Re: [Emc-users] stmbl servo drives - want to buy...

[Marius Alksnys]

2022-10-07 14:06, stjohn gold rašė:

Hi,
I need 2 stmbl drives. Does anyone have some they are not using or wish to
sell? Just tell me how much you want and I can arrange to get them picked
up and shipped to me. Send me mail and I will answer!

many thanks,
St.john


I would also be interested in 2..12 stmbl's.





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Re: [Emc-users] PCI-E adapter to PCI?

[Marius Alksnys]

2022-09-12 04:18, Ed rašė:
I have a 5i25 card that needs to be used but late model PC's do not seem 
to use PCI anymore. Does anyone know if the PCI-E to PCI adapters that 
are on ebay and such will drive a 5i25?



TIA, Ed.


Yes, I can confirm they work.



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Re: [Emc-users] Need a way to totally disable ALL of B axis stuff in B not plugged in

[Marius Alksnys]

Gene,

how about setting min and max limits to zero (or other initial value), 
maybe also not enabling B drive?

This can be done in a bash script like:
halcmd unlinkp io-board-going-to-b-servo-drive.enable-pin
halcmd setp ini.4.min_limit 0
halcmd setp ini.4.max_limit 0
halcmd setp ini.b.min_limit 0
halcmd setp ini.b.max_limit 0

or in HAL with mux_generic
http://linuxcnc.org/docs/html/man/man9/mux_generic.9.html

2022-05-19 11:07, gene heskett wrote:

Greetings all;

On this 6040 mill. It can be a 3 axis, or a 4 axis, so I would like to
devise a way to put ALL the B axis stuff in seperate files, but have not
figured out how to do that to the ini.

What I have started is an additional jumper on the home switch that sets
a hal file "net" titled "b-prsnt" true or false according to whether or
not its plugged in.  But this signal is not available at ini file read
time.

What I need is a common way to control whether an include file is loaded
for both the ini and the hal. Two separate files obviously.

I hate the idea of having to keep two configurations in synch with each
other. One for xyz, and one for xyzb.

Can something like that be cobbled up?

Thank you all.

Cheers, Gene Heskett.





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Re: [Emc-users] Tandem home switches on single axis

[Marius Alksnys]

I think I solved that problem in Emcoturn 220 integration and went even 
further. I added a protection of lost steps with the sensor. Here is my 
config:

https://drive.google.com/drive/folders/1tjU-i8v7iAPqDlRHX5l45pFpincPqneS?usp=sharing

Hope this helps.

On 2021-03-01 06:21, Feral Engineer wrote:

Hello Hive mind,

Question for the group. I have an emco pc turn 55. I've successfully gotten
everything working 100% on LCNC with the exception of one thing, the x and
z axis utilize a mechanical limit switch to latch home position, but then
each axis has a pnp proximity sensor that triggers the actual home position
on a 1 ppr encoder of sorts. I've just been using the mechanical switches,
but I'd like to try and get the proximity sensors working during the home
sequence.

Any suggestions on where to start getting this to work?

Thanks in advance

Phil
The Feral Engineer

Check out my LinuxCNC tutorials, machine builds and other antics at
www.youtube.com/c/theferalengineer





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[Emc-users] How to add new records to Latency-Test wiki

[Marius Alksnys]

I am making some latency-tests on different PCs. I would like to publish 
some results..


I am trying to log-in to 
http://wiki.linuxcnc.org/cgi-bin/wiki.pl?Latency-Test, while I forgot 
the secret name of our mascot.





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Re: [Emc-users] parallel port picie cards

[Marius Alksnys]

Don't forget the simplest and most economic all-in-one solution like 
Mesa 7i96

https://mesaus.com/product-category/ethernet-cards/



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Re: [Emc-users] Can anyone identify who did this?

[Marius Alksnys]

Very interesting! I am impressed of what he does.

One comment calls him Дмитрий or Dmitrij, here are some of his posts:
http://www.cnc-club.ru/forum/viewtopic.php?f=41=12087=437308=sscnet%40yurtaev.com#p437308

This is his website, I think: http://www.yurtaev.com/

On 2019-02-03 05:32, Greg Bentzinger via Emc-users wrote:

(Greg)

https://www.youtube.com/watch?v=Shkv0kA-pYg

Operator Panel to LinuxCNC as USB HID via STM32

(/Greg)









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Re: [Emc-users] Had to re-flash Mesa 7i77 twice

[Marius Alksnys]

Sorry, latest news: the same happens with other 7i77.

05/29/2017 10:15 AM, Marius Alksnys rašė:

Peter, can you repair or help me to repair this 7i77 board? Maybe I
could diagnose more or let you connect to the system remotely.
I also can replace PCB components like PIC...

I issued a RMA request on store.mesanet.com (never met RMA term and
process before), but did not get clear answer.


05/16/2017 09:35 PM, Peter C. Wallace rašė:

On Tue, 16 May 2017, Marius Alksnys wrote:


Date: Tue, 16 May 2017 21:02:29 +0200
From: Marius Alksnys <mar...@robotise.lt>
Reply-To: "Enhanced Machine Controller (EMC)"
<emc-users@lists.sourceforge.net>
To: emc-users@lists.sourceforge.net
Subject: Re: [Emc-users] Had to re-flash Mesa 7i77 twice

We replaced 7i77 with a spare one and the machine is working without a

glitch for two weeks.


The encoder quadrature error still suggests a PCI error of some kind



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Re: [Emc-users] Had to re-flash Mesa 7i77 twice

[Marius Alksnys]

Peter, can you repair or help me to repair this 7i77 board? Maybe I 
could diagnose more or let you connect to the system remotely.

I also can replace PCB components like PIC...

I issued a RMA request on store.mesanet.com (never met RMA term and 
process before), but did not get clear answer.



05/16/2017 09:35 PM, Peter C. Wallace rašė:

On Tue, 16 May 2017, Marius Alksnys wrote:


Date: Tue, 16 May 2017 21:02:29 +0200
From: Marius Alksnys <mar...@robotise.lt>
Reply-To: "Enhanced Machine Controller (EMC)"
<emc-users@lists.sourceforge.net>
To: emc-users@lists.sourceforge.net
Subject: Re: [Emc-users] Had to re-flash Mesa 7i77 twice

We replaced 7i77 with a spare one and the machine is working without a

glitch for two weeks.


The encoder quadrature error still suggests a PCI error of some kind



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Re: [Emc-users] Had to re-flash Mesa 7i77 twice

[Marius Alksnys]

We replaced 7i77 with a spare one and the machine is working without a 
glitch for two weeks.

04/24/2017 06:17 PM, Peter C. Wallace rašė:
>
> This is most likely to be a PCI issue
>
> (those errors are what you would get if the 5I25 card suddenly disappeared and
> you read all FFs from the registers, no real way to get all those errors from
> the sserial link, and note the joint following error and encoder quadrature
> error)
>


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Re: [Emc-users] Had to re-flash Mesa 7i77 twice

[Marius Alksnys]

> Are you sure the drive enables work? I would check that if you lose serial 
> comms that the drives get disabled. They should also get disabled if you get 
> a 
> following error, if this does not happen, something very basic is wrong.

Drive enables do work. Checked today.
Voltages are correct measuring by multimeter.
We will be able to check more with a scope later.


Android NewsGroup Reader
http://usenet.sinaapp.com/


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Re: [Emc-users] Had to re-flash Mesa 7i77 twice

[Marius Alksnys]

Filtering and sampling rate in HAL:
setp [HM2](ENC)muxed-sample-frequency 400
# --- X ---
setp [HM2](ENC)00.filter 1
setp [HM2](ENC)00.quad-error-enable 1
# the same for all axes

We will try to check the voltages.

But how this can happen? Shouldn't the watchdogs disable the outputs 
when the communication to the PC is broken?
At least two watchdogs are enabled. 5i25 is set:
setp [HM2](FPGA)watchdog.timeout_ns 1000

What other replacements would you recommend to try - 5i25, 7i77, MB/PC, 
cable, fresh software install?..

04/25/2017 06:33 PM, Peter C. Wallace rašė:
> On Tue, 25 Apr 2017, Marius Alksnys wrote:
> The only way I can see this (drift) happening (assuming reasonable
> following error settings) is encoder counting issues. If drift was the
> only issue I would be tempted to enable encoder filtering(if not
> enabled) and perhaps lower the encoder sampling rate.
>
> But the drift in addition to the sserial+quadrature errors suggest a
> systemic problem, perhaps 5V power to the 7I77 is marginal, or as I
> mentioned before you have PC power/PCI issues (the list of sserial
> errors you got is not really possible with just a link failure and I
> think reflects complete loss of communication to the 5I25 card so the
> PCI reads are reading 0x and therefore all possible hardware
> errors are reported)



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Re: [Emc-users] Had to re-flash Mesa 7i77 twice

[Marius Alksnys]

The firmware was the same, downloaded a month ago. The cable is provided 
by Mesa, no damage observed.

Today is even "funnier": the machine started to drift away, like user 
said, to go to completely different position than commanded in G-code.
This was observed at least four times. Two of them where going to the 
material - operator noticed and hit the Emergency button.

I think it is drifting away with the latest analog command DACs received 
and Enable signal state and all components: LinuxCNC, Mesa cards and 
servo drives are happy with it, not stopping anything and not issuing an 
error in a timely fashion.

You can see the videos and pictures by yourself. The user claims it is 
the same G-code, almost the same time, no HW / SW changes, cables also 
not touched. Maybe even without LinuxCNC restart:
https://www.youtube.com/playlist?list=PLMTctt_8ZIjX3eo2pw2IDmmH3Q34qZm83

The pictures of electric cabinet, cables, cards:
https://drive.google.com/drive/folders/0Bx5r7yxJ8GWDTVdvbnFxVFFyYmc?usp=sharing


04/24/2017 03:23 PM, Peter C. Wallace rašė:
> On Mon, 24 Apr 2017, Marius Alksnys wrote:
>
>> Date: Mon, 24 Apr 2017 13:52:55 +0200
>> From: Marius Alksnys <mar...@robotise.lt>
>> Reply-To: "Enhanced Machine Controller (EMC)"
>> <emc-users@lists.sourceforge.net>
>> To: emc-users@lists.sourceforge.net
>> Subject: [Emc-users] Had to re-flash Mesa 7i77 twice
>>
>> A month ago one machine with LinuxCNC and Mesa cards: one 5i25 and one 7i77
>> started bringing errors(1) each time program was started. Then I re-flashed
>> 7i77 using ./update_7i77 script from mesanet page. It fixed the problem..
>> till today. Today I got similar errors(2). And again, reflashing 7i77 fixed
>> the problem.
>
> If the error was not a complaint about the 7I77 firmware version being < 14,
> reflashing the card would not help. I suspect that there is  a signal
> integrity issue perhaps in the 5I25 PCI/system connection, as that set of
> errors looks like bad data at that interface.
>


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[Emc-users] Had to re-flash Mesa 7i77 twice

[Marius Alksnys]

A month ago one machine with LinuxCNC and Mesa cards: one 5i25 and one 
7i77 started bringing errors(1) each time program was started. Then I 
re-flashed 7i77 using ./update_7i77 script from mesanet page. It fixed 
the problem.. till today. Today I got similar errors(2). And again, 
reflashing 7i77 fixed the problem.


What could be the reason for that?

