NWE wrote:

ihavenofish wrote:

--snip--
I don't know if that's a linuxcnc thing, and ethercat thing, or just a stupid omron thing.

Other than these quirks though, its great and I would not switch back for anything haha.
What model number Omron drive is this? Also, are you using some form of CIA402 component with it? Which one?

I have had a keen interest in Omron servos for a while, but never actually worked with one of those. One of my upcoming projects could use one, now knowing there is "some mysterious bug" of sorts really catches my interest. If I manage to carve out some time for this, I would like to acquire the hardware and investigate the problem.
 

I don't think any of my issues are anything to do with the omron drives. I know 100% the first one is explicitly a conflict between ethercat and modbus naming and start up synchronisation. it is basically reinitialising the drive over and over and over The question is.. WHY?

The new one about joint errors/limits just showed up at random and went away. I think it was related to some stored values that got cleared on reboot, but not simply on linuxcnc restart. Like is was storing the wrong home or last encoder position etc. (i had shut down linuxcnc and rebooted the drives, then restarted linuxcnc). Probably an edge case that likely will never show up again.

The ffirst one is more important, cause every 10 times or so it starts it wigs out.
 

You can figure it out via the 7I85 manual but more easily with:

mesaflash --device 7i92t --addr [card_ip_address] --dbname1 7i85 --readhmid

Thanks for the answer.

One question: Smart Serial 0 is on DB25 pins 1 and 14, can you tell me which location on the 7i85 that corresponds to? I would assume it is the same as Serial 0 with the “normal” firmware (TB2 in the middle). Is that correct?

Hi all, 

After some success with modbus comms using pkuart and hm2_modbus (thanks to PCW for all the support) I'm minded to try talking to the VFD with modbus as well.  However the vfd is (cheap, amazon-sourced) model AT903 of the AT900 series, maker unknown, and although the manuals I've found show how to set it up for modbus comms they do not include any kind of register map. There's a parameter for '0=standard modbus 1=nonstandard modbus' and a number of other params related to serial comms, but that's it. 

Has anyone successfully talked to one of these over serial, or knows who make them, or has the register map? 


Andy

There are no PWMgens at the hal level with a 7I77/7I83, the analog outputs are all 7i77 or 7i83 pins

The likely reason you don't see the 7I83 is that it's disabled in the hal file

No sure which channel its on but consider changing "sserial_port_0=2xxxxxxx" to "sserial_port_0=00000xxx"
because the original statement only enables one sserial channel (0) and sets it to mode 2, and it looks like you
have 2 sserial channels connected. In addition the 7I83 only supports mode 0.

@NWE

Industrial drives like Omron should not show behavior that depends on history or on how many times you repeat a homing cycle. They don’t “degrade” or become inconsistent just because you run the same sequence again and again. If behavior changes depending on history or number of cycles, that’s almost always a bug in the integration logic (state not reset, counters not reinitialized, missing edge detection, incomplete state machine), not in the drive or in EtherCAT(fieldbus) itself

how many CiA402 implementations are we talking about?
which one are you actually using in your setups? For example, are you using the stock cia402.comp, a modified version, or something else on top of LCEC? And with which drives / modes?

I know this thread is about EtherCAT motion control in general, so to avoid derailing it, maybe it makes sense to open a separate thread focused on this specific Omron / CiA402 / startup behavior case, where we can look at the actual component, configuration and state machine logic in detail

Thank you for your help. Actually @3404gerber was right, I had the EtherCAT master working but did not have any configuration created. I managed to move the drives, by the way there are 4 drives, and basic move in joint mode is working fine.

For the past few days I was trying to get the homing to work but no success so far. My servos are with absolute encoders and first of all I tried homing on the current position - it works. Now I would like to home the motors on index pulse but I cannot get it working. I installed and compiled cia402_homecomp and added the HOMEMOD line in the .ini file of the machine.

The problem is when I click home joint button, the motors starts moving at the predefined velocity and keeps moving untill "joint 0 following error" occurs and the drive has fault that says "Homing sequence timeout".

Would you provide any hints on how to approach this problem?

My settings are the same for all 4 axis and you can check them below:

.hal file:
.ini file

ihavenofish wrote:

--snip--
I don't know if that's a linuxcnc thing, and ethercat thing, or just a stupid omron thing.

Other than these quirks though, its great and I would not switch back for anything haha.

What model number Omron drive is this? Also, are you using some form of CIA402 component with it? Which one?

I have had a keen interest in Omron servos for a while, but never actually worked with one of those. One of my upcoming projects could use one, now knowing there is "some mysterious bug" of sorts really catches my interest. If I manage to carve out some time for this, I would like to acquire the hardware and investigate the problem.

