Search Results (Searched for: 7i76e)
22 Sep 2023 13:21
Replied by JohnnyCNC on topic Problem moving from a 5i25+7I76 to a 7i76E.
Problem moving from a 5i25+7I76 to a 7i76E.
Category: General LinuxCNC Questions
I tried the driver once before but I am going to try it again. As far as Axis, I have been using QTDragon for a couple of years and I would rather switch back to my old hardware and 2.8.4 than go back to using Axis. My main goal was to switch to QTDragon_HD. I'm not getting as good latency as I was getting in previous testing. I'm going to focus on getting regular latency and network latency to respectable numbers and then proceed with getting LCNC to run.
Thanks
John
Thanks
John
22 Sep 2023 12:05 - 22 Sep 2023 12:10
Replied by rodw on topic Problem moving from a 5i25+7I76 to a 7i76E.
Problem moving from a 5i25+7I76 to a 7i76E.
Category: General LinuxCNC Questions
I would stay with axis until you get your PC up and running. Some errors are from qtpvcp or something.
Re the odroid.
can you try installing the r8125-dkms drivers
sudo apt install dkms
sudo apt install -y linux-headers-$(uname -r)
sudo apt install r8125-dkms
Reboot and repeat the ping tests.
You might need to explore to see what driver gets installed...
It is possible on a newer PC with Secure boot/uefi that it won't like dkms as it changes stuff at the kernel level
You need to create a key for dkms. You may need to research this
Re the odroid.
can you try installing the r8125-dkms drivers
sudo apt install dkms
sudo apt install -y linux-headers-$(uname -r)
sudo apt install r8125-dkms
Reboot and repeat the ping tests.
You might need to explore to see what driver gets installed...
It is possible on a newer PC with Secure boot/uefi that it won't like dkms as it changes stuff at the kernel level
You need to create a key for dkms. You may need to research this
20 Sep 2023 23:18
Replied by tommylight on topic Problem moving from a 5i25+7I76 to a 7i76E.
Problem moving from a 5i25+7I76 to a 7i76E.
Category: General LinuxCNC Questions
This is much better, although there is an outlier at 3.49ms but might be the first one hopefully, there are no packets lost = good, average is OK and this might just be OK to run, so give it a try, start a config that uses the Mesa card, enable it in LinuxCNC and play with it or run some gcode if possible.
20 Sep 2023 22:55 - 20 Sep 2023 22:55
Thanks Todd for the help.
Lets assume that I do not have any lost motion or missed steps (although I would like to know exactly how to check this). I am fairly positive that it is calibration issue as I did a quick and not so accurate calibration when I first set the machine up. I was expecting/planning to do a more accurate calibration once I worked out most of the bugs and got the machine broke-in.
I just finished calibrating the Z-axis. I am within about .0005"-.001" tolerance. I think for wood applications that is acceptable. Now I need to figure out the touch plate. Once I get the touch plate thickness working correctly, then Z0.0 should be just touching the spoilboard (provided I have the calibration correct)?
I decided this morning to swap out my touch plate for a more accurate piece of aluminum because the touch plate I was using is a cheap one that has too much variance for me. After changing the touch plate and the offset (thickness) in the 100.ngc file I did a touch off and then ran Z0.0 and it stopped .8035" (which is the difference between the old touch plate and the new) above the spoilboard. So from what I can tell, changing the offset in 100.ngc file does not appear to do anything. So where do I actually put the offset (touch plate thickness) value for the touch plate?
Here is my 100.ngc file. My new touch plate is 1.572" thick. See the bolded section.
Here is the Z axis section of my INI file.
Here is my HAL file in case it helps.
Thanks
Replied by Sray69 on topic Trouble with Z axis/touch plate calibration
Trouble with Z axis/touch plate calibration
Category: General LinuxCNC Questions
Thanks Todd for the help.
Lets assume that I do not have any lost motion or missed steps (although I would like to know exactly how to check this). I am fairly positive that it is calibration issue as I did a quick and not so accurate calibration when I first set the machine up. I was expecting/planning to do a more accurate calibration once I worked out most of the bugs and got the machine broke-in.
I just finished calibrating the Z-axis. I am within about .0005"-.001" tolerance. I think for wood applications that is acceptable. Now I need to figure out the touch plate. Once I get the touch plate thickness working correctly, then Z0.0 should be just touching the spoilboard (provided I have the calibration correct)?
I decided this morning to swap out my touch plate for a more accurate piece of aluminum because the touch plate I was using is a cheap one that has too much variance for me. After changing the touch plate and the offset (thickness) in the 100.ngc file I did a touch off and then ran Z0.0 and it stopped .8035" (which is the difference between the old touch plate and the new) above the spoilboard. So from what I can tell, changing the offset in 100.ngc file does not appear to do anything. So where do I actually put the offset (touch plate thickness) value for the touch plate?
Here is my 100.ngc file. My new touch plate is 1.572" thick. See the bolded section.
<pre>
o100 sub
G20
( Set current Z position to 0 so that we will always be moving down )
G10 L20 P0 Z0
( Probe to Z-.5 at F2 [Uses machine units, I work in inch, this is meant to be slow!] )
G38.2 Z-.25 f2
[b]( Set Z0 at point where probe triggers with offset of +1.004 [this is the thickness of my touch plate. You must adjust this for your plate / setup] )
(G10 L20 = Set Coordinate System // P - coordinate system 0-9 0 = Not active)
G10 L20 P1 Z1.572[/b]
( Rapid up to Z.5 above the material )
(G10 L20 P1)
(Use machine coordinates)
G90
G53 G0
(Incremental mode)
G91
(Rapid Z up 1 inches)
G0 Z1
o100 endsub
</pre>Here is the Z axis section of my INI file.