The system: debian wheezy 32-bit, 3.4-9-rtai-686-pae #1 SMP PREEMPT 
Debian 3.4.55-4linuxcnc i686 GNU/Linux

LinuxCNC latest stable: 2.7.8


==
Error log 1:
==
...
Issuing EMC_TRAJ_LINEAR_MOVE --  (  +220,+120, 
+0,143.598809,-5712.00,201.155000,0.00,0.00,0.00,0.00,0.00,0.00, 
   +2,39.265845,167.159835,2407.101626,+0,-1,)

Motion id 104 took 0.075971 seconds.
Outgoing motion id is 1917.
Issuing EMC_TRAJ_LINEAR_MOVE --  (  +220,+120, 
+0,143.577809,-5715.00,201.05,0.00,0.00,0.00,0.00,0.00,0.00, 
   +2,39.174931,166.772800,2401.528313,+0,-1,)

Motion id 105 took 0.080856 seconds.
Outgoing motion id is 1918.
Issuing EMC_TRAJ_LINEAR_MOVE --  (  +220,+120, 
+0,143.557809,-5718.00,200.981000,0.00,0.00,0.00,0.00,0.00,0.00, 
   +2,39.161224,166.714447,2400.688035,+0,-1,)

hm2/hm2_5i25.0: Encoder 0: quadrature count error
emc/task/taskintf.cc 617: Error on axis 1, command number 2494
emc/task/taskintf.cc 617: Error on axis 2, command number 2494
Motion id 106 took 0.061546 seconds.
Motion id 0 took 0.00 seconds.
Outgoing motion id is 2919.
joint 1 following error
joint 2 following error
hm2/hm2_5i25.0: Smart serial card hm2_5i25.0.7i77.0.0 error = (31) 
LBPCOM Fault


hm2/hm2_5i25.0: Smart serial card hm2_5i25.0.7i77.0.0 error = (30) 
Illegal Remote Mode


hm2/hm2_5i25.0: Smart serial card hm2_5i25.0.7i77.0.0 error = (29) Under 
Voltage


hm2/hm2_5i25.0: Smart serial card hm2_5i25.0.7i77.0.0 error = (28) Over 
Voltage


hm2/hm2_5i25.0: Smart serial card hm2_5i25.0.7i77.0.0 error = (27) Over 
Current


hm2/hm2_5i25.0: Smart serial card hm2_5i25.0.7i77.0.0 error = (26) Over 
Temperature


Issuing EMC_TASK_PLAN_SYNCH --   (  +516,+12,+0,)
hm2/hm2_5i25.0: Smart serial card hm2_5i25.0.7i77.0.0 error = (25) No Enable

hm2/hm2_5i25.0: Smart serial card hm2_5i25.0.7i77.0.0 error = (24) 
Watchdog Fault


hm2/hm2_5i25.0: Smart serial card hm2_5i25.0.7i77.0.0 error = (8) Remote 
fault


hm2/hm2_5i25.0: Smart serial card hm2_5i25.0.7i77.0.1 error = (31) 
LBPCOM Fault


hm2/hm2_5i25.0: Smart serial card hm2_5i25.0.7i77.0.1 error = (30) 
Illegal Remote Mode


hm2/hm2_5i25.0: Smart serial card hm2_5i25.0.7i77.0.1 error = (29) Under 
Voltage


hm2/hm2_5i25.0: Smart serial card hm2_5i25.0.7i77.0.1 error = (28) Over 
Voltage


hm2/hm2_5i25.0: Smart serial card hm2_5i25.0.7i77.0.1 error = (27) Over 
Current


hm2/hm2_5i25.0: Smart serial card hm2_5i25.0.7i77.0.1 error = (26) Over 
Temperature


hm2/hm2_5i25.0: Smart serial card hm2_5i25.0.7i77.0.1 error = (25) No Enable

hm2/hm2_5i25.0: Smart serial card hm2_5i25.0.7i77.0.1 error = (24) 
Watchdog Fault


hm2/hm2_5i25.0: Smart serial card hm2_5i25.0.7i77.0.1 error = (8) Remote 
fault


hm2/hm2_5i25.0: Encoder 0: quadrature count error




==
Error log 2 - png file attached
==
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Re: [Emc-users] Bridgeport servo troubleshooting

[Marius Alksnys]

Ben,

I have complete set (4 sets) of Z15-1-240V drives and servo motors. I am 
willing to sell them. Where are you located? I am in Lithuania.
Write me if you are interested to:
marius [eta] robotise.lt

I will be able to send some photos..


03/04/2017 06:33 PM, Ben Potter rašė:
> Good afternoon,
>
>
>
> I've got a converted Bridgeport Interact which decided to give up the ghost
> last week. I think that one of the servo drives/amps is dead, and am hoping
> that someone can sanity check my troubleshooting before I start spending
> money.
>
> Before I removed any wires, I checked the wire numbers against the schematic
> and put everything back in the same place.
>
...


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[Emc-users] Tools to plot data from sampler + halsampler

[Marius Alksnys]

What tools would you recommend to plot and analyse data from HAL sampler?
Different variables monitored with different scales, ability to zoom, 
pan, etc. Fast and capable of large data sets.

What I found is general plotting tools:
http://www.linuxlinks.com/article/20100518160111534/PlottingTools.html


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Re: [Emc-users] Unexpected move after Stop

[Marius Alksnys]

02/16/2017 05:25 PM, Sebastian Kuzminsky rašė:
...
> There were a couple of terrible "surprise move" bugs in 2.7.5 and 2.7.6.
>   As far as we know these are all fixed in 2.7.7 and later.
>
> Which version of LinuxCNC were you running when you had this surprise
> motion?  I really hope it was something older than 2.7.7!

It was 2.7.8 and now 2.8.0-pre1-2846-g9e23976, and I can't find a way to 
offer an operator to stop the program in the middle. It just moves after 
stop. Every time.


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Re: [Emc-users] Unexpected move after Stop

[Marius Alksnys]

This surprise move exists even in the latest master version.

I solved "exception during generator call: TypeError: 'NoneType' object 
is not callable" by deleting and making new python stdglue.py, remap.py 
nd toplevel.py files like it is written here: 
http://linuxcnc.org/docs/devel/html/remap/remap.html#_upgrading_an_existing_configuration_for_remapping

02/16/2017 04:32 PM, Marius Alksnys rašė:
> I can confirm the same on another 3 axis machine with trivial
> kinematics. After stopping or pause/stopping a program motion continues
> some straight line at programmed feedrate to some point and stops. The
> distance is big. This occurs every time, when paused in an arc motion
> and stopped after that. Two tools already broken..
>
> I found this as an already fixed "surprise move bug" in master:
> https://github.com/LinuxCNC/linuxcnc/commit/404be0fd8f6b6396f31943755db4b4754687d79b
>
> Then I installed master branch and get another errors - not being able
> to run any program with an error:
> emc/task/emctask.cc 397: interp_error: exception during generator call:
> TypeError: 'NoneType' object is not callable
>
> exception during generator call: TypeError: 'NoneType' object is not
> callable
>
>
> What would you recommend me to do?
>
> Info from v. 2.7.8 config:
> In G-code:
> G64 P0.05 Q0.001
>
> I use M6 tool change remap with subroutines. Two important lines in main
> INI file:
> [RS274NGC]
> ...
> REMAP=M6 modalgroup=6 prolog=change_prolog ngc=toolchange
> epilog=change_epilog
> ON_ABORT_COMMAND=O  call
> ...
> [TRAJ]
> AXES = 3
> COORDINATES = X Y Z
> LINEAR_UNITS = mm
> ANGULAR_UNITS = degree
> CYCLE_TIME = 0.010
> DEFAULT_LINEAR_VELOCITY = 50
> MAX_LINEAR_VELOCITY = 700
> NO_FORCE_HOMING = 0
> ARC_BLEND_ENABLE = 1
> ARC_BLEND_FALLBACK_ENABLE = 0
> ARC_BLEND_OPTIMIZATION_DEPTH = 100
> ARC_BLEND_GAP_CYCLES = 4
> ARC_BLEND_RAMP_FREQ = 100
>
> LinuxCNC/AXIS version 2.7.8
> 3.4-9-rtai-686-pae #1 SMP PREEMPT Debian 3.4.55-4linuxcnc i686 GNU/Linux
>
> Debug messages:
> Issuing EMC_TRAJ_LINEAR_MOVE --(  +220,+120,
> +0,105.936000,174.984000,-401.414000,0.00,0.00,0.00,0.00,0.00,0.00,
> +2,13.33,342.188909,1231.880073,+0,-1,)
> Motion id 24 took 0.082464 seconds.
> Outgoing motion id is 1108.
> Issuing EMC_TRAJ_LINEAR_MOVE --(  +220,+120,
> +0,105.047000,175.443000,-401.414000,0.00,0.00,0.00,0.00,0.00,0.00,
> +2,13.33,375.140935,1350.507367,+0,-1,)
> Issuing EMC_TASK_PLAN_PAUSE -- (  +510,+12,   +31,)
> Issuing EMC_TASK_ABORT --  (  +503,+12,   +32,)
> emc/task/emctask.cc 389: interp_error: bad number format (conversion
> failed) parsing ''
> bad number format (conversion failed) parsing ''
> Motion id 25 took 3.132175 seconds.
> Motion id 0 took 0.02 seconds.
> Outgoing motion id is 2114.
> Issuing EMC_TASK_PLAN_SYNCH -- (  +516,+12,+0,)
> Outgoing motion id is 2115.
> Issuing EMC_TRAJ_LINEAR_MOVE --(  +220,+120,
> +0,169.066000,226.898000,-401.414000,0.00,0.00,0.00,0.00,0.00,0.00,
> +2,13.33,342.896322,1234.426761,+0,-1,)
> Issuing EMC_TASK_SET_MODE --   (  +504,+16,   +33,+1,)
> Motion id 2115 took 5.132525 seconds.
> Motion id 0 took 0.02 seconds.
> Issuing EMC_TASK_PLAN_SYNCH -- (  +516,+12,+0,)
> can't do that (EMC_TRAJ_SET_TELEOP_ENABLE) in auto mode with the
> interpreter idle
>
>
> 06/25/2016 08:35 PM, Tomaz T. rašė:
>>
>>
>>
>> I'm a bit confused what could cause unexpected move after pressing stop or 
>> pause->stop.
>> Here is print screen what happened: https://cdn.pbrd.co/images/1X2RCHL7.jpg
>> Recently I implemented manualtoolchange but the only thing I was modifying 
>> were subroutines ... not sure if there could be source of this issue?


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Re: [Emc-users] Unexpected move after Stop

[Marius Alksnys]

I can confirm the same on another 3 axis machine with trivial 
kinematics. After stopping or pause/stopping a program motion continues 
some straight line at programmed feedrate to some point and stops. The 
distance is big. This occurs every time, when paused in an arc motion 
and stopped after that. Two tools already broken..

I found this as an already fixed "surprise move bug" in master: 
https://github.com/LinuxCNC/linuxcnc/commit/404be0fd8f6b6396f31943755db4b4754687d79b

Then I installed master branch and get another errors - not being able 
to run any program with an error:
emc/task/emctask.cc 397: interp_error: exception during generator call: 
TypeError: 'NoneType' object is not callable

exception during generator call: TypeError: 'NoneType' object is not 
callable


What would you recommend me to do?

Info from v. 2.7.8 config:
In G-code:
G64 P0.05 Q0.001

I use M6 tool change remap with subroutines. Two important lines in main 
INI file:
[RS274NGC]
...
REMAP=M6 modalgroup=6 prolog=change_prolog ngc=toolchange 
epilog=change_epilog
ON_ABORT_COMMAND=O  call
...
[TRAJ]
AXES = 3
COORDINATES = X Y Z
LINEAR_UNITS = mm
ANGULAR_UNITS = degree
CYCLE_TIME = 0.010
DEFAULT_LINEAR_VELOCITY = 50
MAX_LINEAR_VELOCITY = 700
NO_FORCE_HOMING = 0
ARC_BLEND_ENABLE = 1
ARC_BLEND_FALLBACK_ENABLE = 0
ARC_BLEND_OPTIMIZATION_DEPTH = 100
ARC_BLEND_GAP_CYCLES = 4
ARC_BLEND_RAMP_FREQ = 100

LinuxCNC/AXIS version 2.7.8
3.4-9-rtai-686-pae #1 SMP PREEMPT Debian 3.4.55-4linuxcnc i686 GNU/Linux

Debug messages:
Issuing EMC_TRAJ_LINEAR_MOVE --  (  +220,+120, 
+0,105.936000,174.984000,-401.414000,0.00,0.00,0.00,0.00,0.00,0.00,
 
+2,13.33,342.188909,1231.880073,+0,-1,)
Motion id 24 took 0.082464 seconds.
Outgoing motion id is 1108.
Issuing EMC_TRAJ_LINEAR_MOVE --  (  +220,+120, 
+0,105.047000,175.443000,-401.414000,0.00,0.00,0.00,0.00,0.00,0.00,
 
+2,13.33,375.140935,1350.507367,+0,-1,)
Issuing EMC_TASK_PLAN_PAUSE --   (  +510,+12,   +31,)
Issuing EMC_TASK_ABORT --(  +503,+12,   +32,)
emc/task/emctask.cc 389: interp_error: bad number format (conversion 
failed) parsing ''
bad number format (conversion failed) parsing ''
Motion id 25 took 3.132175 seconds.
Motion id 0 took 0.02 seconds.
Outgoing motion id is 2114.
Issuing EMC_TASK_PLAN_SYNCH --   (  +516,+12,+0,)
Outgoing motion id is 2115.
Issuing EMC_TRAJ_LINEAR_MOVE --  (  +220,+120, 
+0,169.066000,226.898000,-401.414000,0.00,0.00,0.00,0.00,0.00,0.00,
 
+2,13.33,342.896322,1234.426761,+0,-1,)
Issuing EMC_TASK_SET_MODE -- (  +504,+16,   +33,+1,)
Motion id 2115 took 5.132525 seconds.
Motion id 0 took 0.02 seconds.
Issuing EMC_TASK_PLAN_SYNCH --   (  +516,+12,+0,)
can't do that (EMC_TRAJ_SET_TELEOP_ENABLE) in auto mode with the 
interpreter idle


06/25/2016 08:35 PM, Tomaz T. rašė:
>
>
>
> I'm a bit confused what could cause unexpected move after pressing stop or 
> pause->stop.
> Here is print screen what happened: https://cdn.pbrd.co/images/1X2RCHL7.jpg
> Recently I implemented manualtoolchange but the only thing I was modifying 
> were subroutines ... not sure if there could be source of this issue?


