Oh, I did not realize that there is a pcnconf utility. I used stepconf for my old machine, so hopefully this will work as well.
Deleting all the estop latch stuff did not work.
I will give pncconf a try next week.
Thank you for your help so far!

Not sure but something about the estop latch is is not working.

I would probable delete all the estop latch stuff as it's really not
needed here.

You might also be better off starting with a pncconf configuration


 

So ive tried the new repo code and it still hasnt enabled dc-phase or shown any value for PLL-ERR or PLL-out except 0.

Im not sure if i plotted it correctly because i couldnt find the servo thread in halscope (is it servothread.time? ). However, please see attached image for pll-err and app-phase like requested.

Sync0Shfit was changed to 300000 aswell like you suggested

Mesa Hostmot2 supports homing to index on step/dir systems.
It requires firmware that supports step/dir Index (normally
such firmware has "SDI" in it's name). It also requires one free
input per step/dir channel for the index signal.

This allows homing to index  and spindle synchronized motion  on
step/dir systems without encoder feedback to LinuxCNC.

I will give it a shot. Thanks for the Feedback regarding my files 

Thanks! Unfortunately I don’t have time to test this today, but will do it tomorrow at the earliest or Monday at the latest.

@ Atsu

I made a small change in my repo, get the new code, and make a new build then test, see if pll-err and pll-out get a value this time.

Hi, just a note if you try to use the on-screen keyboard, this will not work.  It results in:

This is due to an unmet dependency.   is included, but not  .  Install that package also and onboard will then work.

grandixximo wrote:

@atsu

Your servo drivers support a period of 1250000

????

Yes, they should. The manual states the following:

In the work mode, the synchronization cycle must be an integer multiple of 125 μs. Otherwise, the servo
drive will report Er74.0 (EtherCAT synchronization cycle setting is incorrect.)

Initially, I ran the drives with a period of 1000000 ns, but increased it to the current value couple months ago. Did it because in some rare instances I got "Unexpected realtime delay on task 0 with period 1000000" error in UI. I can try lowering it back to 1000000 ns to see if it makes any difference.

@TAKUYA

I see that you did not set pdo 1600 for your X drive was this on purpose?

I don't think the EK1100 needs the dconf line at all, but that should not effect, your DC seems ok, can you open the halscope, plot pll_err and app_phase? also servo-thread

also Sync0Shift should be half or 30% your cycle time, not 0
 

forgot to mention granite devices have a good article about feedback systems and even mentions Linuxcnc
granitedevices.com/wiki/Dual-loop_feedback_position_control  

@atsu

Your servo drivers support a period of 1250000

????

Hi ihavenofish,

I am also in process of retrofitting a TC225, however I am in a different situation where the machine was completely gutted and I am starting from (almost) scratch. When you get a chance could you send us that pinout? I have the Oriental Motor brake pack and gear motor and am confident in that part, but I haven't been able to find any information on the encoder. All I have right now is a harness that has 8 wires with the following labels: 49, 50, 51, 52, 53, 54, 55, and E. My next step was to start probing each wire to determine which ones are 0V, +24V, and the 4 BCD signals. E is obviously earth ground.

I appreciate it!
Jeff

Do not fight the paradigm to avoid a world of pain.
To say you have open loop is not correct. your encoder output should be fully wired in so you do have a feedback loop. Some machines have a dual feedback loop with the motor encoder configured in velocity mode inner loop and optional linear scales configured in position mode as the outer loop.

There are many closed loop stepper motors with encoders and a few also have an index signal. Usually the dual feedback system connects the motor encoder velocity feedback to the drive and the position feedback to linuxcnc.

I have never had drives with index marks but my uderstanding  is that linuxcnc can search for a home switch, then move to the nearest index pulse before completing homing. Ethercat drives that home internally are different animal altogether

The new PR with comp kinematics support for TP2 will have artifact debs at the end of this link

github.com/LinuxCNC/linuxcnc/actions/runs/23100211514?pr=3807