I had another look, and the encoder issue was my mistake, it is working fine.

To get a working config, I tried multiple variants of the 7i92 internal and 7i77 firmware in PnCconf, but I was not able to get it to allow me to set the PWM number greater than 0. However, I think I found a possible solution. I flashed the 7i92t_7i85s_4pwm firmware. That is not the correct firmware for my hardware, but it allows me to generate a config that I can actually start in AXIS and inspect in HAL Show.

My intention was to use the one Smart Serial port that should still be there to connect the 7i83, then change all the PWM configuration to that, and afterwards reflash with the correct firmware to get the other Smart Serial ports back. However, I cannot get the Smart Serial interface to appear in HAL Show.

Is there a fundamental error in my approach?

I also attached some pictures of what I am currently seeing.

Sorry ...

Hallo T_D,

vielleicht hilft dir das weiter:
forum.linuxcnc.org/nativecam/53492-nativ...9-3?start=100#343260
Damit solltest du NativeCAM integriert in Gmoccapy zum Laufen bekommen.

Viele Grüße 
michaeln
 

Hello,

i made a new guide for installation NativeCAM on LinuxCNC.
The last guide from Giovanni is one year old, in the time between this forum-thread was growing.
With this new version i want to share all from the LinuxCNC-Forum topic compact for an easy and fast installation.
Some points i add like starting NativeCAM in a different language like GERMAN or FRENCH or integrate it on gmoccapy.

Thanks to FernV, freemoore and Giovanni for their work to get NativeCAM running with LinuxCNC 2.9.4

Best regards
michaeln

hi, can this image use traight to gpio too, rp4b board and i made 3,3V to 5V output level converter board use traight gpio output to stepper motor drivers DM556,
and same i build optocouplr board all input opto to gpio can use safety all gpo, not used BOB card or other board, i made diy own in/out gpio to 5V convert board, hope image can use straight all step/dir, enable, signal out to gpio pin. its easy use level converter module can convert 3,3 rpi output to 5V input by stepper driver controller etc, DM556.
same i think can easy use optocoupler module all input gpio pins. 5-24V in to opto and then 3,3V safety to in rpi gpio.

Hello everyone,
First of all, thanks to PCW for pointing out that `sserial_port_0=20000000` in the driver config **should enable Mode 2**:

> In the driver config string will set the mode to 2 which will enable both the MPG encoder inputs and analog inputs.  
> Note that the encoder inputs are intended for MPG use and are fairly slow and do not support index.  
> You would normally use the 7I76EU high speed encoder input for the spindle (TB3 pins 7..15).

I have a **brand new Mesa 7I76EU** for my Maho MH400 mill and I want to use **Mode 2**:
- Inputs 16–19 for an **MPG handwheel (ABZ encoder)**  
- Inputs 00–03 as **analog inputs** for feedrate and spindle override

**What I have tried so far:**  
- In the `.ini` under `[HOSTMOT2]` I set:

[HOSTMOT2]
DRIVER=hm2_eth
BOARD=7i76eu
CONFIG="num_encoders=1 num_pwmgens=0 num_stepgens=5 sserial_port_0=20000000"

- In the HAL, the card is loaded like this:

loadrt hm2_eth board_ip="192.168.1.121" config="num_encoders=1 num_pwmgens=0 num_stepgens=5 sserial_port_0=20000000"
setp [HMOT](CARD0).watchdog.timeout_ns 5000000

- LinuxCNC detects the card correctly:

hm2_eth: discovered 7I76EU
hm2/hm2_7i76e.0: Smart Serial Firmware Version 43
Board hm2_7i76e.0.7i76.0.0 Hardware Mode 0 = standard
Board hm2_7i76e.0.7i76.0.0 Software Mode 0 = io_spin
Board hm2_7i76e.0.7i76.0.0 Software Mode 1 = io_ana_spin
Board hm2_7i76e.0.7i76.0.0 Software Mode 2 = io_enc_ana_spin_fv

**Problem / Open Questions:**  
- Despite this configuration, the card **does not automatically operate in Mode 2**.  
- I want to use the analog inputs and the MPG handwheel simultaneously, and monitor the spindle with an ABZ encoder, but the Mode 2 functionality does not seem active yet.  
- Is it possible that the mode must be **physically set via jumpers**, or is there another driver/firmware parameter I am missing?  
- Attempts to flash a Bitfile did **not work**.

Any advice on how to reliably activate Mode 2 without LinuxCNC entering a fault state would be greatly appreciated.

Thanks in advance!  
Christian