# Generated by PNCconf at Fri Mar 3 16:12:30 2023
# Using LinuxCNC version: Master (2.9)
# If you make changes to this file, they will be
# overwritten when you run PNCconf again
[EMC]
MACHINE = lcnc
DEBUG = 0
VERSION = 1.1
[DISPLAY]
DISPLAY = gmoccapy
EMBED_TAB_NAME = Center_panel
EMBED_TAB_LOCATION = ntb_preview
EMBED_TAB_COMMAND = gladevcp -c gladevcp -H gvcp_call_list.hal -x {XID} gvcp-panel.ui
POSITION_OFFSET = RELATIVE
POSITION_FEEDBACK = ACTUAL
MAX_FEED_OVERRIDE = 2.000000
MAX_SPINDLE_OVERRIDE = 1.000000
MIN_SPINDLE_OVERRIDE = 0.500000
INTRO_GRAPHIC = linuxcnc.gif
INTRO_TIME = 5
PROGRAM_PREFIX = /home/shawn/linuxcnc/nc_files
INCREMENTS = 20in 10in 1in .5in .1in .05in .01in .005in .001in .0005in .0001in
POSITION_FEEDBACK = ACTUAL
# Jog Speed - Also sets Jog Speed in LCNC Axis Manual Control Screen only if lower than MAX_LINEAR_VELOCITY. Otherwise MAX_LINEAR_VELOCITY sets this value. #
DEFAULT_LINEAR_VELOCITY = 2.00000
# Sets the Jog Speed/Max Velocity in LCNC Axis Manual Control Screen #
MAX_LINEAR_VELOCITY = 2.00000
MIN_LINEAR_VELOCITY = 0.016670
DEFAULT_ANGULAR_VELOCITY = 12.000000
MAX_ANGULAR_VELOCITY = 180.000000
MIN_ANGULAR_VELOCITY = 1.6666671
EDITOR = gedit
GEOMETRY = xyz
CYCLE_TIME = 100
[FILTER]
PROGRAM_EXTENSION = .png,.gif,.jpg Greyscale Depth Image
PROGRAM_EXTENSION = .py Python Script
PROGRAM_EXTENSION = .ngc,.NGC,.nc,.NC,.txt,.tap Gcode file
png = image-to-gcode
gif = image-to-gcode
jpg = image-to-gcode
py = python
[TASK]
TASK = milltask
CYCLE_TIME = 0.010
[RS274NGC]
PARAMETER_FILE = linuxcnc.var
SUBROUTINE_PATH = macros
[EMCMOT]
EMCMOT = motmod
COMM_TIMEOUT = 1.0
SERVO_PERIOD = 2000000
[HMOT]
# **** This is for info only ****
CARD0=hm2_7i76e.0
[HAL]
HALUI = halui
HALFILE = lcnc.hal
HALFILE = custom.hal
POSTGUI_HALFILE = custom_postgui.hal
SHUTDOWN = shutdown.hal
[HALUI]
# MDI_COMMAND=o100 call
[KINS]
JOINTS = 4
KINEMATICS = trivkins coordinates=XYYZ kinstype=BOTH
[TRAJ]
COORDINATES = XYYZ
LINEAR_UNITS = inch
ANGULAR_UNITS = degree
DEFAULT_LINEAR_VELOCITY = 0.33
MAX_LINEAR_VELOCITY = 3.33
[EMCIO]
EMCIO = io
CYCLE_TIME = 0.100
TOOL_TABLE = tool.tbl
TOOL_CHANGE_QUILL_UP = 1
[MACROS]
MACRO = touch_plate_z
#******************************************
[AXIS_X]
MAX_VELOCITY = 3.3333333333333335
MAX_ACCELERATION = 90.0
MIN_LIMIT = -0.001
MAX_LIMIT = 44.761
[JOINT_0]
TYPE = LINEAR
HOME = 0.2
FERROR = 0.5
MIN_FERROR = 0.05
MAX_VELOCITY = 3.3333333333333335
MAX_ACCELERATION = 90
# The values below should be 25% larger than MAX_VELOCITY and MAX_ACCELERATION
# If using BACKLASH compensation STEPGEN_MAXACCEL should be 100% larger.
STEPGEN_MAXVEL = 4.17
STEPGEN_MAXACCEL = 112.5
P = 500
I = 0
D = 0
FF0 = 0
FF1 = 1
FF2 = 0
BIAS = 0
DEADBAND = 0
MAX_OUTPUT = 0
# these are in nanoseconds
DIRSETUP = 8000
DIRHOLD = 5000
STEPLEN = 5000
STEPSPACE = 5000
STEP_SCALE = 10170.17
MIN_LIMIT = -0.001
MAX_LIMIT = 44.761
# Distance traveled off limit switch once switch is triggered
HOME_OFFSET = -0.100000
HOME_SEARCH_VEL = -0.833333
HOME_LATCH_VEL = 0.033333
# Speed from HOME_OFFSET to final HOME location
HOME_FINAL_VEL = 0.000000
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = YES
HOME_SEQUENCE = 1
#******************************************
#******************************************
[AXIS_Y]
MAX_VELOCITY = 3.3333333333333335
MAX_ACCELERATION = 90.0
MIN_LIMIT = -0.001
MAX_LIMIT = 49.851
[JOINT_1]
TYPE = LINEAR
HOME = 2.703
FERROR = 0.5
MIN_FERROR = 0.05
MAX_VELOCITY = 3.3333333333333335
MAX_ACCELERATION = 90
# The values below should be 25% larger than MAX_VELOCITY and MAX_ACCELERATION
# If using BACKLASH compensation STEPGEN_MAXACCEL should be 100% larger.
STEPGEN_MAXVEL = 4.17
STEPGEN_MAXACCEL = 112.5
P = 500
I = 0
D = 0
FF0 = 0
FF1 = 1
FF2 = 0
BIAS = 0
DEADBAND = 0
MAX_OUTPUT = 0
# these are in nanoseconds
DIRSETUP = 8000
DIRHOLD = 5000
STEPLEN = 5000
STEPSPACE = 5000
STEP_SCALE = -10159.9564
MIN_LIMIT = -0.001
MAX_LIMIT = 49.851
HOME_OFFSET = 0.100000
HOME_SEARCH_VEL = -0.933333
HOME_LATCH_VEL = 0.333333
HOME_FINAL_VEL = 0.900000
HOME_IGNORE_LIMITS = YES
HOME_USE_INDEX = NO
HOME_SEQUENCE = -2
[JOINT_2]