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Re: [Emc-users] Lathe config Q's

[Marius Alksnys]

At least one axis has to have HOME_SEQUENCE = 0 for home-all to work.

11/11/2016 01:35 AM, Gene Heskett rašė:
...
> All applied ANAICT but now I have lost the "home all" function.
>
> Both are set for HOME_SEQUENCE = 1, with all other HOME statements
> commented out as they were all along, and it worked.  And I've gone thru
> both the .ini and the .hal files removeing or moving any "trailing
> comments"  Clue plz?


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Re: [Emc-users] Carousel component questions

[Marius Alksnys]

11/07/2016 09:37 AM, Marius Alksnys rašė:

Hello, Jan,

this is my carousel HAL component version. I made it more reliable, was
tested a lot and is working on a real machine. Sense-pocket is low when
carousel is fixed and high between positions. Sense-index occurs once per 
revolution between
positions AFAIR.
Might require changes because of hard-coded sensor states it expects. I
used it with M6 re-mapping, thus used analog-out for socket number.


The component source file is attached.
component mycarousel "Orient a tool drum custom component";
// partly derived from andy-pugh carousel HAL component

pin in  float pocket-number-f "The pocket to move to when the .enable pin goes 
high. Float to be compatible with motion.analog-out";
pin in  bitenable "Set this pin high to start movement. Setting it low will 
stop movement";
pin in  bitunhome "Unhomes the component and forces to find index again";
pin out bitactive "indicates that the component is active";
pin out bitready "This pin goes high when the drum is in-position";
pin in  bitsense-index "Drum index position feedback pin";
pin in  bitsense-pocket = true "Drum pocket position feedback pin";
pin out bitmotor-fwd "Indicates the motor should run forwards (bigger 
numbers)";
pin out bitmotor-rev "Indicates the motor should run reverse";
pin out bitis-ok = true "No fault output";
pin out signed pos = 0 "This pin indicates the current position feedback";
pin out bithomed = false "Shows that homing is complete.";

param r  signed state = 0 "Current component state";
param rw signed home-pocket = 19 "Pocket number at index.";
param rw signed pockets = 21 "Pocket count in drum";
param rw signed timeout-one = 60 "Maximum time to wait for next pocket in 
thread periods";
param rw signed timeout-all = 1600 "Maximum time to rotate to any pocket in 
thread periods";

license "GPL";
author "andy pugh, Marius Alksnys";

variable hal_bit_t old_sense = false;
variable hal_bit_t old_index = false;
variable hal_s32_t timeone = 3;
variable hal_s32_t timeall = 3;
variable hal_s32_t pocket_number = 0;

function _ fp;

option singleton yes;

;;

#include 

#define ST_WAITING 0
#define ST_HOMING_INDEX 10
#define ST_FINISH_HOMING 20
#define ST_CHOOSE_DIR 30
#define ST_MOVING 40
#define ST_STOP_AT_POCKET 50
#define ST_DONE 60
#define ST_HALT 96
#define ST_HALTED 99

#define MSG_SOURCE "Tool carousel: "

FUNCTION(_) {
if (unhome) homed = false;
if (sense_pocket && !old_sense) { // Pocket sensor signal just rised!
timeone = timeout_one;
if (homed) {
if (motor_fwd) {
pos += 1;
if (pos > pockets) pos -= pockets;
}
if (motor_rev) {
pos -= 1;
if (pos < 1) pos += pockets;
}
if (!motor_fwd && !motor_rev) {
homed = false;
state = ST_WAITING;
rtapi_print_msg(RTAPI_MSG_ERR, MSG_SOURCE "got socket sensor 
signal, while no command to turn. Will re-home.");
}
}
}
old_sense = sense_pocket;

if (sense_index && !old_index) { // Index sensor signal just rised!
if (homed) {
if ((motor_fwd && (pos != home_pocket)) || (motor_rev && (pos != 
home_pocket + 1))) {
state = ST_HALT;
rtapi_print_msg(RTAPI_MSG_ERR, MSG_SOURCE "home sensor signal 
at wrong time (very big risk to brake equipment), component will halt!!!");
}
}
}
old_index = sense_index;

if (is_ok) {
if (sense_pocket && sense_index) {
state = ST_HALT;
rtapi_print_msg(RTAPI_MSG_ERR, MSG_SOURCE "both sensors active 
(very big risk to brake equipment), component will halt!!!");
}
if (active) { // Checking for timeouts
if (timeone-- < 0) {
motor_fwd = false;
motor_rev = false;
active = false;
is_ok = false;
state = ST_DONE;
rtapi_print_msg(RTAPI_MSG_ERR, MSG_SOURCE "time-out waiting for 
one position!");
}
if (timeall-- < 0) {
is_ok = false;
state = ST_STOP_AT_POCKET;
rtapi_print_msg(RTAPI_MSG_ERR, MSG_SOURCE "requested position 
time-out!");
}
}
}

switch (state) {
case ST_WAITING: // waiting at start
if (! enable) return;
timeall = timeout_all;
if (! sense_pocket) {
homed = false;
rtapi_print_msg(RTAPI_MSG_ERR, MSG_SOURCE "carousel was not fixed 
bef

Re: [Emc-users] G0 Moves and Path Blending?

[Marius Alksnys]

11/04/2016 12:57 PM, sam sokolik rašė:
> I know during testing at some point the G0 -> Feed moves and feed moves
> -> G0 were exact stop.  I think it was changed to make it act like it
> did with the previous TP.   My thoughts at the time was to make it a hal
> pin or maybe a INI setting.
>
> sam

Please, don't do this. This setting has to be dynamically selectable and 
controlled from G-code.

I had at least one case where sluggishness of G0 full-stops drove us 
crazy. Instead of going around the workpiece it "danced" stopping at 
each of 6 or 8 corners. And time was important there. We could not find 
another solution like to use G1 and insane feed-rates. This was 5 axis 
machine and those feed-rates where interpreted in degrees and/or 
millimeters..


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Re: [Emc-users] Carousel component questions

[Marius Alksnys]

Hello, Jan,

this is my carousel HAL component version. I made it more reliable, was 
tested a lot and is working on a real machine. Sense-pocket is low when 
carousel is fixed and high between positions. Sense-index occurs between 
positions AFAIR.
Might require changes because of hard-coded sensor states it expects. I 
used it with M6 re-mapping, thus used analog-out for socket number.
Here is the code:

component mycarousel "Orient a tool drum custom component";
// partly derived from andy-pugh carousel HAL component

pin in  float pocket-number-f "The pocket to move to when the .enable 
pin goes high. Float to be compatible with motion.analog-out";
pin in  bitenable "Set this pin high to start movement. Setting it 
low will stop movement";
pin in  bitunhome "Unhomes the component and forces to find index 
again";
pin out bitactive "indicates that the component is active";
pin out bitready "This pin goes high when the drum is in-position";
pin in  bitsense-index "Drum index position feedback pin";
pin in  bitsense-pocket = true "Drum pocket position feedback pin";
pin out bitmotor-fwd "Indicates the motor should run forwards 
(bigger numbers)";
pin out bitmotor-rev "Indicates the motor should run reverse";
pin out bitis-ok = true "No fault output";
pin out signed pos = 0 "This pin indicates the current position feedback";
pin out bithomed = false "Shows that homing is complete.";

param r  signed state = 0 "Current component state";
param rw signed home-pocket = 19 "Pocket number at index.";
param rw signed pockets = 21 "Pocket count in drum";
param rw signed timeout-one = 60 "Maximum time to wait for next pocket 
in thread periods";
param rw signed timeout-all = 1600 "Maximum time to rotate to any pocket 
in thread periods";

license "GPL";
author "andy pugh, Marius Alksnys";

variable hal_bit_t old_sense = false;
variable hal_bit_t old_index = false;
variable hal_s32_t timeone = 3;
variable hal_s32_t timeall = 3;
variable hal_s32_t pocket_number = 0;

function _ fp;

option singleton yes;

;;

#include 

#define ST_WAITING 0
#define ST_HOMING_INDEX 10
#define ST_FINISH_HOMING 20
#define ST_CHOOSE_DIR 30
#define ST_MOVING 40
#define ST_STOP_AT_POCKET 50
#define ST_DONE 60
#define ST_HALT 96
#define ST_HALTED 99

#define MSG_SOURCE "Tool carousel: "

FUNCTION(_) {
 if (unhome) homed = false;
 if (sense_pocket && !old_sense) { // Pocket sensor signal just rised!
 timeone = timeout_one;
 if (homed) {
 if (motor_fwd) {
 pos += 1;
 if (pos > pockets) pos -= pockets;
 }
 if (motor_rev) {
 pos -= 1;
 if (pos < 1) pos += pockets;
 }
 if (!motor_fwd && !motor_rev) {
 homed = false;
 state = ST_WAITING;
 rtapi_print_msg(RTAPI_MSG_ERR, MSG_SOURCE "got socket 
sensor signal, while no command to turn. Will re-home.");
 }
 }
 }
 old_sense = sense_pocket;

 if (sense_index && !old_index) { // Index sensor signal just rised!
 if (homed) {
 if ((motor_fwd && (pos != home_pocket)) || (motor_rev && 
(pos != home_pocket + 1))) {
 state = ST_HALT;
 rtapi_print_msg(RTAPI_MSG_ERR, MSG_SOURCE "home sensor 
signal at wrong time (very big risk to brake equipment), component will 
halt!!!");
 }
 }
 }
 old_index = sense_index;

 if (is_ok) {
 if (sense_pocket && sense_index) {
 state = ST_HALT;
 rtapi_print_msg(RTAPI_MSG_ERR, MSG_SOURCE "both sensors 
active (very big risk to brake equipment), component will halt!!!");
 }
 if (active) { // Checking for timeouts
 if (timeone-- < 0) {
 motor_fwd = false;
 motor_rev = false;
 active = false;
 is_ok = false;
 state = ST_DONE;
 rtapi_print_msg(RTAPI_MSG_ERR, MSG_SOURCE "time-out 
waiting for one position!");
 }
 if (timeall-- < 0) {
 is_ok = false;
 state = ST_STOP_AT_POCKET;
 rtapi_print_msg(RTAPI_MSG_ERR, MSG_SOURCE "requested 
position time-out!");
 }
 }
 }

 switch (state) {
 case ST_WAITING: // waiting at start
 if (! enable) return;
 timeall = timeout_all;
 if (! sense_pocket) {
 homed = false;
 rtapi_print_msg(RTAPI_MSG_ERR, MSG_SOURCE "carousel was not 
fixed before rotating. Will re-home.");
 }

Re: [Emc-users] X on pi-3?

[Marius Alksnys]

I don't know if this would help, but I found out LC_ALL=C to work when 
testing LinuxCNC with different translations, locales..
Sample command: LC_ALL=C LANG=ru LANGUAGE=ru_RU /usr/bin/linuxcnc 
'/home/cnc/linuxcnc/configs/tests/test.ini'

11/06/2016 05:34 AM, Gene Heskett rašė:
> But $LC is still
> missing from an env report  And, its not set on this machine either.
> Whats it supposed to be? Or can it be ignored?


