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Its been some months since I started this quest, and only a week or so ago, I managed to get a reliable spindle orientation system working.
This was only achieved by working with that bright but sometimes impossibly childlike system, Co-Pilot.
Just about the same time I started looking at this, the 1983 parajust spindle vfd  became unmendable, so I adopted a Yakagawa vfd and although it ran to me normally, I hadn't appreciated a few finer points, like what is the minimum rpm figure and what happens if the input stage receives a negative voltage indicating reverse, when the machine is setup to have a reversing relay.
So the basic premis is that the spindle, which is to all intentes direct driven as the motor is connected by a 1:1 HPD belt, has on it a 48 tooth wheel passing two hall effects sensors suitably spaced to output a quadrature signal. There is a separate single tooth index on the other edge of the pulley.  The version of Linuxcnc is 2.9.3 and on a Raspberry PI (5) platform. The latter fact caused a lot of confusion as there are some subtle timing issues wrt to index pulses. Once overcome, the trying to use the Orient command failed as the orient window ends up being 22° wide, and maybe because the motion controller expects an encoder with over a thousand counts per rev, not 192. Anyway, means I cannot use Orient.
Neither could I use M19, and I could not find any pin that would light up when M19 called, so have adopted M119 as a custom command. (There is also an M109 to cancel M119, but not used as the M119 contains the shut down itself down after a wait.) M19 cannot be remapped as its too deep in the motion control, I believe.

The vfd can be set to run right down to less than 20rpm and the machine's spindle brake is hard wired into the vfd enable signal, so the only viable method I have found is to set the index enable, run the spindle until the index enable pin goes low, and disable the vfd and apply the brake.
You'll see from the attached hal file that this simple statement led to a complex solution.

The Normal spindle commands M3 and M4 on this machine do not require a spindle PID. The vfd on its own without any feedback runs the spindle stably and consistently, so is not implemented. Because I have a reversing relay, the vfd speed signal needs to be abs, so not to go negative. Also before I set out on this orientation quest, rigid tapping via M33.1 worked, so that encoder feedback requires being maintained.

This may not be elegant, but it does work for me, where none of the other methods, and I try try too many of them, didn't suit my hardware.

The actual code here was written by Co-Pilot and my relationship with 'him' has been interesting Just because he gets the syntax right once, don't be surprised when  some iterations later, 'he' 'forgets' and has to be reminded. At times it has been extraordinarily frustating, but the way I see it is that he has read the whole forum, github releases and a lot more, so can guess at solutions, but won't know if something that was put forward actually worked, so if you engage in this kind of torture, you have to go back with facts, and he will rewrite, over and over..

One thing left over to solve is that when running at 3000 rpm say, and calling for a tool change, the spindle enable signal disappears and the spindle brake applies instantly, and to my mind its uneccessarily violent. I asked Co-Pilot to write me a soft stop that instead of simply cutting the enable signal, reduces the speed to 450 rpm speed, so the spindle is braked internally via the vfd and braking resisitor to a much slower speed before applying the brake. This is written, but not yet tested.

 

Cześć wszystkim,

mam problem z moim przewodowym wisiorkiem XHC WHB04B-4. Kiedy próbuję przesunąć topory za pomocą koła ręcznego, ruch wcale nie jest płynny — zacina się, zacinają się i poruszają w szarpany/drżący sposób.

Co ważne, zauważalne jest opóźnienie, gdy przestaję kręcić kierownicą. Oś porusza się jeszcze przez krótką chwilę po tym, jak już przestałem kręcić kołem, jakby impulsy były buforowane.

Wcześniej miałem dokładnie tę samą frezarkę działającą na LinuxCNC 2.7.14 i wisiorka działała idealnie płynnie bez żadnych problemów. Problem pojawił się po aktualizacji systemu do wersji 2.9.8.

Sama maszyna działa bez zarzutu i płynnie podczas wykonywania programów G-code lub biegania przez interfejs graficzny. Problem pojawia się tylko przy użyciu kierownicy MPG.

Oto szczegóły mojej konfiguracji:
- LinuxCNC wersja 2.9.8 (zaktualizowana z 2.7.14)
- Kontroler ruchu: Mesa 7i92
- Płytka rozdzielcza (breakout): SSK-MB2
- Sterowniki: ZDM-2HA865 (sterownik zamkniętej pętli)
- Silniki: NEMA 34 Zamknięte pętle silników krokowych (5Nm, 6A)
- Typ maszyny: 3-osiowa frezarka CNC
- Połączenie: przewodowe połączenie USB bezpośrednio z komputerem

Podejrzewam, że to konflikt z halui.mode.teleop lub błędnie skonfigurowane ustawienia trybu prędkości/pozycji w moim niestandardowym pliku WHB04B HAL z powodu zmian architektonicznych 2.7–2.9, ale nie jestem pewien, jak to rozwiązać w moim zestawie Mesa.