TYPE = LINEAR
HOME = 2.703
FERROR = 0.5
MIN_FERROR = 0.05
MAX_VELOCITY = 3.3333333333333335
MAX_ACCELERATION = 90
# The values below should be 25% larger than MAX_VELOCITY and MAX_ACCELERATION
# If using BACKLASH compensation STEPGEN_MAXACCEL should be 100% larger.
STEPGEN_MAXVEL = 4.17
STEPGEN_MAXACCEL = 112.5
P = 500
I = 0
D = 0
FF0 = 0
FF1 = 1
FF2 = 0
BIAS = 0
DEADBAND = 0
MAX_OUTPUT = 0
# these are in nanoseconds
DIRSETUP = 8000
DIRHOLD = 5000
STEPLEN = 5000
STEPSPACE = 5000
STEP_SCALE = -10159.9564
MIN_LIMIT = -0.001
MAX_LIMIT = 49.851
HOME_OFFSET = 0.100000
HOME_SEARCH_VEL = -0.933333
HOME_LATCH_VEL = 0.333333
HOME_FINAL_VEL = 0.900000
HOME_IGNORE_LIMITS = YES
HOME_USE_INDEX = NO
HOME_SEQUENCE = -2
#******************************************
#******************************************
[AXIS_Z]
MAX_VELOCITY = 0.5
MAX_ACCELERATION = 50.0
MIN_LIMIT = -5.251
MAX_LIMIT = 0.001
[JOINT_3]
TYPE = LINEAR
HOME = -0.2
FERROR = 0.5
MIN_FERROR = 0.05
MAX_VELOCITY = 0.5
MAX_ACCELERATION = 50.0
# The values below should be 25% larger than MAX_VELOCITY and MAX_ACCELERATION
# If using BACKLASH compensation STEPGEN_MAXACCEL should be 100% larger.
STEPGEN_MAXVEL = 0.62
STEPGEN_MAXACCEL = 62.5
P = 500
I = 0
D = 0
FF0 = 0
FF1 = 1
FF2 = 0
BIAS = 0
DEADBAND = 0
MAX_OUTPUT = 0
# these are in nanoseconds
DIRSETUP = 8000
DIRHOLD = 5000
STEPLEN = 2500
STEPSPACE = 2500
STEP_SCALE = 10304.26
MIN_LIMIT = -5.251
MAX_LIMIT = 0.001
HOME_OFFSET = -0.100000
HOME_SEARCH_VEL = 0.500000
HOME_LATCH_VEL = -0.033333
HOME_FINAL_VEL = 0.000000
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = YES
HOME_SEQUENCE = 0
#******************************************Here is my HAL file in case it helps.
# Generated by PNCconf at Fri Mar 3 16:12:30 2023
# Using LinuxCNC version: Master (2.9)
# If you make changes to this file, they will be
# overwritten when you run PNCconf again
loadrt [KINS]KINEMATICS
loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS
loadrt hostmot2
loadrt hm2_eth board_ip="10.10.10.10" config="num_encoders=1 num_pwmgens=0 num_stepgens=4 sserial_port_0=00xxxx"
