I am currently controlling 3 EtherCAT servo drivers via SOEM. I want to run some G-code with my system. I am searching a G-code interpreter and trajectory planner in C++. Then I found LinuxCNC. I read some document and video. I have some questions below.

1. Are there G-code interpreter and trajectory planner API I can call for my application from LinuxCNC?
2. Is there a way to connect my EtherCAT servo to Linuxcnc?

I prefer to use API for my application. Please advise. Thank you guys.  

 

I updated to 2.9.8 and everything seems to work well now. Thank you !

The drive is an Astraada SRV-63. There's only analog in and serial for speed mode sadly.

However shouldn't the stepgen treat it like a velocity signal anyway? As in it generates signal until it reaches setpoint, the drive will turn the motor as long as it receives steps, right? I've been breaking my head about this all day and can;t seem to figure out why is even the setpoint from LCNC choppy? The joint.2.motor-pos-cmd is the origin of the signal it seems to me and shouldn't it be a smooth slope, letting the pid loop take care of reaching the values? Can;t seem to find info on what actually happens in LCNC between something like "G0C0" and joint.x.motor-pos-cmd. A bit stumped now

Just a quick glance... all your spindle-index-enable signal lines appear to be commented out in the HAL file.

Maybe a double-check and possibly uncomment those lines?

Yes, possibly the drive itself is responsible for the choppy movement.

What input methods are available for velocity mode?  If the drive accepts PWM, you can change stepgens to PWMgens on Mesa cards.

You also may be able to tune the drive to run more smoothly in position mode.  Perhaps the drive permits different tuning values to be changed on-the-fly by the user via inputs (or modbus)?  This might allow you to keep the drive in position mode, but have a tight tune for Caxis and a more gentle tune for spindle/velocity mode.

What is the drive mfgr/model?

Hi all,

We got our lathe to run and have been moving on to some of the finer details.We are on Linuxcnc version 2.9.2. We are using the AXIS display and have a Mesa 7i95 board. The problem we have been having is when trying to get our machine to do rigid tapping we will get to the g-code that does the rigid tapping and it will hang. From what I've understood, we need to have the at speed signal be true for rigid tapping? We have also manually confirmed that the spindle index enable will go low when it reaches one specific point on the spindle. I was hoping that we could get some help with anything that might be causing this issue. I have attached our hal, ini, and the gcode we are trying to run on our lathe.

-jblanscett

Hi all,

I've been having an issue with my iMach3 P2-S pendant since I installed it. Basically, the thing works great. I love it.

However, it seems to stop working randomly. I can use it for anywhere from a minute to hours when it seems reset back to the LinuxCNC screen and stops working with LinuxCNC. I've tried unplugging the USB cable and reattaching it, but it doesn't seem to help.

Any ideas?

TIA

Thanks!

I also had to uncomment 
net spindle-vel-cmd-rpm-abs    <=  spindle.0.speed-out-abs

and change
#net pdnt.spindle-speed-abs whb.halui.spindle-speed-cmd spindle.0.speed-out-abs # speed cmd from motion in rpm absolute #2026.04.09
net spindle-vel-cmd-rpm-abs whb.halui.spindle-speed-cmd
 

Thanks for quick reply. I will try this? Does default rpi install have any swap enabled?

neeeed jerk controllll.... hahaha

I suppose having the drive itself in position mode is causing this? The movement is choppy no matter what. I suppose it's because the output is controlling a position step/dir signal rather a speed signal? I wanted to rewire it for speed, but apparently my drive doesn't allow for speed control over digital step/dir signals. I'm sure there must be a way for it to work in position  mode though? 

Hey, you are spot on. I realized this late last night as well. The manuals confirm that this series of drives are designed for 120V inputs.I also confirmed that the power supply going to the chassis is a 277V (single leg of 480-3) so it must be that there is a voltage drop, and then, a rectifier before the capacitor. I attached the picture for today's work, but I think there is an SCR directly below the cap, and to its right is the rectifier. I was expecting a transformer and completely missed the SCR hidden behind the wires. I'm trying not to change the wire layout until I am more comfortable, but I think I am getting there. 

So I think the drives have: DC in, DC out, tach, reset/enable and 10V command. 

I do not believe there is a bridge rectifier. I think its just an SCR and then a couple of diodes. Will take apart the wires and check today but I am getting more and more confident that if I identify the 120V input (native to the SD chassis, without the 480V single leg add on) I should be able to connect 120V to it and make it work. Just need to find me a box of 100W lightbulbs.

The hardware spindle enable can never get set:

net spindle-output => hm2_7i76e.0.7i76.0.0.spinout
net spindle-enable => hm2_7i76e.0.7i76.0.0.spinena << hardware spindle enable
net spindle-ccw => hm2_7i76e.0.7i76.0.0.spindir

# ---setup spindle control signals---

net spindle-vel-cmd-rps <= spindle.0.speed-out-rps
net spindle-vel-cmd-rps-abs <= spindle.0.speed-out-rps-abs
net spindle-vel-cmd-rpm <= spindle.0.speed-out
#net spindle-vel-cmd-rpm-abs <= spindle.0.speed-out-abs
#net spindle-enable <= spindle.0.on << but the signal is not driven

One possibility is to change:
net pdnt.spindle.is-on whb.halui.spindle.is-on spindle.0.on

To
net spindle-enable whb.halui.spindle.is-on

and uncomment this line:

#net spindle-enable <= spindle.0.on

 

 
Hello Everyone, 
I have been working with LCNC for a couple of years now, but I am just now entering the forums. I am currently struggling to solve a CIA402 and Ethercat issue. I have set up Yaskawa Sigma-X servo packs using the CIA402.comp by  dbraun1981  and Ethercat Lcec. My problem is that on startup, the servo packs will transition through preop -> safeop -> op, but after sending the servo on control word one or more of my servos will drop to preOP or preOP E. I can fix this by sending the EtherCAT states OP command in the terminal and trying again. Sometimes I have to repeat this process 4 to 5 times before they all hold the OP state. I am thinking that it is related to distributed clocks or something along those lines. I was able to temporarily resolve the issue by setting the Sync Error counter limit to 0 (Disabled). I would like to use the Sync Error counter as intended, so if someone knows how to fix the desync issue on startup, that would help me out a lot.