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[Emc-users] Homing to index ends at different positions

[Marius Alksnys]

LinuxCNC 2.7.7, hostmot2, Mesa 5i25 + 7i77, resolver to quadrature 
converter integrated into servo drive, 8192 counts per revolution.

I finished integration and one day operator said that Z position was 
lost after last machine restart.

I checked Z homing process and got different final Z positions at 
different tries, especially after PC and 7i77 5V re-powering.

Then I observed that looking for an index sometimes does not actually 
stop at the index, but at the next one - after one full turn. Would it 
be noise or inverted signal problem it would interpret noises as index 
pulse and would stop faster, not further, but this does not happen.

I played a lot with HOME_LATCH_VEL, making it much smaller, changing its 
direction, but could not get reliable results. I checked position of 
home switch in relation to index position and moved the flag of home 
switch, got around 1200 counts difference between them, but nothing helped.

And now, as I can recall, homing to index with Mesa boards gave me 
problems here and there often. Final workaround was to disable this 
feature and rely on imprecise home switches only :(

in INI file:
=
[HM2]
DRIVER = hm2_pci
FPGA = hm2_5i25.0.
ENC = hm2_5i25.0.encoder.
PWM = hm2_5i25.0.pwmgen.0
DI = hm2_5i25.0.7i77.0.0.input-
DO = hm2_5i25.0.7i77.0.0.output-
AO = hm2_5i25.0.7i77.0.1.
AI = hm2_5i25.0.7i77.0.0.analogin
CONFIG=" num_encoders=6 sserial_port_0=2XXX "

# Axis Z
[AXIS_2]
TYPE = LINEAR
FERROR = 1
MIN_FERROR = 0.2
MAX_VELOCITY = 325
MAX_ACCELERATION = 1800
... (PID values)
BIAS = 0
DEADBAND = 0.0004
MAX_OUTPUT = 10
INPUT_SCALE = -1259.84251969
OUTPUT_SCALE = -10
OUTPUT_MIN_LIMIT = -10
OUTPUT_MAX_LIMIT = 10
MIN_LIMIT = -512
MAX_LIMIT = 0
HOME = -1 # The position that the joint will go to upon completion of 
the homing sequence
HOME_OFFSET = -8 # The axis position of the home switch or index pulse, 
in machine units.
HOME_SEARCH_VEL = 60
HOME_LATCH_VEL = -10
HOME_FINAL_VEL = 100
HOME_USE_INDEX = YES
HOME_IGNORE_LIMITS = NO
HOME_SEQUENCE = 0

in main HAL file:
=
loadrt trivkins
loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD 
num_joints=[TRAJ](AXES) num_dio=7
loadrt threads name1=slow-thread period1=[EMCMOT]SLOW_PERIOD
loadrt pid names=pid-x,pid-y,pid-z,pid-spin,pid-orient
...
loadrt debounce cfg=10
...
loadrt hostmot2
loadrt [HM2](DRIVER) config=[HM2](CONFIG)
setp [HM2](FPGA)watchdog.timeout_ns 500
...
# --- Z encoder setup ---
setp [HM2](ENC)02.filter 1
setp [HM2](ENC)02.scale [AXIS_2]INPUT_SCALE
net z-pos-fb [HM2](ENC)02.position => pid-z.feedback axis.2.motor-pos-fb
net z-vel-fb [HM2](ENC)02.velocity => pid-z.feedback-deriv
net z-index-enable axis.2.index-enable <=> [HM2](ENC)02.index-enable
...
net z-index-enable => pid-z.index-enable
...
# Home and limit switches
...
net z-home-noisy [HM2](DI)09 => debounce.0.2.in
net z-home debounce.0.2.out => axis.2.home-sw-in
...
net z-limit-noisy [HM2](DI)10-not => debounce.0.5.in
...
# THREADS
addf [HM2](FPGA)read servo-thread
addf debounce.0 servo-thread
...

addf motion-command-handler servo-thread
addf motion-controller servo-thread
...
addf pid-z.do-pid-calcs servo-thread
...
addf [HM2](FPGA)write servo-thread
...
addf scale-s-vel slow-thread
...

in postgui.hal:
=
...
net enc-quad-error-en [HM2](ENC)00.quad-error-enable 
[HM2](ENC)01.quad-error-enable [HM2](ENC)02.quad-error-enable 
[HM2](ENC)05.quad-error-enable
...
# I put this line at the very end, because I noticed more occasional 
quadrature errors otherwise:
sets enc-quad-error-en 1
lock


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Re: [Emc-users] 6 DOF Serial Kinematics

[Marius Alksnys]

Hi, Allyssa,

interesting project! Would like to know more about it and its progress.

I went that way too - used genserkins in 6 axis industrial robot arm 
retrofit project.

1. Drifting or error from perfect line.
While possible, but I doubt there are errors in genserkins math. And 
perfect visualisers confirm that.

More likely reality differs from your theoretical parameters.
Are you sure scale of all axes is correct?
Are homing or zero positions in place?
Are your entered DH parameters accurate enough? Usually arm drawing 
specifies the dimensions, but in reality they might differ slightly. I 
saw people using precision 3D digitisers to get those parameters right.
Joint position might be not exact due to loose PID.
Mechanical gear unit, including toothed belts and shafts might be worn 
out, thus having backlash and looseness.

Robot programming with original robot controller is done by teaching 
method usually. This eliminates or decreases similar errors, which exist 
even with a new robot and a brand controller.


2. Impossible joint angles.
This happens at near-singularity postures. Have to dig deeper in math to 
understand this. For start, I would just recommend not to approach such 
postures and use joint mode to go-by or re-arrange the joints.



For more or better solutions, I would recommend searching for 
information or people.
There are more people who went similar ways too. Maybe they could add 
something more...

Good luck!
Marius

08/03/2016 09:37 PM, Alyssa Wells rašė:
> We are currently working on a project to retrofit a 6 DOF industrial robot 
> with LinuxCNC controls. We have communications working over EtherCAT and can 
> use Axis to jog all six axes of the robot. We have tried our hand at setting 
> the D-H parameters for genserkins, with mixed results. The kinematics appear 
> to be at least a little bit off, despite looking correct in numerous 
> kinematics visualizer softwares.
> For the most part, the robot tends to jog in a straight line, but drift in 
> sort of a curve in at least one direction. Sometimes the kinematics solve to 
> joint angles that are impossible, and the robot faults for "over speed" from 
> trying to go to positions > 1 degrees.
>
> Thank you for taking the time to read this! If you have any ideas or tips on 
> how we can fix our kinematic model, it would be greatly appreciated.
>
> Thanks,
> Alyssa
> --
>


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Re: [Emc-users] Semi OT: Can't measure Index pulse on encoder

[Marius Alksnys]

My lesson learned when looking for an index pulse on digital scope was 
to change the trigger to Normal, not Auto.

Auto trigger might be the reason to miss short index pulse.


07/13/2016 04:56 PM, Leonardo Marsaglia rašė:
> Hello to all.
>
> We just tested some Heindenhain encoders and as happened with other
> encoders we can't sense the index pulse. We tried to detect it with a 20
> nano seconds period on a digital scope but nothing happens. All the other
> pulses are working perfect except the index one.
>
> I have to mention that this happened with other encoders too, but since we
> didn't need to use them with index pulse on the other machines we just let
> it that way and didn't worry about it.
>
> The trouble is we also tried to detect the index pulse on LinuxCNC but we
> never could. Is this because the pulse happens so quickly that we can't
> really scope it? Or are we missing something about how to measure it?
>
> We're worried because now we need to use the index pulse for homing our
> Mazak lathe that we're converting to LinuxCNC.
>
> Thanks as always for your help!
>


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Re: [Emc-users] pyvcp spinbox focus issue

[Marius Alksnys]

By the way, only main Enter key works, Enter on numeric keyboard 
doesn't. Uhh..

On 2016.05.12 18:26, Jim Craig wrote:
> That is interesting. I am sure that I tried the enter key as I
> distinctly remember thinking about that and it did not seem to work. I
> will try again to see if the thought ended before it made it to my fingers.
>
> Thanks,
>
> Jim


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Re: [Emc-users] pyvcp spinbox focus issue

[Marius Alksnys]

I met the same problem yesterday too. I would like to find a fix for 
that. For now I just found an easy workaround: press Enter when spinbox 
is active.

05/12/2016 05:57 PM, Jim Craig rašė:
> I am using John T's pyvcp panel for plasma as found on his website at
> http://gnipsel.com/shop/plasma/files/plasma.xml.txt
>
> I noticed that if I click in the text area of a spinbox then I cannot
> get the keyboard focus away from the spinbox(s) in the pyvcp panel. I
> can click on other things in the Axis GUI but the keyboard focus stays
> in the spinbox. So I cannot jog the machine with the keyboard or do
> anything else with the keyboard.
>
> The only way I could get keyboard focus away from the pyvcp spinbox was
> to click the MDI tab on the Axis GUI. Is this a bug or is there
> something that I need to add to the pyvcp panel xml file to keep this
> behavior from happening?
>
> Again this is Debian Wheezy, 2.7.4 and the Axis GUI.
>
> Thanks,
>
> Jim


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[Emc-users] Where to post LinuxCNC issues?

[Marius Alksnys]

The issue tracker wiki 
pagehttp://wiki.linuxcnc.org/cgi-bin/wiki.pl?Trackers refers to does not 
accept new issues. Where should I post them?

In documentation, html/gcode/g-code.html#gcode:g90.1-g91.1:

G90.1 - absolute distance mode for I, J & K offsets. When G90.1 is in 
effect I and J both must be specified with G2/3 for the XY plane or J 
and K for the XZ plane or it is an error.

I think it is incomplete and incorrect.


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Re: [Emc-users] A bit OT: DNC - NC file server from microcomputer?

[Marius Alksnys]

04/30/2016 03:17 AM, Erik Friesen rašė:
> Are you comfortable coding?

Yes.


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Re: [Emc-users] A bit OT: DNC - NC file server from microcomputer?

[Marius Alksnys]

That would be awesome!

> I can dig up program source for anybody that wants
> it as a starting point.
>
> -- Ralph


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Re: [Emc-users] A bit OT: DNC - NC file server from microcomputer?

[Marius Alksnys]

I would go with network, but the customer wants USB flash. They are not 
very computer-savy. I wish to help them to find better way.

04/30/2016 07:46 AM, Chris Albertson rašė:
> How are you getting the files onto the USB drive.  It seems simplest if you
> could loose the USB drive and move files over a network.  With a file
> server of some kind you also loose the concept of "moving" files.  There
> would just be a shared folder And you'd drop the files there.  No USB drives


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Re: [Emc-users] A bit OT: DNC - NC file server from microcomputer?

[Marius Alksnys]

I didn't mention that operator selects one and only file to transfer on 
a PC with oNN number inside it which must not exist on the machine..

> Now this machine has its own old laptop with old MS Win and some DNC
> software. It takes several clicks on the PC and several non trivial
> Fanuc panel button presses including correct sequence of them. And to my
> surprise operators are used to this.


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[Emc-users] A bit OT: DNC - NC file server from microcomputer?

[Marius Alksnys]

I have a question how to simplify file transfer from, let's say, USB 
flash drive to a CNC machine with specifically Fanuc 18t controller.

Now this machine has its own old laptop with old MS Win and some DNC 
software. It takes several clicks on the PC and several non trivial 
Fanuc panel button presses including correct sequence of them. And to my 
surprise operators are used to this.

As I was used to DNC, there was a PC with shared NC folder(s) on a 
network, connected through serial port (and adapter if needed) to the 
CNC machine(s). There was no need to come to this PC.
 From the machine side (with old Heidenhain controller) I had to press 
EXT, enter file number, press Enter and that's all - I had any file I 
wanted of any size in the machine in drip-feed mode! And this was 
reallly old machine.

Now I see this not so old (about 2006) Fanuc and I am surprised how 
complicated life is for the operators..

Do you have an idea how to use BeagleBone or similar micro device glued 
to the side of the panel of the machine to work as a USB adapter or even 
+ LAN file server?


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[Emc-users] glade (HAL)spinbutton issue or accident?

[Marius Alksnys]

I wanted to report a bug, prepared a glade file, and only when I looked 
at it with text viewer I found:

1.000279396772

It was driving me nuts!
I know how to fix this, but don't know how such number appeared here.