setp hm2_7i76e.0.watchdog.timeout_ns 5000000
loadusr -W hal_input -KRAL Logitech Gamepad F310
loadrt pid names=pid.x,pid.y1,pid.y2,pid.z,pid.s
loadrt mux16 names=jogspeed
addf hm2_7i76e.0.read servo-thread
addf motion-command-handler servo-thread
addf motion-controller servo-thread
addf pid.x.do-pid-calcs servo-thread
addf pid.y1.do-pid-calcs servo-thread
addf pid.y2.do-pid-calcs servo-thread
addf pid.z.do-pid-calcs servo-thread
addf pid.s.do-pid-calcs servo-thread
addf jogspeed servo-thread
addf hm2_7i76e.0.write servo-thread
setp hm2_7i76e.0.dpll.01.timer-us -50
setp hm2_7i76e.0.stepgen.timer-number 1
# external output signals
# --- ESTOP-OUT ---
net estop-out => hm2_7i76e.0.7i76.0.0.output-00
# --- ROUTER-ON ---
net coolant-mist => hm2_7i76e.0.7i76.0.0.output-08
# --- DUST-COLLECTOR-ON
net coolant-flood => hm2_7i76e.0.7i76.0.0.output-01
# external input signals
# --- ESTOP-EXT ---
net estop-ext <= hm2_7i76e.0.7i76.0.0.input-04
# --- BOTH-HOME-X ---
net both-home-x <= hm2_7i76e.0.7i76.0.0.input-05-not
# --- HOME-Y1 ---
net home-y1 <= hm2_7i76e.0.7i76.0.0.input-06-not
# --- BOTH-HOME-Y2 ---
net both-home-y2 <= hm2_7i76e.0.7i76.0.0.input-07-not
# --- BOTH-HOME-Z ---
net both-home-z <= hm2_7i76e.0.7i76.0.0.input-08-not
#*******************
# AXIS X JOINT 0
#*******************
setp pid.x.Pgain [JOINT_0]P
setp pid.x.Igain [JOINT_0]I
setp pid.x.Dgain [JOINT_0]D
setp pid.x.bias [JOINT_0]BIAS
setp pid.x.FF0 [JOINT_0]FF0
setp pid.x.FF1 [JOINT_0]FF1
setp pid.x.FF2 [JOINT_0]FF2
setp pid.x.deadband [JOINT_0]DEADBAND
setp pid.x.maxoutput [JOINT_0]MAX_OUTPUT
setp pid.x.error-previous-target true
# This setting is to limit bogus stepgen
# velocity corrections caused by position
# feedback sample time jitter.
setp pid.x.maxerror 0.000500
net x-index-enable <=> pid.x.index-enable
net x-enable => pid.x.enable
net x-pos-cmd => pid.x.command
net x-pos-fb => pid.x.feedback
net x-output <= pid.x.output
# Step Gen signals/setup
setp hm2_7i76e.0.stepgen.00.dirsetup [JOINT_0]DIRSETUP
setp hm2_7i76e.0.stepgen.00.dirhold [JOINT_0]DIRHOLD
setp hm2_7i76e.0.stepgen.00.steplen [JOINT_0]STEPLEN
setp hm2_7i76e.0.stepgen.00.stepspace [JOINT_0]STEPSPACE
setp hm2_7i76e.0.stepgen.00.position-scale [JOINT_0]STEP_SCALE
setp hm2_7i76e.0.stepgen.00.step_type 0
setp hm2_7i76e.0.stepgen.00.control-type 1
setp hm2_7i76e.0.stepgen.00.maxaccel [JOINT_0]STEPGEN_MAXACCEL
setp hm2_7i76e.0.stepgen.00.maxvel [JOINT_0]STEPGEN_MAXVEL
# ---closedloop stepper signals---
net x-pos-cmd <= joint.0.motor-pos-cmd
net x-vel-cmd <= joint.0.vel-cmd
net x-output => hm2_7i76e.0.stepgen.00.velocity-cmd
net x-pos-fb <= hm2_7i76e.0.stepgen.00.position-fb
net x-pos-fb => joint.0.motor-pos-fb
net x-enable <= joint.0.amp-enable-out
net x-enable => hm2_7i76e.0.stepgen.00.enable
# ---setup home / limit switch signals---
net both-home-x => joint.0.home-sw-in
net both-home-x => joint.0.neg-lim-sw-in
net both-home-x => joint.0.pos-lim-sw-in
#*******************
# AXIS Y1 JOINT 1
#*******************
setp pid.y1.Pgain [JOINT_1]P
setp pid.y1.Igain [JOINT_1]I
setp pid.y1.Dgain [JOINT_1]D
setp pid.y1.bias [JOINT_1]BIAS
setp pid.y1.FF0 [JOINT_1]FF0
setp pid.y1.FF1 [JOINT_1]FF1
setp pid.y1.FF2 [JOINT_1]FF2
setp pid.y1.deadband [JOINT_1]DEADBAND
setp pid.y1.maxoutput [JOINT_1]MAX_OUTPUT
setp pid.y1.error-previous-target true
# This setting is to limit bogus stepgen
# velocity corrections caused by position
# feedback sample time jitter.
setp pid.y1.maxerror 0.000500
net y1-index-enable <=> pid.y1.index-enable
net y1-enable => pid.y1.enable
net y1-pos-cmd => pid.y1.command
net y1-pos-fb => pid.y1.feedback
net y1-output <= pid.y1.output
# Step Gen signals/setup
setp hm2_7i76e.0.stepgen.01.dirsetup [JOINT_1]DIRSETUP
setp hm2_7i76e.0.stepgen.01.dirhold [JOINT_1]DIRHOLD
setp hm2_7i76e.0.stepgen.01.steplen [JOINT_1]STEPLEN
setp hm2_7i76e.0.stepgen.01.stepspace [JOINT_1]STEPSPACE
setp hm2_7i76e.0.stepgen.01.position-scale [JOINT_1]STEP_SCALE
setp hm2_7i76e.0.stepgen.01.step_type 0
setp hm2_7i76e.0.stepgen.01.control-type 1
setp hm2_7i76e.0.stepgen.01.maxaccel [JOINT_1]STEPGEN_MAXACCEL
setp hm2_7i76e.0.stepgen.01.maxvel [JOINT_1]STEPGEN_MAXVEL
# ---closedloop stepper signals---
net y1-pos-cmd <= joint.1.motor-pos-cmd
net y1-vel-cmd <= joint.1.vel-cmd
net y1-output => hm2_7i76e.0.stepgen.01.velocity-cmd
net y1-pos-fb <= hm2_7i76e.0.stepgen.01.position-fb
net y1-pos-fb => joint.1.motor-pos-fb
net y1-enable <= joint.1.amp-enable-out
net y1-enable => hm2_7i76e.0.stepgen.01.enable
# ---setup home / limit switch signals---
net home-y1 => joint.1.home-sw-in
net home-y1 => joint.1.neg-lim-sw-in
# net home-y1 => joint.2.pos-lim-sw-in
#*******************
# Tandem AXIS Y2 JOINT 2
#*******************
setp pid.y2.Pgain [JOINT_2]P
setp pid.y2.Igain [JOINT_2]I
setp pid.y2.Dgain [JOINT_2]D
setp pid.y2.bias [JOINT_2]BIAS
setp pid.y2.FF0 [JOINT_2]FF0
setp pid.y2.FF1 [JOINT_2]FF1
setp pid.y2.FF2 [JOINT_2]FF2
setp pid.y2.deadband [JOINT_2]DEADBAND
setp pid.y2.maxoutput [JOINT_2]MAX_OUTPUT
setp pid.y2.error-previous-target true
# This setting is to limit bogus stepgen
# velocity corrections caused by position
# feedback sample time jitter.
setp pid.y2.maxerror 0.000500
net y2-index-enable <=> pid.y2.index-enable
net y2-enable => pid.y2.enable
net y2-pos-cmd => pid.y2.command
net y2-pos-fb => pid.y2.feedback
net y2-output <= pid.y2.output
# Step Gen signals/setup for tandem axis
setp hm2_7i76e.0.stepgen.02.dirsetup [JOINT_2]DIRSETUP
setp hm2_7i76e.0.stepgen.02.dirhold [JOINT_2]DIRHOLD
setp hm2_7i76e.0.stepgen.02.steplen [JOINT_2]STEPLEN
setp hm2_7i76e.0.stepgen.02.stepspace [JOINT_2]STEPSPACE
setp hm2_7i76e.0.stepgen.02.position-scale [JOINT_2]STEP_SCALE
setp hm2_7i76e.0.stepgen.02.step_type 0
