to how much the encoder increases when moving the axis one mm.
setp lcec.0.2.pos-scale 500
for example, or maybe you have one of those with crazy big numbers. Same anyway.
Read encoder value from lcec.0.2.actual-position (before any scaling)

Where are you seeing that? I don't recall seeing the blending tolerance displayed anywhere, though I suspect I'm just being blind.

That answer works well enough for my purposes- regardless of whether that means "always uses mm" or "always uses machine units".

I guess Y-axis turning/parting wasn't really a thing in the early days of LCNC.

Pausing and axis (disconnect feedback) works fine, especially since the X-axis won't move during the swap.  Your C-axis encoder disconnect component is a perfect example of this.

But I don't see how to 'write' a new/different position for an axis after it's homed.  Unless there's some sort of math going on backstage that takes the current V-axis position and adds/subtracts/whatever from the X-axis.  Switching the stepgen is, as you've shown, pretty straight-forward.

My particular config may be slightly easier to dea with, at least for testing since the X-axis machine zero corresponds with the subspindle in-line with the main spindle.  G53 X0 is where the X-axis will need to stay during the axis swap.

Any idea what a switchable kinematics axis swap thing looks like?

I can see the number changing on the DRO when i turn the shaft of the motor, i guess there is some setting missing on the pitch/turns per mm ?

I did that, but it didn't work. Then remebered i am in mm. And i changed axis.ini and not axis_mm.ini. Commented out everything except the cia halfile in the mm file, and it worked. I can now drive the servo from the gui. But i get an immediate following error on the joint.

Tem que colocar abaixo do link do código mais essas linhas:

net tool-prepare iocontrol.0.tool-prepare iocontrol.0.tool-prepared

It's because it is loaded twice, and once it is from coresim.hal
you will see loadrt [KINS]KINEMATICS or loadrt trivkins or something similar in your hal, that conflicts with the same thing that is written in coresim,hal you can only load kinematics once
and you cannot modify that, it's in the libraries, you can remove the
HALFILE = core_sim.hal
from your ini file
Or as I advised before start from a pncconf configuration, that is more local, and it is easier to understand, as you change settings in pncconf and you see the hal changing, it is more intuitive, just take it easy, it is a steep learning curve.