You can test the behavior of the spinbutton by running
gladevcp_demo hsb.glade (attached)
then
watch -n 0.2 halcmd show pin

then by using Mouse Wheel scroll up to 8 then down to 7 and less. Note 
the values:


Owner   Type  Dir Value  Name
  1224  float OUT 7  hsb.spb-tool-number-f
  1224  s32   OUT 6  hsb.spb-tool-number-s


I made a workaround - used -f instead of -s until I found this tiny 
extra on the step_increment..


hsb.glade
Description: application/glade
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[Emc-users] 7i43 encoder count failures

[Marius Alksnys]

Today I catched the fault which was causing headache for quite a long 
time already.

There is a machine with one 7i43 P (200k) and one 7i39 and one BLDC 
motor with encoder. I got reports about unexpected moves of the machine 
while standing still.

Today I saw:
count 712171
rawcounts 780979

changing to:
679403
748211 accordingly

which is exactly 32768 or 0x8000 while motor is off and dead still.

Together with that I saw huge number of errors (dmesg output):
hm2/hm2_7i43.0: Encoder 0: quadrature count errorhm2/hm2_7i43.0: Encoder 
0: quadrature count errorhm2/hm2_7i43.0: Encoder 0: quadrature count 
errorhm2/hm2_7i43.0: Encoder 0: quadrature count errorhm2/hm2_7i43.0: 
Encoder 0: quadrature count errorhm2/hm2_7i43.0: Encoder 0: quadrature 
count errorhm2/hm2_7i43.0: Encoder 0: quadrature count 
errorhm2/hm2_7i43.0: Encoder 0: quadrature count errorhm2/hm2_7i43.0: 
Encoder 0: quadrature count error...

I will code some more safety features to prevent dangerous 
consequencies. I will try different ports - I can swap 50pin headers and 
swap 7i39 channels. There are 4 of them in total.

And this is replaced 7i43 board after first one I diagnosed as working 
only when warmed and put on the shelf. It had issues with EPP 
communications as far as I remember. The motherboard is the same.

What might be there, anyway?


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Re: [Emc-users] 7i43 encoder count failures

[Marius Alksnys]

Is't there some checksum used?


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Re: [Emc-users] 7i43 encoder count failures

[Marius Alksnys]

How would you explain that when parallel port transfers data 8 bytes at 
a time and I get errors only in one bit through 3 bytes at least?

02/02/2016 08:49 PM, Peter C. Wallace rašė:

> Sounds like errors in the EPP connection. I would try shortening the
> EPP cable to the minimum length (If you are using a flat cable) or
> if you need a longer cable, use a IEEE-1284 compatible cable
> and a very short flat cable adapter to the 7I43s header. Might also be a
> marginal EPP port on the Motherboard.
>
>
> Peter Wallace
> Mesa Electronics


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Re: [Emc-users] Prempt RT on Linux Mint

[Marius Alksnys]

I can say a word about my journey through Linux distributions and DEs.
The main reason why I came to Linux was LinuxCNC. I started from Ubuntu 
10 x86 as such image was offered by LinuxCNC. And I made myself 
comfortable with it including for casual tasks.

Later on I moved to Debian Wheezy x86 with xfce together with new image 
from LinuxCNC. It was not easy, I felt not so comfortable, but adapted 
myself and xfce to my needs.

Now I am using Debian Jessie amd64 with KDE Plasma. And I am very happy 
with it. It runs LinuxCNC with SMP PREEMPT RT kernel on a laptop!

And a lot more happier when I found how to:
set Desktop to be "as usual" Activities / Create activity / templates / 
Desktop icons
set Meta (aka MS Start) key for kickoff menu by using ksuperkey
set various custom shortcut keys
use some great apps like Krusader, Kate (one session per config), ...

02/02/2016 03:18 PM, John Thornton rašė:
> Well Linux Mint with Mate is a much better behaved desktop. Having said
> that and I think I tried Debian with Mate with poor results. I'll have
> to dig through my pile of disks to see... maybe not, the only one I
> tried is the net install which only offers gnome, kde, lxde and xfce.
>
> JT


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Re: [Emc-users] One config for simulation and real machine

[Marius Alksnys]

Haltcl is an option, but:
Clean files and least skills required would be very nice not only for 
me, but for others, who might touch these files or take them as an 
example. Tcl requires knowledge of yet another (at least) language.

How about being able to skip only one line in simple way by not 
disturbing the order of lines? How about skipping from the middle of the 
line?

I don't find the line
f {[info exists ::OPTIONS] && $::OPTIONS(SIM) == 1} {
clean and elegant.

In most cases I am not building working sim configs. I just want to 
verify hal files are loading to some extent and maybe test some parts, 
UI, etc., which can be checked before testing at the field.

I do like content grouping and order in hal files by purpose and logical 
sequence. This means a lot of lines with and without references to HW 
interlaced / mixed.

A simple one-to-several symbol skipping like \ or in G-code would do the 
trick.

And this is not just to figure it out for now - I am about the 
possibilities, features and future.

I saw tcl, I saw python HAL configs in machinekit, but they make things 
more and more complicated, hacky-coded-scrambled style text instead of 
quite elegant HAL with small set of commands used most often. Basically, 
loadrt, loadusr, addf, net and setp.

Apart from simplicity and cleaniness I like names with meanings 
abbreviations and too. When using a few boards they make life much 
easier. Check these HAL lines from one of my configs:

addf [HM2](FPGA)write servo-thread
...
# --- Encoders ---
# --- X
setp [HM2](ENC)00.scale [AXIS_0]INPUT_SCALE
net x-pos-fb [HM2](ENC)00.position => pid-x.feedback axis.0.motor-pos-fb
net x-vel-fb [HM2](ENC)00.velocity => pid-x.feedback-deriv
net x-index-enable axis.0.index-enable <=> [HM2](ENC)00.index-enable
# --- Y
...
setp [HM2](AO)analogout2-scalemax  [AXIS_2]OUTPUT_SCALE
setp [HM2](AO)analogout2-minlim[AXIS_2]OUTPUT_MIN_LIMIT
setp [HM2](AO)analogout2-maxlim[AXIS_2]OUTPUT_MAX_LIMIT
net x-output => [HM2](AO)analogout0
...
# --- Tool changer ---
loadrt arrowdrum
...
net tc.arm-to-spindle motion.digital-out-02 => not-arm.in [HM2](DO)06
net tc.arm-park not-arm.out => [HM2](DO)05
net tc.arm-is-at-spindle [HM2](DI)08 => motion.digital-in-02
net tc.arm-is-parked [HM2](DI)07 => motion.digital-in-04

setp arrowdrum.pockets 21
setp arrowdrum.home-pocket 19
net tc.home [HM2](DI)03-not => arrowdrum.sense-index
net tc.sense-each [HM2](DI)28 => arrowdrum.sense-pocket
...


01/28/2016 04:45 PM, Dewey Garrett rašė:
> One can perform all kinds of programming logic using a haltcl file.
> Ref:http://linuxcnc.org/docs/2.7/html/hal/haltcl.html


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[Emc-users] One config for simulation and real machine

[Marius Alksnys]

How to make one LinuxCNC config suitable in both cases: real and sim?
I face this often trying to config, tune, program machines being at the 
field and away.

One example could be alter start of lines in hal files like:

# Will work only with real hardware:
[SIM](REAL) net some-signal my-hardware.port.pin...

# Will work only in sim:
[SIM](SIM) net some-signal simulated-feature.pin...

And in ini file, [SIM] section specify skipping depending on scenario:

For simulation:
[SIM]
REAL = skip
SIM =

For real hardware:
[SIM]
REAL =
SIM = skip

The problems I face now that there is no such dedicated halcmd command 
to skip a line (or I can't find it). Comment symbol is not accepted too. 
And I don't know a way to give an empty line. Maybe this could be easily 
implemented?..

What I tried and works:

[SIM]
REAL = show param

It would be even better to be able to skip from the middle of the hal line.
More ideas:
use exit
use IF or GOTO in HAL files

Your thoughts?


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Re: [Emc-users] LinuxCNC for retrofit of Cincinnati Milacron CNC?

[Marius Alksnys]

01/24/2016 11:55 PM, Gene Heskett rašė:
> On Sunday 24 January 2016 16:30:45 Marius Alksnys wrote:
>
>> 01/24/2016 04:37 PM, Dave Cole rašė:
>>> Is the positioning ability adequate?
>>
>> I am impressed how strong it holds in position even when fed with DC
>> current (freq = 0). I can't force it to rotate by hand, while it is
>> very easy rotating while turned off.
>
> That motors rotor has to be offcenter enough to drag under dc exitation,
> whereas it should move like it was full of cold molasses.  Call a
> surveyer slow, but dead smooth.
>
> As that raises the spot heat from friction at low speeds, I'd want to
> have a spare on the shelf in case it self destructs.

Sorry Gene, it is hard for me understand almost all of your posts 
without dictionary and deeper analysis of your words.. It might be 
because my mother language is Lithuanian, my English technical is ~ ok, 
but your posts are full of colorful English.. :)

This spindle rotates at 10kRPM nicely, thus I have no doubts it is in 
good balance. I think heavy magnetic field holds the magnetized rotor 
almost in place when I turn 10A DC current on.


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Re: [Emc-users] LinuxCNC for retrofit of Cincinnati Milacron CNC?

[Marius Alksnys]

and in orientation / position mode I_out is constant and f_out is 
controlled by PID.


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Re: [Emc-users] LinuxCNC for retrofit of Cincinnati Milacron CNC?

[Marius Alksnys]

01/24/2016 04:37 PM, Dave Cole rašė:
> Is the positioning ability adequate?
I am impressed how strong it holds in position even when fed with DC 
current (freq = 0). I can't force it to rotate by hand, while it is very 
easy rotating while turned off.

I did not implement any ramp there yet, just step in PID command for 
angle. pid.maximumoutput limits frequency to 1 or 2 rps.
It swings a bit and takes about two seconds to settle.

I have an idea to use limit3 component in such way:
pos-fb => lim3.in
pos-cmd => lim3.min lim3.max
prepositioning => lim3.load
pos-cmd-limited lim3.out => pid-orient.command

It should work as adaptive vel, acc limiter. Adaptive, as it adapts to 
real position, not theoretical / commanded one.

> Most squirrel cage motors are really bad at positioning under load as
> they rely on slip to generate armature flux.  No slip -> no flux -> no
> torque  But you are just trying to position the tool for the changer,
> right?
Yes, positioning is for the toolchanger only.

> The best I have seen for positioning with a load is basically a
> coast/brake to a stop position and then a brake is applied at the stop
> position.
An option in general, but there is no mechanical brakes in this case.

> Is there a reason why you did not use the hal component that Andy
> pointed out?  Or did you modify that?
>
> Dave

I actually took several lines only from lengthy bldc component which 
calculates phases.

I choose to program in C often while integrating LinuxCNC. Neither lots 
of standard HAL components with messy HAL config nor classicladder (lets 
face the truth - old, buggy and not convenient) seems elegant and 
free-to-implement-whatever-I-wish solution to me. I am an IT-engineer, a 
programmer and do like programming in C.

This time I had to find a formula and be able to freely tune it, 
implement current limiting and other features. Not to mention CPU cycles 
which are counting in realtime config. Universal components are great 
and I use them a lot too, but when I have a special need - I start with 
new .comp file :) And I found this way much easier even for PLC-type 
tasks than trying to tell my story about the logic to cl (which I 
learned and integrated in several projects too) with lots of mouse 
clicks and words not worth saying out loud :)


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Re: [Emc-users] LinuxCNC for retrofit of Cincinnati Milacron CNC?

[Marius Alksnys]

Thank you Andy! I tried and analysed vismach/vmc_toolchange config. 
However, I am planning to make substantial changes.
Yes, this config will help me, but there are several issues not covered:

1. Comments from remapped M6 toolchange.ngc subroutine:
   ; This assumes that the carousel is already aligned correctly.
   ; It is important to unload the tool before shutting down the machine.

I don't think I can live with that. There is no guarantee that the tool 
will be unloaded due to human factor (different operators) and in case 
of main power loss. Carousel position should not be trusted good as is.

I am thinking about some file which should store last tool number taken 
together with pocket it came from and should be reliably written to 
drive. There should be some state variable to report successful shutdown 
or crash.
and / or
on startup ask user to press the button with big letters "I confirm 
there is tool #N in the spindle and pocket #M is empty". There might 
more controls to fill right answer.