setp hm2_7i76e.0.stepgen.02.control-type 1
setp hm2_7i76e.0.stepgen.02.maxaccel [JOINT_2]STEPGEN_MAXACCEL
setp hm2_7i76e.0.stepgen.02.maxvel [JOINT_2]STEPGEN_MAXVEL
# ---closedloop stepper signals---
net y2-pos-cmd <= joint.2.motor-pos-cmd
net y2-vel-cmd <= joint.2.vel-cmd
net y2-output => hm2_7i76e.0.stepgen.02.velocity-cmd
net y2-pos-fb <= hm2_7i76e.0.stepgen.02.position-fb
net y2-pos-fb => joint.2.motor-pos-fb
net y2-enable <= joint.2.amp-enable-out
net y2-enable => hm2_7i76e.0.stepgen.02.enable
# ---setup home / limit switch signals---
net both-home-y2 => joint.2.home-sw-in
net both-home-y2 => joint.2.neg-lim-sw-in
net both-home-y2 => joint.2.pos-lim-sw-in
#*******************
# AXIS Z JOINT 3
#*******************
setp pid.z.Pgain [JOINT_3]P
setp pid.z.Igain [JOINT_3]I
setp pid.z.Dgain [JOINT_3]D
setp pid.z.bias [JOINT_3]BIAS
setp pid.z.FF0 [JOINT_3]FF0
setp pid.z.FF1 [JOINT_3]FF1
setp pid.z.FF2 [JOINT_3]FF2
setp pid.z.deadband [JOINT_3]DEADBAND
setp pid.z.maxoutput [JOINT_3]MAX_OUTPUT
setp pid.z.error-previous-target true
# This setting is to limit bogus stepgen
# velocity corrections caused by position
# feedback sample time jitter.
setp pid.z.maxerror 0.000500
net z-index-enable <=> pid.z.index-enable
net z-enable => pid.z.enable
net z-pos-cmd => pid.z.command
net z-pos-fb => pid.z.feedback
net z-output <= pid.z.output
# Step Gen signals/setup
setp hm2_7i76e.0.stepgen.03.dirsetup [JOINT_3]DIRSETUP
setp hm2_7i76e.0.stepgen.03.dirhold [JOINT_3]DIRHOLD
setp hm2_7i76e.0.stepgen.03.steplen [JOINT_3]STEPLEN
setp hm2_7i76e.0.stepgen.03.stepspace [JOINT_3]STEPSPACE
setp hm2_7i76e.0.stepgen.03.position-scale [JOINT_3]STEP_SCALE
setp hm2_7i76e.0.stepgen.03.step_type 0
setp hm2_7i76e.0.stepgen.03.control-type 1
setp hm2_7i76e.0.stepgen.03.maxaccel [JOINT_3]STEPGEN_MAXACCEL
setp hm2_7i76e.0.stepgen.03.maxvel [JOINT_3]STEPGEN_MAXVEL
# ---closedloop stepper signals---
net z-pos-cmd <= joint.3.motor-pos-cmd
net z-vel-cmd <= joint.3.vel-cmd
net z-output => hm2_7i76e.0.stepgen.03.velocity-cmd
net z-pos-fb <= hm2_7i76e.0.stepgen.03.position-fb
net z-pos-fb => joint.3.motor-pos-fb
net z-enable <= joint.3.amp-enable-out
net z-enable => hm2_7i76e.0.stepgen.03.enable
# ---setup home / limit switch signals---
net both-home-z => joint.3.home-sw-in
net both-home-z => joint.3.neg-lim-sw-in
net both-home-z => joint.3.pos-lim-sw-in
#******************************
# connect miscellaneous signals
#******************************
# ---coolant signals---
net coolant-mist <= iocontrol.0.coolant-mist
net coolant-flood <= iocontrol.0.coolant-flood
# ---probe signal---
net probe-in => motion.probe-input
#limits debounce to stop false triggers
loadrt debounce cfg=1 #change to the number you want
setp debounce.0.delay 100 #this sets the delay 100 iterations of the servo-thread
addf debounce.0 servo-thread
net deb-probe-in debounce.0.0.in <= hm2_7i76e.0.7i76.0.0.input-09-not
net probe-in debounce.0.0.out
net probe-in => motion.probe-input
# ---motion control signals---
net in-position <= motion.in-position
net machine-is-enabled <= motion.motion-enabled
# ---digital in / out signals---
# ---estop signals---
net estop-out <= iocontrol.0.user-enable-out
net estop-ext => iocontrol.0.emc-enable-in
# ---toolchange signals for custom tool changer---
net tool-number <= iocontrol.0.tool-prep-number
net tool-change-request <= iocontrol.0.tool-change
net tool-change-confirmed => iocontrol.0.tool-changed
net tool-prepare-request <= iocontrol.0.tool-prepare
net tool-prepare-confirmed => iocontrol.0.tool-preparedThanks
20 Sep 2023 17:45
Replied by JohnnyCNC on topic Problem moving from a 5i25+7I76 to a 7i76E.
Problem moving from a 5i25+7I76 to a 7i76E.
Category: General LinuxCNC Questions
I gave both the pings a try with a different cable
4 bytes from 10.10.10.10: icmp_seq=1 ttl=64 time=0.357 ms
64 bytes from 10.10.10.10: icmp_seq=2 ttl=64 time=0.371 ms
64 bytes from 10.10.10.10: icmp_seq=3 ttl=64 time=0.369 ms
64 bytes from 10.10.10.10: icmp_seq=4 ttl=64 time=0.353 ms
john@X3CNC:~$ sudo chrt 99 ping -i .001 -q 10.10.10.10
PING 10.10.10.10 (10.10.10.10) 56(84) bytes of data.
^C
--- 10.10.10.10 ping statistics ---
14687 packets transmitted, 14687 received, 0% packet loss, time 14719ms
rtt min/avg/max/mdev = 0.304/0.337/3.494/0.036 ms
4 bytes from 10.10.10.10: icmp_seq=1 ttl=64 time=0.357 ms
64 bytes from 10.10.10.10: icmp_seq=2 ttl=64 time=0.371 ms
64 bytes from 10.10.10.10: icmp_seq=3 ttl=64 time=0.369 ms
64 bytes from 10.10.10.10: icmp_seq=4 ttl=64 time=0.353 ms
john@X3CNC:~$ sudo chrt 99 ping -i .001 -q 10.10.10.10
PING 10.10.10.10 (10.10.10.10) 56(84) bytes of data.
^C
--- 10.10.10.10 ping statistics ---
14687 packets transmitted, 14687 received, 0% packet loss, time 14719ms
rtt min/avg/max/mdev = 0.304/0.337/3.494/0.036 ms
20 Sep 2023 15:48
Replied by tommylight on topic Problem moving from a 5i25+7I76 to a 7i76E.
Problem moving from a 5i25+7I76 to a 7i76E.
Category: General LinuxCNC Questions
First i would try another LAN cable.
Had issues with new cables a few months ago, some did not connect at all, some did but ping would wary wildly and link would drop at random.
Had issues with new cables a few months ago, some did not connect at all, some did but ping would wary wildly and link would drop at random.
20 Sep 2023 15:40
Replied by PCW on topic Problem moving from a 5i25+7I76 to a 7i76E.
Problem moving from a 5i25+7I76 to a 7i76E.
Category: General LinuxCNC Questions
So kernel latency seems OK So maybe a a badly broken driver
If the latest Ethernet driver doesn't work it may be that that Ethernet
MAC is simply not suitable for real time.
If the latest Ethernet driver doesn't work it may be that that Ethernet
MAC is simply not suitable for real time.
