LinuxCNC S-Curve Accelerations

PCW
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1 year 5 months ago #327870 by PCW

Replied by PCW on topic LinuxCNC S-Curve Accelerations

Will test today or tomorrow.

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Grotius
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1 year 5 months ago #327874 by Grotius

Replied by Grotius on topic LinuxCNC S-Curve Accelerations

Hi Pcw,

Thanks for your fast responce.

We have an issue on codeberg. I invested today to find why the scurve some times breaks. We then see a
vertical line in the plot of tpmod.curvel.
The curve kind of starting from vel=0 again. Jumping etc.

It seems if my base thread is set to 50000 (too fast),
the scurve lib is not able to finish the algo anymore. Resulting in strange behaviour.
Like a sqrt() function taking about 1 ms to complete, wich is absolulutely madness.

Now if i set the base thread to 80000. Everything goes fine.
So i thought, better you know this also.

The guy in italy had 6 axis ethercat running, very difficult .hal setup, constantly breaking the scurve every move,
even without clothoids.

So now i helped him with remote desktop for hours. And now with a simple config he runs ok. We don't know
his cause exactly. But we are happy the problem is gone now.

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Grotius
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1 year 5 months ago #327941 by Grotius

Replied by Grotius on topic LinuxCNC S-Curve Accelerations

Hi Pcw,

To inform you.

I just synchronized the codeberg lcnc to github's lcnc codebase.
I did messed up some hal source code when trying things out, wich resulted in a non starting simulation config for "run_axis_9".
This is now reverted.

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PCW
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1 year 5 months ago #327965 by PCW

Replied by PCW on topic LinuxCNC S-Curve Accelerations

Is there a different repository? Just did a git pull
and got: "already up to date"

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Grotius
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1 year 5 months ago #327982 by Grotius

Replied by Grotius on topic LinuxCNC S-Curve Accelerations

Hi Pcw,

Its still this one : codeberg.org/skynet/linuxcnc_scurve_compact

I did a forced upload yesterday, resulting the git history is whiped out.
Otherwise maybe to be sure : git clone --recurse-submodules codeberg.org/skynet/linuxcnc_scurve_compact

If you see the new hal pins appearing, it's ok.

I really hope you can run a few motions.

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tiagounderground
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1 year 5 months ago #328031 by tiagounderground

Replied by tiagounderground on topic LinuxCNC S-Curve Accelerations

hi all
i tried to install in 3 different computers with no sucess, all of then was working linuxcnc installed. in the last one it says it could not find tpmod_scurve.so. i was able to run the previous versions, so i copy this file from a previous installation and was able to start in simulation mode but those new hal pins didnt apear to me.

edit
solve the problem moving files from clothoid_3d and scurve to their lib directories.

edit 2
cant run ethercat

when installing linuxcnc-ethercat this error apears

/home/cnc/scurve2/linuxcnc_scurve_compact/linuxcnc-ethercat/lcec_rtapi.h:22:10: fatal error: rtapi.h: Arquivo ou diretório inexistente
22 | #include <rtapi.h>
| ^~~~~~~~~
edit3
it runs on ethercat now but i cant start a gcode, it says

task: main loop took 0.023097 seconds
tpAbort.
tpAbort.
task: main loop took 0.070196 seconds
tpAbort.
tpAbort.
task: main loop took 0.044852 seconds
task: main loop took 0.011368 seconds

Then the above pins must stay below ~50000 nanosec at runtime.
they all stayed below 50000 nanosec

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Grotius
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1 year 5 months ago #328047 by Grotius

Replied by Grotius on topic LinuxCNC S-Curve Accelerations

Hi Tia,

Attached file can be renamed to install.sh
This is more or less the install procedure to get it going, excluding the ethercat-master setup.

Furthermore we expanded the current path algo to a new one wich covers abc uvw motion at fillets.
This path algo is active by default.

Furthermore we solved a codeberg issue , related to uvw motions at runtime.

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tiagounderground
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1 year 5 months ago #328089 by tiagounderground

Replied by tiagounderground on topic LinuxCNC S-Curve Accelerations

I instaled linuxcnc scurve compact with the install script from cmake folder
Is it different from the one in the root scurve compact folder?

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PCW
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1 year 5 months ago #328105 by PCW

Replied by PCW on topic LinuxCNC S-Curve Accelerations

Well, ran install.sh and it wiped everything except the base mint installation
on my test computer. Not trying that again.

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Hakan
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1 year 5 months ago #328413 by Hakan

Replied by Hakan on topic LinuxCNC S-Curve Accelerations

Did that too hehe. All files gone. Luckily it was a new PC so I can redo it.
I mean do it one more time and delete all files again

It's the ./build_cmake_rm that is a bit aggressive.

This is the log of that command, it goes a bit further bit I only include up to the point where things go wrong.

Warning: Spoiler!