I coded and tested my own carousel HAL component which checks a lot of 
things and forces re-indexing in certain abnormal situations or can 
report critical faults by informational messages, halt and decline to 
work to avoid damaging the machine and tools. I tried to use given 
carousel component, but quickly found out it is not reliable enough. For 
example in index+pulse mode, position sometimes became erroneous after 
user abort or machine-power-off while carousel is active. No re-indexing 
is forced afterwards. No checks are done if index is in right place 
while working.

2. Some checks are made at ngc code before some action, but not all the 
time while the action takes place. This might lead to some failures or 
damage. Signals influenced: air-pressure, arm-in, spindle still oriented.


01/23/2016 09:05 PM, Andy Pugh rašė:
>
>
>> On 23 Jan 2016, at 17:43, Pete Matos  wrote:
>>
>> I have to find a good way to orient spindle now before I can proceed
>> further. Good luck man.
>
> The spindle.hal file from vismach/vmc_toolchange ought to pretty much just 
> slot in.
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Re: [Emc-users] LinuxCNC for retrofit of Cincinnati Milacron CNC?

[Marius Alksnys]

Spindle motor is, as written on the nameplate, High-performance 
induction motor - or three phase asynchronous motor in other words.

As drive power stage takes two analog voltages as phase current commands 
(third one is "calculated" inside), I am feeding them with sine signals, 
calculated by custom HAL component, using 7i77 analog output channels.

Resolver is mounted on the rotor. Resolver signals are converted to 
quadrature by original VFS electronics and then fed to 7i77 encoder 
input. This is how I have accurate position and speed feedback.

01/23/2016 07:42 PM, Dave Cole rašė:
> Are you using an encoder to commutate the motor?  Or just firing the
> windings in order?
> Is the original motor a regular induction motor or some brushless AC,
> brushless DC motor variant ?
>
> Dave


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Re: [Emc-users] LinuxCNC for retrofit of Cincinnati Milacron CNC?

[Marius Alksnys]

I coded and tested spindle orientation and tool carousel control this week.
I implemented a lot of checks here, as I learned something from severely 
damaged original carousel, which will be replaced when testing will be 
complete :)

Now I am coding tool change: Z movements, pneumatic valves, sensors, 
states, checks, messages.

01/23/2016 07:13 PM, Pete Matos rašė:
> excellent man did you get the toolchanger working as well?  That is what
> mine is lacking.  My machine is a 1997 Cincinatti Arrow 500 VMC.
>
> Pete


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Re: [Emc-users] How to find old Bosch drive manuals?

[Marius Alksnys]

Alex, you found out more in less time and from part of the info I had :)

I see there are external Heidenhain EXE, which can stay there, unless I 
would replace servo drives to something like stmbl. I haven't noticed 
linear scales yet, maybe next time I will look for them.

I was assured I will get wiring schematic.

I hope I will be able to throw out some of those I/O's. I know this will 
be a massive number of them to use anyway.

Those on the bottom.. might be brake resistors, didn't check.

It is in decision state now: to do or not to do a retrofit :)

> Hi Marius.
> What is good to see is that you have about the complete documentation
> needed.
> I do believe that if you will find the electrical cabinet wiring schematic
> you should be able to do this massive job.
> This machine is equipped with quite a big PLC with many I/O (so automatic
> tool changer and many other auxiliary devices).
> I see also the brake resistors for the axis and/or the spindle drive in the
> bottom cabinet isn't it?


> This type of CNC (that you will replace) should be a single channel (single
> process) architecture so LCNC is a good candidate for the replacement.
> Do you have linear scales to close the position loop on the linear axis?
> If yes maybe are Heidenhein branded.
> I see that the actual CNC have the servo card module with integrated EXE
> that is suited for the linear scales. How do you solve this issue with LCNC?
> Anyway you have a nice challenge to perform.
> Please let us know your progress on this project. ;-)
>
> Regards


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Re: [Emc-users] How to find old Bosch drive manuals?

[Marius Alksnys]

01/23/2016 10:43 AM, alex chiosso rašė:
> Hi Marius.
> Do you have a picture of the drive and the whole electrical cabinet ?
> The drive should be a Bosch Servodyn but as you noticed it's quite
> difficult to find out any docs.
> This mainly because the SPM coding for Bosch (Rexroth-Indramat) means a
> generic usage for Spindle application.
> Do you have any electrical drawings about the machine you're refering to ?
> Is the spindle command (from the cnc) analog , digital (fieldbus) or what
> else ?
>
> Regards :-)

Hi, Alex :)

Here are the photos and docs I found:
https://drive.google.com/folderview?id=0Bx5r7yxJ8GWDYkpMMHh2VWR5M00=sharing

I found manuals for servo drives, but not for spindle drive.

I hope I will get electric schematics of the machine.

Spindle drive is controlled by analog voltage.

Kind regards!


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Re: [Emc-users] LinuxCNC for retrofit of Cincinnati Milacron CNC?

[Marius Alksnys]

I am planning to finish to retrofit Cincinnati Arrow 750 with LinuxCNC 
in several weeks completely. This includes hacked VFS spindle drive for 
9kW 10kRPM spindle and automatic tool changer. I did not succeed to 
revive VFS to its original state, so I chose very strange way - to hack 
it and control phases directly.

I chose Mesa 5i25 + 7i77. Everything else is just a bunch of wires and 
code :)

And I am happy with the result.

01/13/2016 07:26 PM, Wayde Allen rašė:
> I just joined the email list since I'm wondering about using Linux CNC to
> retrofit the control system on an old Cincinnati/Milacron CNC system. The
> motor control amplifier for these machines seems to be a Kollmorgen BDS4.
> Has anyone here created an interface to one of these?
>
> Is Linux CNC a decent option for replacing the old control computer on one
> of these beasts for use in a low volume production environment?
>


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Re: [Emc-users] LinuxCNC for retrofit of Cincinnati Milacron CNC?

[Marius Alksnys]

01/23/2016 08:39 PM, Dave Cole rašė:
> Interesting.
>
> Are the two sine waves being fed to the drive 120 degrees out of phase
> or something similar?
>
> So does the sine wave amplitude ramp up according the motor speed?
>
> Dave

Yes, 120 degrees.

In spin / velocity mode amplitude I_out is controlled by PID and 
frequency calculated by a formula (created by myself):
f_out = dipoles * (vel_fb + vel_fb_abs * slip * K_slip * I_out / I_max + 
I_out / I_max * T_comp);

param rw float slip = 0.025 "Frequency slip ratio";
param rw float K-slip = 2.5 "Maximum slip coefficient";
param rw float T-comp = 5 "Torque to frequency compensation coefficient";

It could be more simple, but this worked and was flexible enough while 
tuning in my case.


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[Emc-users] Mesa 7i77: is it possible to control DRV4 enable separately?

[Marius Alksnys]

I use two analog outputs AOUT4 and AOUT5 of 7i77 togetherto control the 
spindle drive and would like to be able to turn them on and off 
separately from axis drives AOUT0 to AOUT3.

Is this possible? If so - how? Custom firmware, register tweaks?..

The same behavior of ENAx is preferred.


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Re: [Emc-users] Mesa 7i77: is it possible to control DRV4 enable separately?

[Marius Alksnys]

01/23/2016 01:03 AM, Peter C. Wallace rašė:
>
> There is only one individually enabled analog out on the 7I77 (AOUT5)
> (pinout limitation)
>
>
> If you dont mind AOUT4 being disabled with AOUT0..3 (say by a following
> error) you can use AOUT4 with and additional separate enable (one of the
> 24V digital outputs) for spindle enable

No, such behaviour is not suitable. I need to be able to control spindle 
even after LCNC machine power is off - it needs to control decceleration 
till spindle stops.

The thing is that I am controlling two of three phases of AC spindle 
motor directly with two analog outputs.

One idea I like best is to enable all AOUT signals when LCNC is running 
or when these signals are needed and trust pid.enable to turn analog 
outputs to 0. I can control all enables of servo amps from one separate 
digital output.


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[Emc-users] How to find old Bosch drive manuals?

[Marius Alksnys]

I am looking to retrofit machine(s) with LinuxCNC which have spindle 
drive with writings on it:
Bosch SPM 25-T/A
052313 - 109
DC 520V 25A

Can't find any docs for it.


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Re: [Emc-users] is anyone here buyingbfrom aliexpress?

[Marius Alksnys]

12/22/2015 05:51 AM, Gene Heskett rašė:

Their help popup says letters,numbers, and symbols, but a letters &
numbers including mixed-case, is an invalid pw. I tried plugging a & and
an @ but that didn't make it happy either, and theres no place to ask
for help in that regard. So I've not a clue what they expect in english.

Ideas?


Now I tried to register, wrote some simple password including letters ad 
numbers and it says it is ok. See attached gif
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Re: [Emc-users] Mesa 7i77 encoder max count rate

[Marius Alksnys]

Yes, filter was the first thing I tried. And it does not change max 
count rate at this setup. I tried to play with muxed-count-rate, but 
could not raise it more than 1666. When I tried some bigger number - 
the system just hang =|

I could not find how to change the skew while I found this mentioned in 
forums. I am using standard Mesa cable, but can make shorter one, about 
400mm length.

12/22/2015 05:41 AM, Peter C. Wallace rašė:
...
> Did you try turning off the encoder filter bit?
>
> The limitation is because the 7I77 encoders are muxed. You can push up the mux
> rate with rev 4 encoders because they allow adjusting the multiplexing skew
> (from cable delays and switching times)


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Re: [Emc-users] Mesa 7i77 encoder max count rate

[Marius Alksnys]

12/22/2015 06:15 AM, Peter C. Wallace rašė:
...
> changing the mux rate should not be able make the system hang (though if
> too fast it may scramble all the encoder counts vaues)
I think I tried 4000 when it hung. I can try again.

> If the filter-rate setting does not change the maximum count rate,
> the count rate limitation is not the 7I77 but something external
> (possible the converter or the interface)

I doubt this is the converter problem, because it is in original spindle 
drive, which should work up to 10 kRPM.

But I will check it with scope.

> The skew setting HAL pin is only exposed with version 4 encoder counters

What is this?


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[Emc-users] Mesa 7i77 encoder max count rate

[Marius Alksnys]

In my current linuxcnc, 5i25 and 7i77 setup I get 1MHz maximum encoder 
count rate. Is it possible to increase it?

I want to run a spindle up to 10k RPM with resolver. There is a resolver 
to quadrature converter, giving 16384 counts per revolution. That's 
5.461 MHz.

Encoder velocity output goes crazy above 4000 RPM roughly. That's about 
1 M counts / s.

It might be not possible for Mesa 7i77 while using 4 channels. I will 
try to reduce output scale of the converter, but would like to get more 
from 7i77. Can't find how.

Another approach would be to look at the index pulse width and if it is 
wide enough, count it with another encoder channel in count mode and 
make custom HAL component to switch between feedback devices. I need 
accuracy for slow moves and spindle orientation and velocity at higher 
speeds.

Using probably the latest firmware for Mesa cards and updated LinuxCNC 2.7.


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Re: [Emc-users] is anyone here buyingbfrom aliexpress?

[Marius Alksnys]

Yes, I am buying from aliexpress sometimes. It's ok.

12/22/2015 04:01 AM, Gene Heskett rašė:
> I ask,because I just tried, and cannot get past the password registration
> page.
>
> Cheers, Gene Heskett
>


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Re: [Emc-users] linuxcnc 2.7.3 - mesa 7i77 update

[Marius Alksnys]

Stephen,

you should download "Version 14 serial remote I/O card firmware" from 
www.mesanet.com, under ANYTHING I/O DAUGHTER CARDS, unzip it, and follow 
the README file in sserial/utils/linuxcnc.