Dołączam pliki .ini i .hal (w tym niestandardową konfigurację komponentu HAL xhc-whb04b).

Czy ktoś mógłby mnie pokierować, jak zacząć płynnie biegać? Z góry dziękuję za pomoc!
 
In linuxcnc version 2.7.14 I had the milling machine only on the SSK-MB2 board

Im fairly new to linux cnc, trying to do a clean install in a mini pc of the 2.9.8 iso but im encoutering these errors when trying to install ethercat the way this thread discribes, can someone help?


Failed command:
./configure --enable-sii-assign --disable-rt-syslog --disable-tool --disable-userlib --enable-generic --enable-ccat --disable-tty --with-linux-dir=/lib/modules/6.12.86+deb13-rt-amd64/build --enable-e1000 --enable-igb --disable-igbvf --disable-ixgbevf --enable-igc --enable-e1000e --enable-8139too --enable-e100 --enable-r8169 --disable-stmmac-pci --enable-dwmac-intel --disable-genet && make modules

Error! Bad return status for module build on kernel: 6.12.86+deb13-rt-amd64 (x86_64)
Consult /var/lib/dkms/ethercat-dkms/1.6.9/build/make.log for more information.
dpkg: error processing package ethercat-dkms (--configure):
 installed ethercat-dkms package post-installation script subprocess returned error exit status 10
Setting up libltdl-dev:amd64 (2.5.4-4) ...
dpkg: dependency problems prevent configuration of ethercat-master:
 ethercat-master depends on ethercat-dkms; however:
  Package ethercat-dkms is not configured yet.

dpkg: error processing package ethercat-master (--configure):
 dependency problems - leaving unconfigured
dpkg: dependency problems prevent configuration of linuxcnc-ethercat:
 linuxcnc-ethercat depends on etherlabmaster | ethercat-master; however:
  Package etherlabmaster is not installed.
  Package ethercat-master is not configured yet.

dpkg: error processing package linuxcnc-ethercat (--configure):
 dependency problems - leaving unconfigured
Processing triggers for man-db (2.13.1-1) ...
Processing triggers for libc-bin (2.41-12+deb13u3) ...
Errors were encountered while processing:
 ethercat-dkms
 ethercat-master
 linuxcnc-ethercat
E: Sub-process /usr/bin/dpkg returned an error code (1)

This happens on my system rarely too, and i can solve it that way:

forum.linuxcnc.org/38-general-linuxcnc-q...-after-reboot#314789

You could try deleting the igH.sources (name might be a  bit wrong) from /etc/apt/sources.list.d

And follow this process which I have tested with 2.98 in the last week or so.
github.com/linuxcnc-ethercat/apt

This is going to become the official repository and Ethercat version to use for linuxcnc

I was clicking more or less randomly. Found an option (which I cannot find again) to choose in a session manager what saved session to start during login.

I deleted that session and now it works again.

I still would be interested to learn what I might have done wrong in the first place.

in the [HAL] section of your ini file add these lines to load the 'xyzac-trt-gui' vismach model and connect the necessary signals, you need to adjust the y and z offset values in the last two lines to match your machine (note that this vismach model assumes that the machine reference point or home position is in the center of the c rotary table):

Hallo Tommy,

vielen Dank, werde ich heute ausprobieren..

karlhe

 
The menue bar in the upper screen is missing and the blue menue of the Axis GUI is missing. And I do not know why. 

The next screen shot is from the other machine and that is what the first machine looked like a few days back. 
 
 

Hello, 
I know the following will be somewhat unspecific, but maybe someone has a simple explanation based on my attempt. "Did you try to switch it offandonagain?" Yes already. The machine also seems to move normal, but the Linux desktop cannot be operated normal. 

I left the machine on and coming to the workshop today I could not see the Axis window anymore. 
The complete desktop behaves strange. 

After re-start and unplugging the screen I could start Axis Gui. I cannot move the axis window or re-size it. 
Something is odd it seems. 
Either something is really damaged on the installation or I have accidently changed some setting that I am not aware of. 

Also usually there was a bunch of software things visible and that seems to be missing. 

 

with the latest linuxcnc 2.9.8 ISO-install on a Lenovo M720Q I get compile errors. Any ideas?