20 Sep 2023 12:30
Replied by JohnnyCNC on topic Problem moving from a 5i25+7I76 to a 7i76E.
Problem moving from a 5i25+7I76 to a 7i76E.
Category: General LinuxCNC Questions
I have run the test on this hardware. These were the last numbers in the .lat file.
7203 s servo min: -86.500 us max: 86.200 us sdev: 4.600 us
7203 s servo min: -86.500 us max: 86.200 us sdev: 4.600 us
7204 s servo min: -86.500 us max: 86.200 us sdev: 4.600 us
I had run the histogram yesterday for a few hours. The outer edges were around -50 & 50. I will run both again today.
Should I be stressing the machine while the histogram is running? I ran it both ways yesterday and didn't notice a significant difference.
I also see that if you save the screen as screen shot in the default location they get deleted at reboot.
Thanks
John
7203 s servo min: -86.500 us max: 86.200 us sdev: 4.600 us
7203 s servo min: -86.500 us max: 86.200 us sdev: 4.600 us
7204 s servo min: -86.500 us max: 86.200 us sdev: 4.600 us
I had run the histogram yesterday for a few hours. The outer edges were around -50 & 50. I will run both again today.
Should I be stressing the machine while the histogram is running? I ran it both ways yesterday and didn't notice a significant difference.
I also see that if you save the screen as screen shot in the default location they get deleted at reboot.
Thanks
John
20 Sep 2023 04:42
Replied by PCW on topic Problem moving from a 5i25+7I76 to a 7i76E.
Problem moving from a 5i25+7I76 to a 7i76E.
Category: General LinuxCNC Questions
Yikes 12.643 ms! and dropped packets...
Doesn't sound very promising
You might try the driver or maybe there an issue with your RT kernel
Did you run a normal latency test?
Doesn't sound very promising
You might try the driver or maybe there an issue with your RT kernel
Did you run a normal latency test?
20 Sep 2023 01:48
Replied by JohnnyCNC on topic Problem moving from a 5i25+7I76 to a 7i76E.
Problem moving from a 5i25+7I76 to a 7i76E.
Category: General LinuxCNC Questions
I ran the second ping again and left it for about a minute.
PING 10.10.10.10 (10.10.10.10) 56(84) bytes of data.
^C
--- 10.10.10.10 ping statistics ---
251616 packets transmitted, 251615 received, 0.000397431% packet loss, time 252221ms
rtt min/avg/max/mdev = 0.058/0.466/12.643/0.049 ms, pipe 2
Settings for enp3s0:
Supported ports: [ TP MII ]
Supported link modes: 10baseT/Half 10baseT/Full
100baseT/Half 100baseT/Full
1000baseT/Full
2500baseT/Full
Supported pause frame use: Symmetric Receive-only
Supports auto-negotiation: Yes
Supported FEC modes: Not reported
Advertised link modes: 10baseT/Half 10baseT/Full
100baseT/Half 100baseT/Full
1000baseT/Full
2500baseT/Full
Advertised pause frame use: Symmetric Receive-only
Advertised auto-negotiation: Yes
Advertised FEC modes: Not reported
Link partner advertised link modes: 10baseT/Half 10baseT/Full
100baseT/Half 100baseT/Full
Link partner advertised pause frame use: Symmetric
Link partner advertised auto-negotiation: Yes
Link partner advertised FEC modes: Not reported
Speed: 100Mb/s
Duplex: Full
Auto-negotiation: on
master-slave cfg: preferred slave
master-slave status: slave
Port: Twisted Pair
PHYAD: 0
Transceiver: external
MDI-X: Unknown
Supports Wake-on: pumbg
Wake-on: d
Link detected: yes
john@X3CNC:~$ sudo ethtool --show-coalesce enp3s0
netlink error: Operation not supported
This time I haven't yet installed the r8125-dkms driver. Should I install that and give this stuff another try?
PING 10.10.10.10 (10.10.10.10) 56(84) bytes of data.
^C
--- 10.10.10.10 ping statistics ---
251616 packets transmitted, 251615 received, 0.000397431% packet loss, time 252221ms
rtt min/avg/max/mdev = 0.058/0.466/12.643/0.049 ms, pipe 2
Settings for enp3s0:
Supported ports: [ TP MII ]
Supported link modes: 10baseT/Half 10baseT/Full
100baseT/Half 100baseT/Full
1000baseT/Full
2500baseT/Full
Supported pause frame use: Symmetric Receive-only
Supports auto-negotiation: Yes
Supported FEC modes: Not reported
Advertised link modes: 10baseT/Half 10baseT/Full
100baseT/Half 100baseT/Full
1000baseT/Full
2500baseT/Full
Advertised pause frame use: Symmetric Receive-only
Advertised auto-negotiation: Yes
Advertised FEC modes: Not reported
Link partner advertised link modes: 10baseT/Half 10baseT/Full
100baseT/Half 100baseT/Full
Link partner advertised pause frame use: Symmetric
Link partner advertised auto-negotiation: Yes
Link partner advertised FEC modes: Not reported
Speed: 100Mb/s
Duplex: Full
Auto-negotiation: on
master-slave cfg: preferred slave
master-slave status: slave
Port: Twisted Pair
PHYAD: 0
Transceiver: external
MDI-X: Unknown
Supports Wake-on: pumbg
Wake-on: d
Link detected: yes
john@X3CNC:~$ sudo ethtool --show-coalesce enp3s0
netlink error: Operation not supported
This time I haven't yet installed the r8125-dkms driver. Should I install that and give this stuff another try?
19 Sep 2023 20:44
Replied by PCW on topic Problem moving from a 5i25+7I76 to a 7i76E.
Problem moving from a 5i25+7I76 to a 7i76E.
Category: General LinuxCNC Questions
The second ping command should have printed statistics
when it finished, like:
99 ping -i .001 -q 10.10.10.10
[sudo] password for pcw:
PING 10.10.10.10 (10.10.10.10) 56(84) bytes of data.
^C
--- 10.10.10.10 ping statistics ---
2934 packets transmitted, 2934 received, 0% packet loss, time 2932ms
rtt min/avg/max/mdev = 0.072/0.082/0.102/0.005 ms
But the initial ping is really terrible with nearly 1 ms ping times so that is the issue
Maybe there are some driver settinge that need adjusting
What does
ethtool [your_ethernet_device_name]
report?
and what do
ethtool --show-eee [your_ethernet_device_name]
and
ethtool --show-coalesce [your_ethernet_device_name]
report?
when it finished, like:
99 ping -i .001 -q 10.10.10.10
[sudo] password for pcw:
PING 10.10.10.10 (10.10.10.10) 56(84) bytes of data.
