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Please correct me if I'm wrong.

I installed LinuxCNC using official image 2.9.4
&
sudo apt install linuxcnc-ethercat

sudo systemctl stop ethercat
sudo systemctl disable ethercat

and I executed the procedures below in home/etherlab directory

git clone gitlab.com/etherlab.org/ethercat

cd ethercat
./bootstrap
./configure --sysconfdir=/etc --disable-eoe=true

I got error message >> error :invalid feature name "eoe=true"
so what I did is ..

./configure --sysconfdir=/etc --disable-eoe

make all modules

Then I followed ---- INSTALL.md (gitlab.com/etherlab.org/ethercat/-/blob/stable-1.6/INSTALL.md)

su make modules_install install

I got error message >> su: user ake does not exist or the user entry does not contain all the required fields.

what should I do ?

I probably do need to go through all my grounding. However, everything functions properly if I run the program with the VFD turned off. So I don't think there is interference coming from the stuff right by the breakout board. But I have the VFD in a faraday cage, and the spindle cable shielding is grounded at both ends. What more can I do to contain the interference? Or do I need a faraday cage around the breakout board?

Do the 220v lines going from the breaker box to the VFD also emit interference?

PCW wrote:

If the encoder counts, its unlikely the index would be missed as the hardware
index processing uses the same digital filter as the A and B signals.
 

Thanks for the nudge in the right direction. I took another look at things and discovered my mistake: I was incorrectly watching for index-enable to go high on index. I went and manually set it high and sure enough, on index, it cleared. Problem solved.

tommylight wrote:

NWE wrote:

Most hard stop home systems I've seen, used steppers.
 

Yes, and not reliable at all, and only used on 3D printers.
Definitely not something used on large machines with motors that can do quite some damage.
 

You're right, I certainly wouldn't want to try it with big powerful servos. I should have included more context: These are small dc servo motors driving Z1 and Z2 on the Ursviken press brake I'm retrofitting. That is the independent left and right motion of the two fingers on the backstop. The whole thing is so overbuilt, these little dc motors are going to smoke before they destroy anything.

I have been studying the machine, and have come to the conclusion Ursviken had to have been using hard stop homing on these. All the other, more powerful axis have homing switches, and only the R axis has limit switches. I have not yet found anyone who has watched one of these homing, running the original Ursviken controller.

If the encoder counts, its unlikely the index would be missed as the hardware
index processing uses the same digital filter as the A and B signals.

I included a photo below of the servo drives I already purchased. We have them mounted on the gantry already. here is a link to them. www.omc-stepperonline.com/a6-series-1000...-ip67-a6-rs1000h2a1- 

NWE wrote:

Most hard stop home systems I've seen, used steppers.

Yes, and not reliable at all, and only used on 3D printers.
Definitely not something used on large machines with motors that can do quite some damage.

Well I found somebody to help with this project and we were chugging away making good progress at it. I dident hear from him in a week or two and he messages me saying he was in a bad accident and just got released from the hospital. its been another week or two and I havent heard back from him. Really sucks hopefuly hes okay but we gotta move forward in the project. Is anyone here still interested in helping? im going to post all of the progress we made below its a google sheets aswell as a few pdfs  docs.google.com/spreadsheets/d/10GAzmrCI...184782#gid=730184782  

Interference issues, as seen on your second picture where the high voltage/power stuff is very close to parallel port/BOB, and messy wiring.
First make sure the grounding is OK, then move low voltage stuff as far from high voltage stuff as possible, use short cables, no spaghetti!

Sorry, I forgot to write, these are DC servo motors. Most hard stop home systems I've seen, used steppers.
I think I will write a hal component homeswitch-hardstop that monitors encoder velocity and latches a home-switch-output when the velocity decelerates faster than decel-limit (or servo motor load exceeds max-load?). The latched home switch output clears when the velocity changes direction and moves farther than min-backoff. These encoders do not have index. The most repeatable home position will be with the motor stalled against hard stop. The instant the motor power is switched off, the axis will likely rebound slightly, probably an unrepeatable distance.

I guess I will need to use the homing method of:
1. Home search velocity toward hard stop. Ouch, not at max power!
2. Home switch output latches on hard stop.
3. Back off home switch; home switch unlatches when it detects reversed motion.
4. Home-latch-velocity toward hard stop.
5. Homing complete; move to home-pos at the speed of home-final-vel.

I see I could use this component as shared home + pos limit switch + neg limit switch.

Hey, is anyone doing hard stop homing? I'm not finding any combination of LinuxCNC + hard stop homing. Google is not my friend today. Llm claims to know everything about it but I'm not buying that. If google doesn't know about it then llm has got to be fabricating it.

I am ready to try coding a halcomp if it doesn't already exist. I just don't got time to reinvent the wheel if someone else has already done it.

I consider hard stop homing to be the least accurate version of homing, but in today's project it will be a lot better and cleaner than rigging up some homing switches. If I can attain 5mm repeatability I will be happy, but I am confident I can do better than that.

I caught the index signal with my oscilloscope! It is near the top end of the ram travel, a tiny little pulse. I think I still have the ram jogging up/dn too fast the mesa card isn't latching on it, possibly even to fast for the electronics in the sensor itself. I unbolted the sensor from the Y1 ram and moved it slow with my fingers and caught the ~200uS pulse visible in the second screenshot. The ram is still jogging open loop and way too fast for homing. Looks like I'm on track to close the loop, and try tuning it hydraulic servos and all.

Now that I understand how the index-enable signal is read/write and is latching (I disconnected it from joint.3.index-enable to make sure it's not clearing it before I get to see it.) my latching hal AND2 + OR2 wiring the other day was unnecessary.

Here you go

i put that. it just waits for something.
 

Edit: i got it. Just rename the file from arduino-connector to arduino with loadusr -W arduino and it works.

The real-time threads must be loaded before using any pin.

Put loadusr -W arduino-connector at end main hal file.