more /var/lib/dkms/ethercat-dkms/1.6.9/build/make.log

  CC [M]  /var/lib/dkms/ethercat-dkms/1.6.9/build/devices/stmmac/dwmac-intel-6.12-ethercat.o
/var/lib/dkms/ethercat-dkms/1.6.9/build/devices/stmmac/dwmac-intel-6.12-ethercat.c: In function ‘intel_mgbe_common_data’:
/var/lib/dkms/ethercat-dkms/1.6.9/build/devices/stmmac/dwmac-intel-6.12-ethercat.c:615:15: error: ‘struct plat_stmmacenet_data’ has no member named ‘msi_lpi_vec’; did you mean ‘msi_mac_vec’?
  615 |         plat->msi_lpi_vec = 28;
      |               ^~~~~~~~~~~
      |               msi_mac_vec
/var/lib/dkms/ethercat-dkms/1.6.9/build/devices/stmmac/dwmac-intel-6.12-ethercat.c: In function ‘stmmac_config_multi_msi’:
/var/lib/dkms/ethercat-dkms/1.6.9/build/devices/stmmac/dwmac-intel-6.12-ethercat.c:1001:19: error: ‘struct plat_stmmacenet_data’ has no member named ‘msi_lpi_vec’; did you mean ‘msi_mac_vec’?
 1001 |         if (plat->msi_lpi_vec < STMMAC_MSI_VEC_MAX)
      |                   ^~~~~~~~~~~
      |                   msi_mac_vec
/var/lib/dkms/ethercat-dkms/1.6.9/build/devices/stmmac/dwmac-intel-6.12-ethercat.c:1002:59: error: ‘struct plat_stmmacenet_data’ has no member named ‘msi_lpi_vec’; did you mean ‘msi_mac_vec’?
 1002 |                 res->lpi_irq = pci_irq_vector(pdev, plat->msi_lpi_vec);
      |                                                           ^~~~~~~~~~~
      |                                                           msi_mac_vec
/var/lib/dkms/ethercat-dkms/1.6.9/build/devices/stmmac/dwmac-intel-6.12-ethercat.c: In function ‘intel_eth_pci_probe’:
/var/lib/dkms/ethercat-dkms/1.6.9/build/devices/stmmac/dwmac-intel-6.12-ethercat.c:1084:15: error: ‘struct plat_stmmacenet_data’ has no member named ‘msi_lpi_vec’; did you mean ‘msi_mac_vec’?
 1084 |         plat->msi_lpi_vec = STMMAC_MSI_VEC_MAX;
      |               ^~~~~~~~~~~
      |               msi_mac_vec
make[5]: *** [/usr/src/linux-headers-6.12.86+deb13-common-rt/scripts/Makefile.build:234: /var/lib/dkms/ethercat-dkms/1.6.9/build/devices/stmmac/dwmac-intel-6.12-ethercat.o] Error 1
make[4]: *** [/usr/src/linux-headers-6.12.86+deb13-common-rt/scripts/Makefile.build:471: /var/lib/dkms/ethercat-dkms/1.6.9/build/devices/stmmac] Error 2
make[3]: *** [/usr/src/linux-headers-6.12.86+deb13-common-rt/scripts/Makefile.build:471: /var/lib/dkms/ethercat-dkms/1.6.9/build/devices] Error 2
make[2]: *** [/usr/src/linux-headers-6.12.86+deb13-common-rt/Makefile:1981: /var/lib/dkms/ethercat-dkms/1.6.9/build] Error 2
make[1]: *** [/usr/src/linux-headers-6.12.86+deb13-common-rt/Makefile:236: __sub-make] Error 2
make[1]: Leaving directory '/usr/src/linux-headers-6.12.86+deb13-rt-amd64'
make: *** [Makefile:963: modules] Error 2

# exit code: 2
# elapsed time: 00:03:42 

since the linuxCNC is not part of the process, its input pins cannot be part of it either, and just wanted to confirm that.

I'm inferring that the HAL file has the home switches connected to both LCNC and the drives' digital input:

net X-home-sw            <= lcec.0.10.din-4      #physical digital input on Beckhoff EL1018?
net X-home-sw            => joint.0.home-sw-in   #LCNC joint home switch pin (motion.comp)
net X-home-sw            => lcec.0.5.dout-0      #physical digital output on Beckhoff EL2008?

@Andrax has not mentioned any drive connections explicitly, but the only reason I can imagine sending the home switch signal to a physical output is to signal the drive.  Unless I'm mistaken, a drive's digital input is the only way a drive 'knows' when the home switch is triggered.

Which begs the question - why is the home switch also connected to LCNC joint.N.home-sw-in?

Maybe to do LCNC homing first, then move on to cia402 (internal) homing, and finally absolute encoder homing?

andrax wrote:

Hi,

It's important to always read the manufacturer's documentation.
Check page 27

I had seen that already, but that seemed more like "hey, you can use these pins and not have to buy separate inputs for homing" rather than "you NEED to use these for cia402 homing to work". What made it click was the readme on CIA402_home_comp explaining how you basically need to tell linuxCNC not to panic when it sees the drive moving without it asking and i figured since the linuxCNC is not part of the process, its input pins cannot be part of it either, and just wanted to confirm that. I ordered the db15 connections to solder and they should arrive tomorrow, my plan is to join the drive's internal supplies' grounds to my common ground and just wire the signal wire in there.

Noe I have working 5Axis Ini and hal with mesa card and would configure for sim.axis.vismach.5axis.table-rotary-tilting.....
.thank you
 

See mouse cursor.