+
| liblinuxcnchal |
+

+
-- The C compiler identification is GNU 12.2.0
-- Detecting C compiler ABI info
-- Detecting C compiler ABI info - done
-- Check for working C compiler: /usr/bin/cc - skipped
-- Detecting C compile features
-- Detecting C compile features - done
-- Configuring done
-- Generating done
-- Build files have been written to: /home/debian/src/linuxcnc/cmake/liblinuxcnchal/build
[ 66%] Building C object CMakeFiles/linuxcnchal.dir/home/debian/src/linuxcnc/src/hal/hal_lib.c.o
[ 66%] Building C object CMakeFiles/linuxcnchal.dir/home/debian/src/linuxcnc/src/rtapi/uspace_ulapi.c.o
[100%] Linking C shared library liblinuxcnchal.so
[100%] Built target linuxcnchal
[100%] Built target linuxcnchal
Install the project...
-- Install configuration: "Release"
-- Installing: /home/debian/src/linuxcnc/cmake/liblinuxcnchal/../../lib/liblinuxcnchal.so.0
-- Up-to-date: /home/debian/src/linuxcnc/cmake/liblinuxcnchal/../../lib/liblinuxcnchal.so
+

+
| custom motmod.so |
+

+
-- The CXX compiler identification is GNU 12.2.0
-- The C compiler identification is GNU 12.2.0
-- Detecting CXX compiler ABI info
-- Detecting CXX compiler ABI info - done
-- Check for working CXX compiler: /usr/bin/c++ - skipped
-- Detecting CXX compile features
-- Detecting CXX compile features - done
-- Detecting C compiler ABI info
-- Detecting C compiler ABI info - done
-- Check for working C compiler: /usr/bin/cc - skipped
-- Detecting C compile features
-- Detecting C compile features - done
-- Configuring done
-- Generating done
-- Build files have been written to: /home/debian/src/linuxcnc/cmake/libmotion/build
[ 11%] Building C object CMakeFiles/motmod.dir/home/debian/src/linuxcnc/src/emc/kinematics/cubic.c.o
[ 23%] Building C object CMakeFiles/motmod.dir/home/debian/src/linuxcnc/src/emc/motion/command.c.o
[ 23%] Building C object CMakeFiles/motmod.dir/home/debian/src/linuxcnc/src/emc/motion/axis.c.o
[ 23%] Building C object CMakeFiles/motmod.dir/home/debian/src/linuxcnc/src/emc/motion/motion.c.o
[ 29%] Building C object CMakeFiles/motmod.dir/home/debian/src/linuxcnc/src/emc/motion/control.c.o
[ 35%] Building C object CMakeFiles/motmod.dir/home/debian/src/linuxcnc/src/emc/motion/simple_tp.c.o
[ 41%] Building C object CMakeFiles/motmod.dir/home/debian/src/linuxcnc/src/emc/motion/emcmotutil.c.o
[ 47%] Building C object CMakeFiles/motmod.dir/home/debian/src/linuxcnc/src/emc/motion/stashf.c.o
[ 52%] Building C object CMakeFiles/motmod.dir/home/debian/src/linuxcnc/src/emc/motion/dbuf.c.o
[ 58%] Building C object CMakeFiles/motmod.dir/home/debian/src/linuxcnc/src/emc/tp/tc.c.o
[ 64%] Building C object CMakeFiles/motmod.dir/home/debian/src/linuxcnc/src/emc/tp/tcq.c.o
[ 70%] Building C object CMakeFiles/motmod.dir/home/debian/src/linuxcnc/src/emc/tp/spherical_arc.c.o
[ 76%] Building C object CMakeFiles/motmod.dir/home/debian/src/linuxcnc/src/emc/tp/blendmath.c.o
[ 82%] Building C object CMakeFiles/motmod.dir/home/debian/src/linuxcnc/src/emc/nml_intf/emcpose.c.o
[ 88%] Building C object CMakeFiles/motmod.dir/home/debian/src/linuxcnc/src/libnml/posemath/_posemath.c.o
[ 94%] Building C object CMakeFiles/motmod.dir/home/debian/src/linuxcnc/src/libnml/posemath/sincos.c.o
[100%] Linking C shared library motmod.so
[100%] Built target motmod
[100%] Built target motmod
Install the project...
-- Install configuration: "Release"
-- Installing: /home/debian/src/linuxcnc/cmake/libmotion/../../rtlib/motmod.so
+

+
| custom homemod.so |
+

+
| libclothoid3d.so |
+

+
./build_cmake_rm: rad 84: cd: libclothoid3d/src: Filen eller katalogen finns inte
CMake Warning:
Ignoring extra path from command line:

".."

CMake Error: The source directory "/home/debian/src/linuxcnc/cmake" does not appear to contain CMakeLists.txt.
Specify --help for usage, or press the help button on the CMake GUI.
make: *** Inga mål angavs och ingen makefil hittades. Stannar.
make: *** Ingen regel för att skapa målet ”install”. Stannar.

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