Linux Mint - PlasmaC upgrade confusion

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6 years 1 month ago #180995 by phillc54
There is no torch off signal in that code, this seems to indicate it is not a M5 error then.
Can you add a M5 $0 after the G1 X0 Y0 and see it there is a difference?
Does it give the following error after a run with the torch disabled?

I won't see the reply till tomorrow, off to bed...

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6 years 1 month ago #180996 by Mud
This also trips right at the end.
Code:
g21 g64 p0.005 m52 p1 f#<_hal[plasmac.cut-feed-rate]> t0 m6 g43 h0 g0 x0 y0 m3 $0 s1 g1 x0 y50 g1 x50 y50 g1 x50 y0 g1 x0 y0 m5 $0 t1 m6 g43 h0 g0 x0 y0 m3 $1 s1 g1 x0 y50 g1 x50 y50 g1 x50 y0 g1 x0 y0 m5 $1 t0 m6 g43 h0 g0 x0 y0 m2

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6 years 1 month ago #180997 by Mud

phillc54 wrote: There is no torch off signal in that code, this seems to indicate it is not a M5 error then.
Can you add a M5 $0 after the G1 X0 Y0 and see it there is a difference?
Does it give the following error after a run with the torch disabled?

I won't see the reply till tomorrow, off to bed...


Like this? It still trips at the end.
Code:
g21 g64p0.1 g40 g49 g80 g90 g92.1 g94 g97 f#<_hal[plasmac.cut-feed-rate]> g0 x0 y0 m3 $0 s1 g1 x0 y50 g1 x50 y50 g1 x50 y0 g1 x0 y0 m5 $0 g21 g64p0.1 g40 g49 g80 g90 g92.1 g94 g97 m2

Edit to add, I'm only running with the torch disabled right now.

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6 years 1 month ago #181000 by snowgoer540

Mud wrote: Edit to add, I'm only running with the torch disabled right now.


Interesting, I only see the problem when the torch is enabled. I will try to run your code and see what it does for me here.

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6 years 1 month ago #181006 by PCW

Mud wrote: Ok...I'm now in Mint 19.2 with kernel 4.19.106-rt44-lcnc and 2.8.0. Same problem of joint 3 following error (triggers on the arc out of the circle shown), irrespective of IPO cycle time of 1ms or 2ms (and I tried halving P). The halcmd tmax values are now lower though.

Since it's now a fresh install I'll double-check everything again, but it seems I'm back where I was (albeit less legacy to worry about).

I'm assuming I'm going to be very embarrassed by whatever the problem ends up being...

Is it worth me trying to use the 7i96 with the Realtek RTL8196/8110 PCI NIC?


I would say that you have solved the real time issues so there's no point it using a different NIC

Is Joint 3 the Z axis?

Can you post your ini file?

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6 years 1 month ago #181007 by Mud
Yes, joint 3 is z - I've attached my INI.