So, you will need ssinstall script and a special script, called update7i77

12/07/2015 06:03 AM, Stephen Dubovsky rašė:
> Hello all,
> Upgraded the Ubuntu mill (2.5?) to 2.7.3.  Using a 5i25 & 7i77.  It
> complained that the 7i77 needed updating.  I found some docs on the forum
> and updated the 5i25.  But it still complains "hm2/hm2_5i25.0: Warning:
> sserial remote device 7i77 channel 0 has old firmware that should be
> updated" (I also get a warning for ch 1.)  How do I update the 7i77
> firmware?  I moved the jumpers W4 & W12 (?) on the 7i77 like the
> instructions said to when I updated the 5i25.  Is there something else I
> have to run besides mesaflash?
>
> I had to rerun pncconf to regenerate the hal/ini fles. 2.7.3 crashed on the
> old ones but the new seem fine.  I just opened the old .pncconf files and
> right-clicked all the way to the last menu and re-saved them.
>
> Thank you,
> Stephen
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Re: [Emc-users] calling Todd Z

[Marius Alksnys]

11/23/2015 11:50 PM, sam sokolik rašė:
> Rob has been in his zone again..  He has expanded circular arc blending
> into uvw axises.
>
> https://github.com/robEllenberg/linuxcnc-mirror/tree/feature/uvw-blending-dev
>
> we were wondering if you could run it and see if you find any issues.
> Rob and I have hammered on it a bit.  so far so good.
>
> sam
>
> ps - still falls back to parabolic (1 segment look ahead) for abc
> axis.   Rob says
>
> 'There are a few obstacles to rotary axis blending still. The biggest
> one is that the units for linear axes and angular axes are different, so
> tolerances, arc radius, and similar properties are ambiguous. I have
> some ideas to work through, though, so it may be doable.'
>

Not in all cases XYZ are linear and ABC are angular. For example, 6-axis 
robots controlled from robot physics/kinematics savvy CAM G-code - all 
axes might be angular.

Some custom machines might use axes in all possible ways.

And all-axes smooth blending is very important thing to have, but 
different arc-blending tolerances for each axis is a thing to discuss.

Could they be programmed in g-code as some G64.0, G64.1, G64.2, G64.3, 
.. G64.8 parameters?
And / or set them from ini file at startup.

Any other / better suggestions?


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[Emc-users] Turning digital outputs on G-code move without slowing down

[Marius Alksnys]

I want to control two digital outputs while in motion without slow-down.
Now I use G1 with A axis. Neither Arc Blend TP settings in ini nor M62, 
63, 64, 65 seems to help - I get a slowdown at the switching point.


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Re: [Emc-users] Turning digital outputs on G-code move without slowing down

[Marius Alksnys]

Actually this is simple single axis move. Ok, so, the receipt is to 
change it to Y (possible this time) and use digital out M6... commands?

Are there any plans for TP to support 6 or all 9 axes?

11/11/2015 02:51 PM, Robert Ellenberg rašė:
> Hi Marius,
>
> The problem is not the digital IO, but the A axis. Currently the TP does
> not support arc blends between rotary axis moves, so it falls back to
> parabolic blends (which can be slower for short segments).
>
> Rob
>
> On Wed, Nov 11, 2015, 7:31 AM Marius Alksnys <marius.alks...@gmail.com>
> wrote:
>
>> I want to control two digital outputs while in motion without slow-down.
>> Now I use G1 with A axis. Neither Arc Blend TP settings in ini nor M62,
>> 63, 64, 65 seems to help - I get a slowdown at the switching point.
>>


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[Emc-users] Jog lag with big G-code preview in Axis

[Marius Alksnys]

When Axis has big G-code (12MB) in view, jogging with keyboard has lags. 
Delays of jog start/stop events are unpredictable. But everything is 
normal, when toolpath preview is out of view.

I tested different keyboards: USB and PS/2 0 still the same.
Tried to play with [DISPLAY] CYCLE_TIME from 0.01 to 0.5 - could not 
find satisfiable result.

GIGABYTE GA-J1900N-D3V, Kingston SSD

Tested with:
Ubuntu 10 and LinuxCNC 2.7 pre6.
Debian Wheezy, LinuxCNC 2.7 pre6 and pre7.


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Re: [Emc-users] [Spindle speed] How to directly set spindle speed using hal

[Marius Alksnys]

You could take a look and use spindle-override pins

taras.korol...@openmailbox.org Wrote in
 message:
 Hi dear users and developers of one of the greatest software that I have 
 ever been used in my life.
 
 Currently my spindle speed is controlled using pwmgen component.
 So I have a connection signal between
 motion.spindle-speed-out == pwmgen.0.value
 
 It's great. I can control spindle speed using AXIS UI buttons or
 G command: Svalue.
 
 Now I connected a gamepad and want to also change spindle speed directly 
 with
 joyhandle.X.out pin.
 
 The idea is to get joyhandle.X.out output float falue, then convert it 
 to meaningful US32 value (revolution per minute) and send it to some 
 input pin
 which will changes the spindle speed.
 
 I didn't find such input pin in documentation.
 motion.spindle-speed-out is output pin and it's not writeable.
 
 Thanks.
 
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[Emc-users] One servo drive for multiple axes

[Marius Alksnys]

I am retrofitting old drilling and tapping machine. I decided to use one 
and only original servo driver for all three axes, which seemed quite 
interesting task for me.

I am almost done with it, but there are some troubles disturbing my mind.

I created new hal component, called onedrive, which currently monitors:
velocity command
velocity feedback
following error

and controls:
contactors
pid.enable
motion.hold, motion.feed-inhibit (will call this hold)

for all axes.

What this component does is:
turns hold signal when detects that new axis wants to move,
waits for old axis to reach its position and stabilize,
switches off power contactor and pid of old axis with delays
switches on power contactor and pid of new axis with delays
turns hold signal off
It also warns or raises a fault when several axes wants to move at one time.

Surprisingly to me, LinuxCNC:
ignores these hold and inhibit signals when homing
reaction to hold signal seems to be more than one or two servo periods
and most importantly, it moves new axis while velocity command of old 
one is not 0 yet

I tested it with setup, where arc blending TP is disabled and G-code, like:
M53 P1 ; Enable feed stop control
G61 ; Exact path mode
...
G0 X10
G1 Y10 F500
... etc.
Used halscope for monitoring...

Solutions?
I found locking_indexer in INI file description, which looks similar to 
the thing I need, but it seems that such axis can't be jogged manually.
I could use some inputs to select an axis prior to using it from G-code, 
of course, but this would not be so elegant from G-code point of view. 
Yes, it is possible to use G-code translator for that... But I have a 
hope to make it nicer.

I could share my component and relevant parts of my setup, but would 
like to make it nice and reliable.


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[Emc-users] Programming services

[Marius Alksnys]

Would developing, LinuxCNC support, consultancy paid services be 
interesting for this community?

By developing I mean software and hardware:
programming custom HAL components;
FPGA programming;
Making changes, alterations to LinuxCNC sources per request;
Creating user interfaces;
Design and creation of electronics hardware.

What I am thinking about is to gather a team of people capable to offer 
services for money agreed. One way is just to advertise them officially, 
another could be crowd-funding.

Crowd-funding principle could be handy for tasks of multiple interest in 
a way like this:
1. Task is raised from the community.
2. It is reviewed by the team or even other members, which offer their 
solution with description of what could be done, time and money needed.
3. One offer probably has to win.
4. Fund collection for the winning offer begins.
5. Work begins when funding goal is reached.
6. Work is tested when done, fixed if needed.
7. When everyone is happy, implementer gets the money, otherwise all or 
part of money (as agreed in advance) goes back to the funders.

Being a full-time LinuxCNC integrator with some experience, I could help 
collect the team members if I see my idea gets your support and real 
tasks could be funded.

Probably management system could be integrated into existing issue tracker..

Your opinions are needed!


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Re: [Emc-users] Driver for 48V BLDC servo motor

[Marius Alksnys]

I integrated a lot of 7i39's, thus I know them well enough.

But they are rated at 250W, HV version limited to 7.5A per phase, which, 
when reached, makes quite big torque gap, so it is not recommended to 
use 7i39 near its maximum current limit.
I even found better lead angles not to trigger 7i39 overcurrent 
protection, solved over-voltage problem while decelerating.

I would say 250W-300W is their maximum limit, while 250W rated motor can 
get or even deliver 750W power temporarily, which is very useful for 
acceleration or other temporary load conditions. Not to mention 
averaging of sines, which shows 7i39's even weaker.

Pico BLDC PWM servo amplifier is something I considered earlier, but did 
not choose as it has no sine commutation capability. I am looking at it 
with new eyes. I could use it for some applications.

I know IRAMS module, but I doubt they are capable to deliver 10-15 Amps 
per phase, which are needed for such voltage motors of similar power. 
Yes, IRAMS could be great for higher voltage motors..

Looking from economic point of view it would be great to have amplifiers 
for such motors in a price range between 60 and 110 USD for one motor IMO.

On 2015.06.15 00:38, andy pugh wrote:
 On 14 June 2015 at 21:08, Marius Alksnys marius.alks...@gmail.com wrote:
 Does anybody know BLDC motor drivers suitable to run BLDC servo motor:
 rated at 230W, 48V, 8 poles, 3000 RPM?
 Both Pico and Mesa do drivers that are suitable.
 http://pico-systems.com/osc2.5/catalog/product_info.php?cPath=3products_id=20
 http://store.mesanet.com/index.php?route=product/productfilter_name=7i39product_id=145

 The Anaheim ones should work too, but note that the Pico one is rated
 to higher voltage and the Mesa one is actually a dual-motor driver.
 However it needs to be connected to a Mesa FPGA card to operate as the
 3-phase PWM signals are created by the FPGA, not the drive.

 I want to control the motor using one PWM and three hall signals or
 three phase PWM.
 Has anybody succeeded running some simple BLDC drivers for that?
 I built my own (300V drive) using an IRAMS module.




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[Emc-users] Driver for 48V BLDC servo motor

[Marius Alksnys]

Does anybody know BLDC motor drivers suitable to run BLDC servo motor:
rated at 230W, 48V, 8 poles, 3000 RPM?

I want to control the motor using one PWM and three hall signals or 
three phase PWM.

Has anybody succeeded running some simple BLDC drivers for that?


Maybe one of these would have fast response and work like it should to 
control the motor:
http://www.anaheimautomation.com/marketing/brushless-dc/brushless-dc-controllers.php

?


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Re: [Emc-users] Mesa cards visual documentation

[Marius Alksnys]

On 2015.04.15 17:13, Erik Christiansen wrote:
 On 13.04.15 23:57, Ralph Stirling wrote:
 Looks useful, Marius.  I use Kicad rather than Eagle though.
 The individual diagrams I found at the link were PDFs, and did not
 require Eagle for viewing. What is used for generating PDF doco seems to
 be of relevance predominantly to the creator?

I created Eagle library to be able to make electric schematics for 
electrical connections in control cabinets of machines. I know Eagle is 
meant for designing PCBs, but I can't find better (easy to learn, with 
lots of libraries, scriptable, popular, multi-platform, with free 
version available) software for electrical schematics.


 Incidentally, Eagle seems to be something of a LinuxCNC standard, if we
 have any, in that it is more commonly used for HAL and ClassicLadder
 related diagrams than anything else, AFAICT.
Have to check this again, probably learn how to...
I use text editor to create / edit HAL files.


 Erik




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Re: [Emc-users] Mesa cards visual documentation

[Marius Alksnys]

On 2015.04.14 02:57, Ralph Stirling wrote:
 Looks useful, Marius.  I use Kicad rather than Eagle though.
I tried to use Kicad, but it seems hard to learn to me as I find its 
interface not very intuitive. I really would like to learn it and I even 
compiled latest Kicad version from sources.

I remember what I could not find in Kicad what I wanted:
multiple gates with different quantities and gateswap capability (like 
device A, B, C, etc.). But I want to set 1x A, 6x B, 6x C 16x D, 32x E, 
etc. and could not find how to do this.


 I have made simple spreadsheets for the 7I90, 7I33TA, 7I37TA, and 7I42TA.

Could you share them? I have some spreadsheet too, just need to prepare 
and clean it to be suitable for sharing.


 -- Ralph




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Re: [Emc-users] Mesa cards visual documentation

[Marius Alksnys]

Ok, so here is my first Mesa library, with 7i77 only yet:
http://robotech.lt/?p=46

Your comments and suggestions are very welcome!

I think I could make a spreadsheet of connectors, pins and names easily too.


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[Emc-users] Mesa cards visual documentation

[Marius Alksnys]

Is there any more visual documentation available for mesa cards than 
main manual?
I mean a board view with pinout, preferably with schematic internal 
component types.. like most servo drives have wiring schematics on their 
manuals..
Now 7i77 is actual for me.

If not, I am thinking about making one, at least something simple, one 
page, like spreadsheet with real connector layout and pin names...