^C
--- 10.10.10.10 ping statistics ---
2934 packets transmitted, 2934 received, 0% packet loss, time 2932ms
rtt min/avg/max/mdev = 0.072/0.082/0.102/0.005 ms
But the initial ping is really terrible with nearly 1 ms ping times so that is the issue
Maybe there are some driver settinge that need adjusting
What does
ethtool [your_ethernet_device_name]
report?
and what do
ethtool --show-eee [your_ethernet_device_name]
and
ethtool --show-coalesce [your_ethernet_device_name]
report?
19 Sep 2023 20:04
Replied by JohnnyCNC on topic Problem moving from a 5i25+7I76 to a 7i76E.
Problem moving from a 5i25+7I76 to a 7i76E.
Category: General LinuxCNC Questions
Thanks Peter
john@X3CNC:~$ ping -c 4 10.10.10.10
PING 10.10.10.10 (10.10.10.10) 56(84) bytes of data.
64 bytes from 10.10.10.10: icmp_seq=1 ttl=64 time=0.492 ms
64 bytes from 10.10.10.10: icmp_seq=2 ttl=64 time=0.824 ms
64 bytes from 10.10.10.10: icmp_seq=3 ttl=64 time=0.805 ms
64 bytes from 10.10.10.10: icmp_seq=4 ttl=64 time=0.811 ms
john@X3CNC:~$ sudo chrt 99 ping -i .001 -q 10.10.10.10
PING 10.10.10.10 (10.10.10.10) 56(84) bytes of data.
Linux X3CNC 6.1.0-12-rt-amd64 #1 SMP PREEMPT_RT Debian 6.1.52-1 (2023-09-07) x86_64 GNU/Linux
john@X3CNC:~$ ping -c 4 10.10.10.10
PING 10.10.10.10 (10.10.10.10) 56(84) bytes of data.
64 bytes from 10.10.10.10: icmp_seq=1 ttl=64 time=0.492 ms
64 bytes from 10.10.10.10: icmp_seq=2 ttl=64 time=0.824 ms
64 bytes from 10.10.10.10: icmp_seq=3 ttl=64 time=0.805 ms
64 bytes from 10.10.10.10: icmp_seq=4 ttl=64 time=0.811 ms
john@X3CNC:~$ sudo chrt 99 ping -i .001 -q 10.10.10.10
PING 10.10.10.10 (10.10.10.10) 56(84) bytes of data.
Linux X3CNC 6.1.0-12-rt-amd64 #1 SMP PREEMPT_RT Debian 6.1.52-1 (2023-09-07) x86_64 GNU/Linux
19 Sep 2023 19:57
Replied by PCW on topic Problem moving from a 5i25+7I76 to a 7i76E.
Problem moving from a 5i25+7I76 to a 7i76E.
Category: General LinuxCNC Questions
The hardware issues (non-QT related) are real time problems with the Ethernet interface
1. What servo thread period are you running?
2. What is the result of:
ping -c 4 10.10.10.10
and then
sudo chrt 99 ping -i .001 -q 10.10.10.10
(hit control C to stop and prints stats)
3. What is the result of
uname -a
1. What servo thread period are you running?
2. What is the result of:
ping -c 4 10.10.10.10
and then
sudo chrt 99 ping -i .001 -q 10.10.10.10
(hit control C to stop and prints stats)
3. What is the result of
uname -a
19 Sep 2023 16:38
Replied by JohnnyCNC on topic Problem moving from a 5i25+7I76 to a 7i76E.
Problem moving from a 5i25+7I76 to a 7i76E.
Category: General LinuxCNC Questions
I kept running into problems that didn't seem to be coming from my hall or ini file so I decided to start over from scratch. I tried each of the various installation instructions and they all seem to end at the same place. On of the issues is the "error finishing read". On one attempt I installed the RTL8125 driver and updated the kernal to 6.3. The machine was and still is unusable. The currenct state was arrived at by installing debian and following the "Installing Linuxcnc on Debian Bookwork instructions. Starting Linuxcnc takes a very long time. It displays a message "Hard limits are reset to active!" Operator error: File not open. When it finally come up most buttons are unresponsive. I started from a terminal and below are the entries of interest. The PC is a ODroid H2+.
Am I doing something wrong here?
hm2: loading Mesa HostMot2 driver version 0.15
hm2_eth: loading Mesa AnyIO HostMot2 ethernet driver version 0.2
hm2_eth: 10.10.10.10: INFO: Hardware address (MAC): 00:60:1b:10:45:f1
hm2_eth: discovered 7I76E-16
hm2/hm2_7i76e.0: Low Level init 0.15
hm2/hm2_7i76e.0: Smart Serial Firmware Version 43
Board hm2_7i76e.0.7i76.0.0 Hardware Mode 0 = standard
Board hm2_7i76e.0.7i76.0.0 Software Mode 0 = io_spin
Board hm2_7i76e.0.7i76.0.0 Software Mode 1 = io_ana_spin
Board hm2_7i76e.0.7i76.0.0 Software Mode 2 = io_enc_ana_spin_fv
Waiting for component 'hm2_eth' to become ready.Board hm2_7i76e.0.7i83.0.1 Hardware Mode 0 = standard
Board hm2_7i76e.0.7i83.0.1 Software Mode 0 = analogout_enables
......hm2/hm2_7i76e.0: 51 I/O Pins used:
hm2/hm2_7i76e.0: Smart Serial port 0: DoIt not cleared from previous servo thread. Servo thread rate probably too fast. This message will not be repeated, but the hm2_7i76e.0.sserial.0.fault-count pin will indicate if this is happening frequently.
hm2/hm2_7i76e.0: Smart Serial port 0: DoIt not cleared from previous servo thread. Servo thread rate probably too fast. This message will not be repeated, but the hm2_7i76e.0.sserial.0.fault-count pin will indicate if this is happening frequently.