Should I be getting the line 'Segmentation fault' on running this mesaflash command?
Code:
mud@Plasma:~$ mesaflash --device 7i96 --addr 10.10.10.10 --readhmid Configuration Name: HOSTMOT2 General configuration information: BoardName : MESA7I96 FPGA Size: 9 KGates FPGA Pins: 144 Number of IO Ports: 3 Width of one I/O port: 17 Clock Low frequency: 100.0000 MHz Clock High frequency: 200.0000 MHz IDROM Type: 3 Instance Stride 0: 4 Instance Stride 1: 64 Register Stride 0: 256 Register Stride 1: 256 Modules in configuration: Module: DPLL There are 1 of DPLL in configuration Version: 0 Registers: 7 BaseAddress: 7000 ClockFrequency: 100.000 MHz Register Stride: 256 bytes Instance Stride: 4 bytes Module: WatchDog There are 1 of WatchDog in configuration Version: 0 Registers: 3 BaseAddress: 0C00 ClockFrequency: 100.000 MHz Register Stride: 256 bytes Instance Stride: 4 bytes Module: IOPort There are 3 of IOPort in configuration Version: 0 Registers: 5 BaseAddress: 1000 ClockFrequency: 100.000 MHz Register Stride: 256 bytes Instance Stride: 4 bytes Module: StepGen There are 5 of StepGen in configuration Version: 2 Registers: 10 BaseAddress: 2000 ClockFrequency: 100.000 MHz Register Stride: 256 bytes Instance Stride: 4 bytes Module: QCount There are 1 of QCount in configuration Version: 2 Registers: 5 BaseAddress: 3000 ClockFrequency: 100.000 MHz Register Stride: 256 bytes Instance Stride: 4 bytes Module: SSerial There are 1 of SSerial in configuration Version: 0 Registers: 6 BaseAddress: 5B00 ClockFrequency: 100.000 MHz Register Stride: 256 bytes Instance Stride: 64 bytes Module: Transformer There are 1 of Transformer in configuration Version: 0 Registers: 2 BaseAddress: 7D00 ClockFrequency: 100.000 MHz Register Stride: 256 bytes Instance Stride: 4 bytes Module: LED There are 1 of LED in configuration Version: 0 Registers: 1 BaseAddress: 0200 ClockFrequency: 100.000 MHz Register Stride: 256 bytes Instance Stride: 4 bytes Configuration pin-out: IO Connections for P1 Pin# I/O Pri. func Sec. func Chan Pin func Pin Dir 1 0 IOPort None 14 1 IOPort None 2 2 IOPort None 15 3 IOPort None 3 4 IOPort None 16 5 IOPort None 4 6 IOPort None 17 7 IOPort None 5 8 IOPort None 6 9 IOPort None 7 10 IOPort None 8 11 IOPort Transformer 0 Drive (Out) 9 12 IOPort Transformer 0 Ref (Out) 10 13 IOPort Transformer 0 Null3 (Out) 11 14 IOPort Transformer 0 Null4 (Out) 12 15 IOPort Transformer 0 Null5 (Out) 13 16 IOPort Transformer 0 Null6 (Out) IO Connections for TB1 Pin# I/O Pri. func Sec. func Chan Pin func Pin Dir 1 17 IOPort StepGen 0 Step/Table1 (Out) 14 18 IOPort StepGen 0 Dir/Table2 (Out) 2 19 IOPort StepGen 1 Step/Table1 (Out) 15 20 IOPort StepGen 1 Dir/Table2 (Out) 3 21 IOPort StepGen 2 Step/Table1 (Out) 16 22 IOPort StepGen 2 Dir/Table2 (Out) 4 23 IOPort StepGen 3 Step/Table1 (Out) 17 24 IOPort StepGen 3 Dir/Table2 (Out) 5 25 IOPort StepGen 4 Step/Table1 (Out) 6 26 IOPort StepGen 4 Dir/Table2 (Out) 7 27 IOPort QCount 0 Quad-A (In) 8 28 IOPort QCount 0 Quad-B (In) 9 29 IOPort QCount 0 Quad-IDX (In) 10 30 IOPort SSerial 0 RXData1 (In) 11 31 IOPort SSerial 0 TXData1 (Out) 12 32 IOPort SSerial 0 TXEn1 (Out) Segmentation fault (core dumped)

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6 years 1 month ago #181013 by PCW

FERROR = 0.0051
MIN_FERROR = 0.0025


These are too small. I'm surprised you don't get following errors on all axis

Try .05 and .01

The Segv is because you have an old version of mesaflash

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6 years 1 month ago #181014 by Mud
Ah, stuffed by Imperial values on metric?

edit: still getting the error unfortunately.

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6 years 1 month ago #181015 by PCW
Possibly

The only function of the ferror limits is to stop the machine if its out of tolerance
or its trying to runaway due to misconfiguration or hardware fault.
Setting the limits too narrow is going to result in nuisance following errors
due to minor timing variations or sub optimum tuning.

If you still get the error on joint 3 it may be that joint 3 is being asked to do something it cannot.
That is, the commanded positions violate the acceleration or speed constraints of the
stepgen. This may require a halscope plot of the joint commanded and feedback positions
along with the following error to see what's going on.

Alternatively you could just set the joint 3 following error limits to large numbers (say 10 and 10) and see
what happens...

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6 years 1 month ago #181016 by Mud
I just tried this on Joint 3:

FERROR = 0.25
MIN_FERROR = 0.05

No difference.

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