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Sorry for the late response, you were right about it. I did an fresh install in english and now I can configure my card.

Driver manual can be downloaded here: en.bergerda.com/download/31.html

I checked, there is parameter P82 - Input pulse filter frequency, which default value by manual is 800, but need to check tomorrow what number is actually set!

 
 

Thanks a lot for the detailed reply. Really appreciated.

I know that this is not an official LCNC function. I was expecting this to be troublesome, but with your feedback, I might consider leaving it be for the moment.
If I find time I will try to understand ACIERA's setup and try this out.

I might just setup spindle orient function for now. This should be fairly straight forward.

Cheers,
Dave

At update-hz = 1000 the update rate will be limited by the data communication time plus the response time.
(9600 baud is about 1 ms per character so probably something like 100Hz would be the max communication rate
if the I/O device had no delays in responding to commands)
 

try this and recompile

yes this patch works..
the strange is that works very fast with update-hz 1000

Caxis.comp was originally written by Andy Pugh to control a single motor for velocity and positioning mode (spindle & c-axis).  I don't think it was intended to control two separate motors.

It's not part of the mainline LCNC components, nor are there many people using it... so I don't think you're going to find a wealth of info on implementation.  For your situation, there may be better approaches to managing your dual-motor arrangement.

The main hurdle to overcome for any spindle/axis (dual or single motor) is how to manage the axis encoder.  Once you switch from axis to velocity mode the axis will generate a following error when LCNC sees the 'axis' encoder moving away from the commanded position.  So we have to 'trick' LCNC and adjust the encoder value somehow.

• caxis.comp does this by intercepting the encoder output, and then subtracting the encoder change from the encoder starting value before sending that to the axis PID feedback input.
• Another method is to disconnect the encoder output from the axis feedback in spindle mode

The problem with #2 above is that when the encoder is re-connected (switch to axis mode) there is a significant following error instantly present.  The switching scheme @Aciera came up with a while back for his lathe (using a single motor) looks like this:

• Step 0
  • LCNC starts up with main spindle motor disabled
  • Home C-axis before any spindle moves (at start of LCNC session). 
• Step 1
  • Command C-axis to C0
  • Disconnect spindle encoder
  • Enable spindle mode
    • in Aciera's case that means switching his drive from position to velocity mode
    • for a two-motor arrangement that means retracting the axis motor and enabling the main spindle motor via M-codes & digital inputs/outputs
• Step 2 - Run spindle as a spindle
• Step 3
  • Use orient.comp to orient the spindle to 0
  • Disable the spindle motor
  • Enable the axis motor
  • Reconnect the spindle encoder

If everything is adjusted properly (orient offset, C0 actual position, etc.) there should be a very small difference between Orient-0 and Caxis-0, resulting in (hopefully) a small twitch of the spindle at most.

For the past year I've been fiddling with caxis.comp and have recently come to the conclusion that it isn't going to work for me.  There are a couple of annoying things I don't like (can't disconnect the spindle easily to manually rotate the chuck), but the serious problem I found was that spindle synchronized motion wasn't working properly.

Something - and I'm not smart enough to figure out exactly what it was - in the caxis.comp scheme was causing erratic behavior (big motion jumps) during tapping and threading commands.  Once I removed caxis.comp and use the spindle as just a spindle the tapping/threading stuff started working as expected.  So now I'm re-doing a bunch of stuff in my config and will eventually wind up with something very similar to Aciera's arrangement.

So to sum up, I'd suggest abandoing caxis.comp for your dual-motor lathe and search for Aciera's config.  I know he posted his files in the past year or so, although I think he's been working on a glitch with the encoder disconnect function recently.

Looks like the drive is not responding to shorter step pulses (no motion at all)

Is is possible there is a digital filter in the drive so it rejects shorter than 1000 ns step pulses?

learning every day. Thanks again

Hi i have install Debian 12 uspace , with linuxcnc 2.9.4 , image the linuxcnc.org.

I have executed :
git clone --recurse-submodules codeberg.org/skynet/linuxcnc_scurve_compact lcnc
cd lcnc/cmake
./installer

have error in terminal:
/usr/include/ceres/internal/fixed_array.h:33:10: fatal error: Eigen/Core: No such file or directory
33 | #include <Eigen/Core> // For Eigen::aligned_allocator

and


/usr/include/ceres/internal/fixed_array.h:33:10: fatal error: Eigen/Core: No such file or directory
33 | #include <Eigen/Core> // For Eigen::aligned_allocator
| ^~~~~~~~~~~~


If add in tray the file ini :
TPMOD = tpmod_scurve

and start sim/axis_9axis_mm.ini have error :

LINUXCNC - 2.10.0~pre0
Machine configuration directory is '/home/fast/lcnc/configs/sim/axis'
Machine configuration file is 'axis_9axis_mm.ini'
Starting LinuxCNC...
linuxcncsvr (23070) emcsvr: machine 'LinuxCNC-sim-9axis'  version '1.1'
linuxcnc TPMOD=tpmod_scurve HOMEMOD=homemod EMCMOT=motmod unlock_joints_mask=0x10
Note: Using POSIX realtime
tpmod_scurve: dlopen: /home/fast/lcnc/rtlib/tpmod_scurve.so: cannot open shared object file: No such file or directory
<commandline>:0: waitpid failed /home/fast/lcnc/bin/rtapi_app tpmod_scurve
<commandline>:0: /home/fast/lcnc/bin/rtapi_app exited without becoming ready
<commandline>:0: insmod for tpmod_scurve failed, returned -1
Note: Using POSIX realtime
milltask (23085) task: machine 'LinuxCNC-sim-9axis'  version '1.1'
halui (23087) halui: machine 'LinuxCNC-sim-9axis'  version '1.1'
Found file(LIB): /home/fast/lcnc/lib/hallib/basic_sim.tcl
setup_kins: cmd=loadrt trivkins
motmod: dlopen: /home/fast/lcnc/rtlib/motmod.so: undefined symbol: tpRunCycle


core_sim:unhandled emcmot<{motmod unlock_joints_mask=0x10}>
         modname=motmod
         modparm=unlock_joints_mask=0x10
     msg=waitpid failed /home/fast/lcnc/bin/rtapi_app motmod
/home/fast/lcnc/bin/rtapi_app exited without becoming ready
insmod for motmod failed, returned -1

Shutting down and cleaning up LinuxCNC...
USRMOT: ERROR: command 30 timeout
emcMotionInit: emcTrajInit failed
Note: Using POSIX realtime



 

Thank you!

You are actually the one who made me think about touching a machine with a dead controller

You made a really nice job of that.

Scope reading with 1000 nanoseconds:
 

And with 900 nanoseconds and increased following error:
 

On a LinuxCNC 2.9.4 installation I find 'change.ngc' in '/usr/share/linuxcnc/ncfiles/remap-subroutines', so I am pretty sure everything in "nc_files/remap-subroutines" is copied there during the installation of LinuxCNC.

So we only need to move 'change_g43.ngc' from "configs/sim/gmoccapy/macros/" to "nc_files/remap-subroutines" and maybe adjust the path in the sample config(s).

 

Hello everyone,

I completed the work on my milling machine and have made a video showcasing it. At the moment it´s only available in german but I already recorded an english audio track so as soon as I figure out how to add this you will also be able to watch this in english.



Once again big thank you to everyone here who made this possible, I couldnt have done it without you!!