Advanced Search

Hi Endian, I don't have anything for LCNC but I think I have some probing routines in a TwinCAT project and I can see if there is anything helpful in there.

I also posted an issue to your codeberg page for your converter for the EL3074.

I went back and carefully made the mods again, in case I missed something, but it still reports errors. Through a great deal of trial and error, I found that some of the configurations marked for removal must remain in the XML file for the program to run without error. Deleting any of the 0x60xx vars below cause many errors. Regardless, even with all the other mods in place, it's still stuck at "PrOp."

      <slave idx="0" type="generic" vid="00000a88" pid="0A880002" configPdos="true">
         <dcConf assignActivate="300" sync0Cycle="*1" sync0Shift="0" />
         <sdoConfig idx="60FE" subIdx="2"> <!-- -->
            <sdoDataRaw data="00 00 03 00" /> <!-- set the bit mask for out1 and out2 (bit 16 and 17 should be 1) -->
         </sdoConfig>
         <!-- Note: 0x2007 address default value is 0x00000006, not what the manual claims -->     
         <syncManager idx="2" dir="out">
            <pdo idx="1600">
               <pdoEntry idx="60FE" subIdx="1" bitLen="32" halPin="set60FE-1" halType="u32" />
               <pdoEntry idx="6040" subIdx="00" bitLen="16" halPin="cia-controlword" halType="u32" />
               <pdoEntry idx="6060" subIdx="00" bitLen="8" halPin="opmode" halType="s32" />
               <pdoEntry idx="607A" subIdx="00" bitLen="32" halPin="target-position" halType="s32" />
           </pdo>
         </syncManager>
         <syncManager idx="3" dir="in">
            <pdo idx="1a00">
               <pdoEntry idx="6041" subIdx="00" bitLen="16" halPin="cia-statusword" halType="u32" />
               <pdoEntry idx="6061" subIdx="00" bitLen="8" halPin="opmode-display" halType="s32" />
               <pdoEntry idx="6064" subIdx="00" bitLen="32" halPin="actual-position" halType="s32" />
               <pdoEntry idx="60FD" subIdx="00" bitLen="32" halPin="digital-inputs" halType="u32" />
            </pdo>
         </syncManager>
      </slave>
 

Hi everyone,
I’m working on a Yaskawa CACR-SR (BE1 series) servo drive. In general it works, but from time to time I randomly get A20 or A60 errors.

I have two identical drives, and I’ve already narrowed the issue down to the specific board shown in the photo. I was planning to replace all the electrolytic capacitors and also the film ones (I’ll probably do that anyway, given their age), but I also noticed component D20, which looks burned/blackened and has no readable marking.

I’m not an electronics engineer, but I’m quite good at soldering and I have a multimeter, so I can take measurements if needed. I’d really like to repair this drive because I have a milling machine that I only use as a hobby, and I simply can’t afford a new servo drive since I’m still young.

Could someone please help me identify exactly what D20 is (diode type and value), or point me to other likely components that could be causing these errors?

I wrote on this forum because I saw that in another topic an engineer had the same problem as me, but since it is an old topic I thought it was better to open a new one

Thanks a lot in advance for any help!
       

I am having trouble interpreting this thread, but it seems to have similar debug info to my problem:
forum.linuxcnc.org/ethercat/51505-new-hardware-trouble?start=0
Could my problem be EoE related?

I followed your suggestions and am running into the following errors:

Machine configuration directory is '/home/kurt/linuxcnc/configs/BaxEDM-2axis-WireEDM'
Machine configuration file is '2axis-WireEDM.ini'
INIFILE=/home/kurt/linuxcnc/configs/BaxEDM-2axis-WireEDM/2axis-WireEDM.ini
VERSION=1.1
check_config: Unchecked: [KINS]KINEMATICS=baxkins
PARAMETER_FILE=baxedm_mm.var
TPMOD=
HOMEMOD=
TASK=milltask
HALUI=halui
DISPLAY=axis
COORDINATES=XYZ
KINEMATICS=baxkins
Starting LinuxCNC...
Starting LinuxCNC server program: linuxcncsvr
Loading Real Time OS, RTAPI, and HAL_LIB modules
Starting LinuxCNC IO program: io
libnml/buffer/shmem.cc 320: Shared memory buffers toolCmd and toolCmd may conflict. (key=1004(0x3EC))
libnml/buffer/shmem.cc 320: Shared memory buffers toolSts and toolSts may conflict. (key=1005(0x3ED))
libnml/buffer/shmem.cc 320: Shared memory buffers emcError and emcError may conflict. (key=1003(0x3EB))
emc/iotask/ioControl.cc 786: can't load tool table.
Starting HAL User Interface program: halui
linuxcnc TPMOD=tpmod HOMEMOD=homemod EMCMOT=motmod
Found file(REL): ./2axis-WireEDM.hal
Shutting down and cleaning up LinuxCNC...
*** baxkins.comp setup ok
Removing HAL_LIB, RTAPI, and Real Time OS modules
Removing NML shared memory segments

Debug file information:
Note: Using POSIX realtime
./2axis-WireEDM.hal:51: Pin 'lcec.0.0.actual-velocity' does not exist
5318
Stopping realtime threads
Unloading hal components
Traceback (most recent call last):
  File "/home/kurt/linuxcnc/configs/BaxEDM-2axis-WireEDM/baxuipushbuttons.py", line 168, in <module>
Traceback (most recent call last):
  File "/home/kurt/linuxcnc/configs/BaxEDM-2axis-WireEDM/baxmisc.py", line 462, in <module>
    while True:
KeyboardInterrupt
    time.sleep(0.01)
KeyboardInterrupt
baxkinsdata: not loaded
<commandline>:0: exit value: 255
<commandline>:0: rmmod failed, returned -1
<commandline>:0: unloadrt failed
Note: Using POSIX realtime

This is the entirety of the linuxcnc command info
When I type "lcec_config" into the command line I get command not found.

