Yea, scaling and all the math made my brain hurt.

First, it helped me to stop thinking of INI file terms like ENCODER_SCALE whenever they are used to set the value of something in HAL.  Think about the underlying pins when working on the math, not the arbitrary INI parameter name.  I got confused (still do) between all the various 'NNN_SCALE' things in INI and would mix up what was affecting what.  Helps when you write them out all in one place:

• encoder.N.scale = [SPINDLE_N] ENCODER_SCALE = 10000
• stepgen.N.position-scale = yada yada yada

So hurdle #1 - spindle and c-axis are in different units.  Spindle is in revolutions, c-axis is in degrees.  This causes brain hurt.

#2 - as you noticed, spindle scale is a velocity thing, so it's a RPM/RPS formula not steps per degree.

#3 - remember that my spindle drive is internally in velocity mode ONLY, and my stepgen is always in velocity-mode... so I don't switch the stepgen position-scale via M102/103.

If you are switching the drive internally, you will almost certainly need to change the stepgen scale for each drive mode.

ec_generic doesn't add or remove any interrupt moderation.
ec_generic is just a layer on top of linux's normal network driver.
 

Thanks, but the USB stick was really broken and it blocks any PC it's plugged into. I'm using the handwheel to modify it with an ESP32.

I have the variator now basically working.

To the 3 problems I laid out a few days ago:

1: The problem was really at 2 points. For one, the line
setp [HMOT](CARD0).pwmgen.05.
offset-mode should have been 1 and was 0, and on top the VFD was set slightly wrong. Using open-loop FOC now, the tuning went much better.

2: The divide-by-0 issue is still somewhat there, but giving both ".in" pins a starting value greater than 0 makes it so it still throws an error at startup but works as expected thereafter.

3: It seems that I cannot manipulate the error term directly, but what works is to take commanded and feedback, calculate the error, and scale that error. With that, I can “reassemble” a feedback that leads the PID component to get the error I want it to.

With all that, I am able to have stable control over the whole RPM range of about 65 RPM to 3000 RPM.

The variator control still has to be improved, but the principle seems absolutely workable.

I figured out the problem. The spindle at speed wasn't going true for the clockwise direction of the spindle causing the code to hang.

I have been experimenting with planner type 1 for a while now with 3-axis milling machine. Generally it seems to work but I'm having problems with g33.1. What is the current state with tp1, should it work when running g33.1? Right now I get error "ruckig_plan_position: invalid limits (v=0.000000, a=3000.000000, j=120000.000000)" at every spindle revolution. In ini file I have nonzero traj(default_linear_velocity, max_linear_velocity), axis' and joints(max_velocity).

EDIT: did more testing. Slowed down spindle speed, looks like the error appears all the time and not only once in revolution. The z-axis velocity seems to be bouncing between 0 to something when the control tries to keep the axis synced, and the tp1 planning breaks every time the speed goes past zero. The other (bigger) problem is when g33.1 is on the bottom and spindle rotation changes, joint2 following error appears.

I solved this temporarily by adding a hal pin to tp which sets true when spindle synchronized motion is on and used that to live change to tp0. With that rigid tapping works just fine although the same z-axis velocity bouncing is present.
 

The instructions to install ethercat are here:
forum.linuxcnc.org/ethercat/45336-etherc...-how-to-step-by-step

We use an xml file to define PDOs and map to linuxcnc pins but its nothing like twincat stuff.

I've been working on a custom ISO that installs ethercat and tunes the kernel but its slow going.

grandixximo wrote:

With ec_igb or ec_igc native driver: interrupt moderation is irrelevant, they use polling not interrupt.
With ec_generic: interrupt moderation is active and you should disable it with

ethtool -C <iface> adaptive-rx off rx-usecs 0 tx-usecs 0

probably as soon as possible on boot, before ethercat starts.
To know which drive you are using, check your erhercat.conf file

You can use a udev rule to do this. we use one for ethercat to use as an example. You might be able to extend the ethercat script  to add ethtool commands for: 
<iface> gro off lro off tso off
-set-eee <iface> eee off
 

Could you please provide the error logs?

ah thanks I uncommented that out. No change to the behavior though.
 

pid.s.index-enable is still commented out in the last file you attached.

ich arbeite aktuell mit einem externen Touchscreen-Monitor, der an ein Ubuntu-System angeschlossen ist. Es handelt sich dabei um ein Setup, das eher für industrielle Anwendungen gedacht ist (ähnlich wie ein Panel PC / Kiosk-System).

Das Problem ist, dass der Touch zwar erkannt wird, aber die Eingabe nicht ganz präzise ist bzw. teilweise verzögert reagiert. Ich habe bereits versucht, einige Einstellungen zu prüfen, aber bisher ohne Erfolg.

Hat jemand Erfahrung mit der Kalibrierung von Touchscreens unter Ubuntu oder kennt mögliche Lösungen (Treiber, Tools etc.)?

Ich habe auch einige industrielle Touchscreen-Lösungen gesehen, die speziell für solche Anwendungsfälle optimiert sind, z. B. hier:
baobaotechnology.com/our-products/touchscreen-computers/

Vielleicht hat jemand ähnliche Hardware im Einsatz und kann Tipps geben.

Vielen Dank im Voraus!

Okay, I cleaned it up and made sure a signal spindle-index-enable was connected. We still get to the G33.1 line and it sits there and doesnt move in the z axis.

Sorry, let me clean that up a bit.
 

I'm currently working on the Probe_basic version. In the Handrad.hal and probe_basic_postgui.hal files, there are two lines that are causing problems. I’ll just copy the relevant parts here:

handrad.hal
net pdnt.program.is-idle whb.halui.program.is-idle halui.program.is-idle
net pdnt.program.is-paused whb.halui.program.is-paused halui.program.is-paused

and

postgui
#net prog-running not.0.in <= halui.program.is-idle
#net prog-paused halui.program.is-paused => time.0.pause
net cycle-timer time.0.start <= not.0.out
net cycle-seconds qtpyvcp.timerseconds.in <= time.0.seconds
net cycle-minutes qtpyvcp.timerminutes.in <= time.0.minutes
net cycle-hours qtpyvcp.timerhours.in <= time.0.hours
# *** Time items required for Probe Basic to run ***

As far as I understand, program.is-idle starts and “resets” a timer, and program.is-paused pauses the timer.