[QTvcp.QTDRAGON_HD_HANDLER][WARNING] QtDragon warning with loading QtWebEngineWidget - is python3-pyqt5.qtwebengine installed? (qtdragon_hd_handler.py:35)
[QTvcp.QTVCP.QT_MAKEGUI][DEBUG] Module 'qtdragon_hd_handler' imported OK (qt_makegui.py:305)
[QTvcp.QTVCP.QT_MAKEGUI][DEBUG] Module 'qtdragon_hd_handler' : 'get_handlers' function found. (qt_makegui.py:311)
[QTvcp][DEBUG] Calling the handler file's initialized__ function (qtvcp:293)
No default setup file found - 'QWebPage' object has no attribute 'urlChanged'
[QTvcp][INFO] Postgui filename: (qtvcp:427)
No module named 'scipy' Is python3-scipy installed?
[QTvcp][INFO] Postgui commands: None (qtvcp:439)
[QTvcp][INFO] Preference path: /home/john/linuxcnc/configs/SiegX3/qtdragon_hd.pref (qtvcp:416)
hm2/hm2_7i76e.0: error finishing read! iter=5329
hm2/hm2_7i76e.0: error finishing read! iter=5329
emc/task/emctask.cc 69: interp_error: File not open
File not open
emc/task/emctask.cc 69: interp_error: File not open
File not open
emc/task/emctask.cc 69: interp_error: File not open
File not open
emc/task/emctask.cc 69: interp_error: File not open
File not open
emc/task/emctask.cc 69: interp_error: File not open
File not open
[QTvcp.QTVCP.LIB.SYS_NOTIFY][DEBUG] Desktop Notify: org.freedesktop.DBus.Error.ServiceUnknown: The name :1.66 was not provided by any .service files (sys_notify.py:144)
[QTvcp.QTVCP.LIB.SYS_NOTIFY][DEBUG] Desktop Notify: org.freedesktop.DBus.Error.ServiceUnknown: The name :1.66 was not provided by any .service files (sys_notify.py:144)
emc/task/emctask.cc 69: interp_error: File not open
File not open
[QTvcp.QTVCP.LIB.SYS_NOTIFY][DEBUG] Desktop Notify: org.freedesktop.DBus.Error.ServiceUnknown: The name :1.66 was not provided by any .service files (sys_notify.py:144)
Thanks
John
Am I doing something wrong here?
hm2: loading Mesa HostMot2 driver version 0.15
hm2_eth: loading Mesa AnyIO HostMot2 ethernet driver version 0.2
hm2_eth: 10.10.10.10: INFO: Hardware address (MAC): 00:60:1b:10:45:f1
hm2_eth: discovered 7I76E-16
hm2/hm2_7i76e.0: Low Level init 0.15
hm2/hm2_7i76e.0: Smart Serial Firmware Version 43
Board hm2_7i76e.0.7i76.0.0 Hardware Mode 0 = standard
Board hm2_7i76e.0.7i76.0.0 Software Mode 0 = io_spin
Board hm2_7i76e.0.7i76.0.0 Software Mode 1 = io_ana_spin
Board hm2_7i76e.0.7i76.0.0 Software Mode 2 = io_enc_ana_spin_fv
Waiting for component 'hm2_eth' to become ready.Board hm2_7i76e.0.7i83.0.1 Hardware Mode 0 = standard
Board hm2_7i76e.0.7i83.0.1 Software Mode 0 = analogout_enables
......hm2/hm2_7i76e.0: 51 I/O Pins used:
hm2/hm2_7i76e.0: Smart Serial port 0: DoIt not cleared from previous servo thread. Servo thread rate probably too fast. This message will not be repeated, but the hm2_7i76e.0.sserial.0.fault-count pin will indicate if this is happening frequently.
hm2/hm2_7i76e.0: Smart Serial port 0: DoIt not cleared from previous servo thread. Servo thread rate probably too fast. This message will not be repeated, but the hm2_7i76e.0.sserial.0.fault-count pin will indicate if this is happening frequently.
[QTvcp.QTDRAGON_HD_HANDLER][WARNING] QtDragon warning with loading QtWebEngineWidget - is python3-pyqt5.qtwebengine installed? (qtdragon_hd_handler.py:35)
[QTvcp.QTVCP.QT_MAKEGUI][DEBUG] Module 'qtdragon_hd_handler' imported OK (qt_makegui.py:305)
[QTvcp.QTVCP.QT_MAKEGUI][DEBUG] Module 'qtdragon_hd_handler' : 'get_handlers' function found. (qt_makegui.py:311)
[QTvcp][DEBUG] Calling the handler file's initialized__ function (qtvcp:293)
No default setup file found - 'QWebPage' object has no attribute 'urlChanged'
[QTvcp][INFO] Postgui filename: (qtvcp:427)
No module named 'scipy' Is python3-scipy installed?
[QTvcp][INFO] Postgui commands: None (qtvcp:439)
[QTvcp][INFO] Preference path: /home/john/linuxcnc/configs/SiegX3/qtdragon_hd.pref (qtvcp:416)
hm2/hm2_7i76e.0: error finishing read! iter=5329
hm2/hm2_7i76e.0: error finishing read! iter=5329
emc/task/emctask.cc 69: interp_error: File not open
File not open
emc/task/emctask.cc 69: interp_error: File not open
File not open
emc/task/emctask.cc 69: interp_error: File not open
File not open
emc/task/emctask.cc 69: interp_error: File not open
File not open
emc/task/emctask.cc 69: interp_error: File not open
File not open
[QTvcp.QTVCP.LIB.SYS_NOTIFY][DEBUG] Desktop Notify: org.freedesktop.DBus.Error.ServiceUnknown: The name :1.66 was not provided by any .service files (sys_notify.py:144)
[QTvcp.QTVCP.LIB.SYS_NOTIFY][DEBUG] Desktop Notify: org.freedesktop.DBus.Error.ServiceUnknown: The name :1.66 was not provided by any .service files (sys_notify.py:144)
emc/task/emctask.cc 69: interp_error: File not open
File not open
[QTvcp.QTVCP.LIB.SYS_NOTIFY][DEBUG] Desktop Notify: org.freedesktop.DBus.Error.ServiceUnknown: The name :1.66 was not provided by any .service files (sys_notify.py:144)
Thanks
John
19 Sep 2023 00:16
Replied by Jdog on topic No arc voltage
No arc voltage
Category: General LinuxCNC Questions
I am using thcad 10 with 7i76e. I will double check polarity and verify. Thanks
Time to create page: 4.004 seconds