Changing dcConf didn't seem to change anything...

Is there a guide on the linuxcnc forums to setting up Twincat with LinuxCNC? I can't find out, but I could try to figure it out without one.

how is your project coming along?

were you able to get this resolved?

happy to help and glad you got it sorted out!

Hi there, So i have done the same conversion on my 700c, I replaced all the scales except the B axis seeing that it's a Heidenheime scale. Any change you perhaps still have the HAL file. the Software side has stumped me and I am not sure how to start or setup the scales etc.
Delos W series scales used
5i25T
7i77 for the scale inputs and the 3trm2 and B axis
7i84 for the 24V relays and inputs

This isn't an answer to your question, but have you tried hal_gpio on the Odroid?

I was actually wondering the same thing about the serial port las month:

sourceforge.net/p/emc/mailman/emc-develo...arg.org/#msg59226340

Maybe a realtime modbus driver through the onboard serial port could work, for example.

If you can drive the serial port by sending bytes with outb() / inb() it might work, though you would end up having to re-invent the drivers as non-blocking code.

Thank you very much! Though I don't know Linux or XML, I'm familiar with other languages so feel assured that I can get myself in way over my head! First thing I'll do is save off a backup, then give your suggestion a go.
Thanks again.

The issue with sudo and the command line is that the redirect (>) is done by the shell
and the shell is just running with your normal user permissions.

sudo -c bash 'echo 2 > /proc/irq/29/smp-affinity'

should work (as will a simplified 1 line script)

PCW - you were right.  Your script does in fact work nicely:

john@Taig:~/temp$ sudo ./pinirq_2025-09-25-2.txt enp1s0
Cores: 2
Old CPU Mask: 3
Set device enp1s0 IRQ 29 CPU mask to 2

I'm staggered and confused.  As I see it, the script simply does a bit of work to find the irq number for the specified device and then executes (in this case) "echo 2 > /proc/irq/29/smp_affinity".  How can this possibly work from a script when exactly the same command is rejected when entered directly?  Sudo must indeed be strange.  When I get a moment I'll try a one line script containing just the one command.  Presumably it will work.????  At least I now understand the irq folder.  I had failed to consider the possibility that it was present but hidden.

Pinning the interrupt dramatically changes the ping test results for the better:

--- 10.10.10.10 ping statistics ---
60000 packets transmitted, 60000 received, 0% packet loss, time 60084ms
rtt min/avg/max/mdev = 0.074/0.080/0.212/0.007 ms
john@Taig:~/temp$ sudo chrt 99 ping -i.001 -q -c 60000 10.10.10.10
PING 10.10.10.10 (10.10.10.10) 56(84) bytes of data.

--- 10.10.10.10 ping statistics ---
60000 packets transmitted, 60000 received, 0% packet loss, time 60101ms
rtt min/avg/max/mdev = 0.073/0.081/0.212/0.007 ms
john@Taig:~/temp$ sudo chrt 99 ping -i.001 -q -c 60000 10.10.10.10
PING 10.10.10.10 (10.10.10.10) 56(84) bytes of data.

--- 10.10.10.10 ping statistics ---
60000 packets transmitted, 60000 received, 0% packet loss, time 60084ms
rtt min/avg/max/mdev = 0.074/0.080/0.211/0.007 ms

With all round trips taking well under a millisecond, the fact that the total times for the tests are all > 60000ms is presumably due to delays in scheduling each ping.  In any case I now feel a LOT more confident that the erhernet communications are adequate for Linux CNC.

rodw:

I've looked into EEE, but unfortunately my ethtool appears to be an empty shell that doesn't actually support  any operations of interest:

john@Taig:~$ sudo ethtool --show-eee enp1s0
netlink error: Operation not supported
john@Taig:~$ sudo ethtool --set-eee enp1s0 eee off
netlink error: Operation not supported
john@Taig:~$ sudo ethtool --show-coalesce enp1s0 
netlink error: Operation not supported

Any ideas?  is there an alternate tool?  Can I somehow get a better version of ethtool?  Is it possible that my hardware is so ancient that the chips don't support EEE in any case?

Re compiling my own version of the kernel, both of you greatly overestimate my ability to handle such a task.  Basically I'm a newcomer to Linux and am still groping my way around.  Just getting from Buster to Bookworm was a monumental effort for me.  Given my limited abilities, I think that a better approach would be to simply install the Linux CNC 2.9.4 Bookworm ISO.  I presume that those maintaining Linux CNC know what they're doing, and that the kernel included in this release has been appropriately optimized.

 

1. yes
2. yes