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Re: [Emc-users] Installing Linuxcnc on fresh Debian

[Marius Alksnys]

What about following these instructions:
http://www.linuxcnc.org/docs/2.7/html/getting-started/index.html#_alternate_install_methods

?

On 2015.03.13 13:01, Marius Liebenberg wrote:
 I installed a fresh Debian distro from the debian netinstall ISO. Now I
 am trying to install LCNC. I cannot seem to find a complete instruction
 to do so. Can I follow the standard Ubuntu 10.04 instructions or is
 there a place to read up on the right way to do it.

 What seems confusing to me is this.
 1) I dont know if the stock production system can run on Debian.
 2) How do I get the linuxcnc-dev installed on Debian. I tried on Ubuntu
 12.04 but failed dismally.
 3) What will be the correct software source to work from?
 4) How will I get sudo apt-get build-deps linuxcnc to work? It does not
 find a repository.

 Peter did give some instruction earlier but he assumed that I had the
 basics installed already.


 -
 Regards / Groete

 Marius D. Liebenberg
 +27 82 698 3251
 +27 12 746 6064
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Re: [Emc-users] Best way to get Debian

[Marius Alksnys]

What about installing it from internet? I tried this and installation 
was really quick for me.
https://www.debian.org/distrib/netinst

On 2015.03.11 09:42, Marius Liebenberg wrote:
 I am trying to download Debian but every site has 65 CD images. What is
 the recommended way to get Debian from scratch and where is the best
 site to get it?



 -
 Regards / Groete

 Marius D. Liebenberg
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 +27 12 746 6064
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[Emc-users] Dell / Quanta touchscreen drivers

[Marius Alksnys]

I am trying to make Dell E2014T touchscreen work with LinuxCNC. I tried 
Debian Wheezy and Ubuntu 10.04. No success with touch yet. While, 
interestingly, it works with Machinekit on BeagleBone Black out of the 
box. What is made different in those distributions regarding this 
touchscreen?

Info from dmesg:
usb 1-4.3: Product: HID-TQH-FS
Manufacturer: Quanta
SerialNumber: ...
generic-usb 0003:0408:3025.000A: hiddev0,hidraw2: USB HID v1.11 Device 
[Quanta HID-TQH-FS] on usb-:00:12.2-4.3/input1



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[Emc-users] Current EtherCAT and lcnc state

[Marius Alksnys]

What is the current state and achievements of EtherCAT servo
 control from LinuxCNC?

Is it a good choice for current and future projects?

What servo drives to look at in EU?
I found that .4 to .7 kW Delta ASDA-A2 with EtherCAT costs 70 EUR
 more than classic IO model. I understand this as a marketing
 only..?


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Re: [Emc-users] Controlling an infrared reflow oven using LinuxCNC

[Marius Alksnys]

I agree to Kirk.
Also consider BeagleBone and Machinekit. BBB has several ADC channels 
already. I think it should be easy to use its SPI in user space too.
There are some items from my collection to watch:
http://r.ebay.com/TFtcVt
And some thoughts, found on web-search about serial interfaces and LinuxCNC:
http://emc-developers.narkive.com/RRUNdxHT/parallel-port-expansion-via-i2c-spi

On 11/09/2013 06:36 PM, Kirk Wallace wrote:
 On 11/08/2013 02:38 PM, Jean-Michel Pouré - GOOZE wrote:
 Dear all,

 I need to know to what extend Linux CNC could be used to manage an
 infrared SMT reflow oven. Any ideas are welcome.

 Linuxcnc could handle your oven control. In my opinion the advantages
 would be:
 -Common, cheap, non-proprietary PC hardware
 -HAL system to connect hardware and software components
 -HALscope and HALmeter to monitor and troubleshoot
 -Possibly HAL mapping to document your configuration
 -Software and hardware signal generators that integrate well with HAL
 -Software PLC that integrates well with HAL, if that is your thing
 -GladeVCP or pyVCP for developing a custom user interface
 -Python interface if one is not strong in C
 -Network and remote monitor/control ready
 -Modbus ready
 -more that hasn't come to mind yet

 I would tend to consider what skills one already has and choose a
 solution that matches. If you know how to use hardware PLCs, then maybe
 a PLC should be the base of your system, but you might still need to
 fill in some of the points listed above. I like AVRs, but you would need
 to develop a system almost from scratch.

 Just my two bits worth.




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Re: [Emc-users] How to THC?

[Marius Alksnys]

Viesturs,

I had the same issue as you do with Plasma and THCAD. I contacted local 
Plasma source service guy, who advised me to take a signal from the 
source before high frequency generator. Another suggestion was to take 
cheapest multimeter, connect it to this point, while set at HV DC. If it 
survives - the voltages are not too high :)

Having his suggestions and block scheme I did this successfully. I 
connected my scope too. Then connected THCAD with resistors, placed at 
the plasma source. I used lowpass hal component too.

Here is a part of .hal file and oscillograms:
http://robotech.lt/?p=14



On 01/31/2015 11:59 AM, Viesturs Lācis wrote:
 Hello!

 I have Jasic 100 A plasma source and Mesa THCAD card (extended to 310V
 measuring range). The thing is that there is no dedicated output
 signal in plasma source that would provide a feedback of plasma arc
 voltage.

 I thought that I might connect THCAD inputs directly to plasma torch
 and ground leads, but THCAD manual convinced me not to do so - it says
 something about touch-start plasma only, which does not seem to be
 the case here.

 So far I have received 2 opposite suggestions:
 1) attach THCAD inputs to main transformer output _before_ rectifier
 input - I was told that rectifier bridge will protect the board from
 any HF (when arc is launched);
 I would use very small and simple rectifier bridge (1000 V, 2A) to
 make the signal from bipolar to unipolar and then try some HAL magic
 to smooth out the fluctuations of the reading value;
 2) attach THC inputs _after_ rectifier input - I was told that main
 transformer output frequency is in several kHz range and that would
 bake my rectifier or some other electronics.

 I would appreciate any suggestions, where and how to attach THCAD
 board to Jasic plasma source, which does not have dedicated output
 signal for THC purpose.

 Viesturs



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[Emc-users] Multiple glade sub-panels

[Marius Alksnys]

Could someone point me the direction how to load three sub-panels from 
the same glade file into one panel, using hbox or similar.
The result should be three identical sub-panels with hal pins like 
myvcp-a.some-in, myvcp-b.some-in, myvcp-c.some-in and so on.
Furthermore, three identical instances of python modules should run for 
each of them.

One simple solution I know is to load them all at different screen 
positions, but I will get three separate windows then.


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[Emc-users] MDI in GladeVCP and axis

[Marius Alksnys]

How to avoid opening MDI tab in axis after clicking a button in gladevcp 
with mdi action?


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[Emc-users] Multiple instances of classicladder

[Marius Alksnys]

Is it possible to run multiple instances of classicladder? I want to run 
several identical production lines from one control system using cl.
The idea is to design one cl for one line and load them like:
loadrt classicladder_rt names=cl1,cl2,cl3,...

loadusr classicladder (...)

and connect signals to multiple cl instances in hal.

I tried names, count, but these arguments are not recognised and this 
raises an error.

Something like this would be useful:
loadrt classicladder_rt names=cl1,cl2
addf cl1.refresh some-thread
addf cl2.refresh some-thread
loadusr classicladder cl1 cl-t1.clp
loadusr classicladder cl2 cl-t2.clp


I tried also:
loadrt classicladder_rt
addf classicladder.0.refresh slow-thread
loadusr classicladder cl-t1.clp
loadusr classicladder cl-t2.clp

System loads, but it loads only first loadusr instance and I get this 
warning:
HAL: ERROR: duplicate component name 'classicladder'

Any other suggestions?


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Re: [Emc-users] F0

[Marius Alksnys]

Maybe motion.current-vel and comp hal component, connected to some 
output pin will do the task for you?

On 10/13/2014 08:23 PM, a k wrote:
 Hello
 is it possible to make to emc2 send/generate signal like I/O signal-5 V DC
 -  when system reads G0 -rapid move?
 thank you
 aram



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Re: [Emc-users] XHC-HB04 pendant: how to step increment down

[Marius Alksnys]

I strongly disagree with you from two points of view:
1. freedom - the component is great and it would be even greater with a 
bit more freedom.
2. In my opinion, control has to be fast and simple. And user / customer 
is always right. At least almost. And when he brakes something due to 
what he asked - let him decide, don't push.

Instead of forcing user pushing step button 4 times every time he wants 
to reduce the step, we could take some measures to make unintended 
cycling to highest step harder or to be noted by sound, indicator, 
vibration, etc. Or even use two buttons - one for increasing and one for 
decreasing step size, without rollover.

I configured this pendant before 2.6.0 was out and I made changes to .cc 
file to invert stepsize direction. And the user was very happy till 
2.6.0 has overwritten my compiled component.

One more question / idea is to let user select step sequence freely, I 
mean instead of default:

1,10,100,1000
something like:
1000,200,50,10,1

Is this possible? Can pendant display any number in stepsize position?

On 2014.09.13 19:12, Dewey Garrett wrote:
 We could implement an additional stepsize-down input for use
 instead of stepsize-up but I am not sure it is a good idea.  If
 the user does not carefully note the displayed increment value
 and pushes the step button to do stepsize-down, a rollover to
 the largest increment may be a big surprise when the user next
 clicks the MPG.

 When using the current implementation with stepsize-up, an
 inadvertent rollover to the smallest increment may be a surprise
 but is less likely to crash a machine.

 The existing implementation aligns with the button names on the
 pendant and is simple.  Cycling throught four stepsize increments
 is fairly quick and encourages the user to look at the displayed
 increment value when choosing a smaller increment.  It seems to me
 that adding provisions for stepsize-down would add complexity and
 increase chances for operator error.



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[Emc-users] XHC-HB04 pendant: how to step increment down

[Marius Alksnys]

XHC HB04 pendant has hal pin step-up, while it is more convienient way 
to approach some position by stepping increment down.

How to change this?


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Re: [Emc-users] Running high voltage DC spindle motor

[Marius Alksnys]

I believe they have isolation and driver integrated

On 2014.09.12 00:06, Karlsson  Wang wrote:
 I have only worked with IGBT/MOSFET and expected solid state relays to be 
 slow devices not suitable for PWM but they say 12 - 20kHz FAST PWM speeds. 
 They state it is solid state relays but the figure on the top is an IGBT 
 which require a good driver and electrical isolation!

 Nicklas Karlsson




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Re: [Emc-users] Running high voltage DC spindle motor

[Marius Alksnys]

I think instead of buying some new DC spindle drive my customer would 
choose replacing this motor with simple AC motor and buying new 3-phase VFD.

On 2014.09.12 10:00, alex chiosso wrote:
 Hi Marius.
 My 1 cent opinion is to by a new DC spindle drive according to the motor
 specification .
 Nowadays this kind of drives are not too expensive .
 This kind of motor seems to be a sort of custom made for EMCO so you should
 also verify the old drive
 specifications and wiring diagram to be sure to match properly with the new
 drive.
 The time=cost (and safety aspects) discourage an homebrew solution .

 Alex


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Re: [Emc-users] LinuxCNC Meeting Stuttgart, Germany 2014

[Marius Alksnys]

I could bring electric cabinet I built for Reis RV6 robot, connect it to 
the ABB robot and try to run it. Probably I could prepare for this in 
advance.
It has Mesa electronics with 5i23, 7i44, 7i37, 6x 8i20 and 7i49 for 
resolvers, THCAD.


Are you interested?

If the answer is YES, then..
For connection connector adapters are needed from Reis to ABB. For this 
connector parts to cabinet (Reis side) are needed:
http://www.tme.eu/parking/99d7c3c845593fe353a7848e4474a3bb9d2b2676.html
and to ABB robot side:
  - need to figure this out
 pictures are here: 
https://plus.google.com/photos/115792422633543473919/albums/6028220498226715809?banner=pwaauthkey=CKqEvoP7lvC0rAE

Maybe someone has such contacts (might be used, with wires) and tools 
for removing them?
I can buy plastic connectors.

Christian, are there original cables to the ABB robots? If so - could 
you please figure out what we would need to make adapters?


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[Emc-users] Running high voltage DC spindle motor

[Marius Alksnys]

I am retrofitting old lathe machines Emcoturn 220.
It has Siemens DC spindle motor, originally controlled with SCR 
thyristor bridge.
Motor specs:
https://drive.google.com/file/d/0Bx5r7yxJ8GWDb2pFMjhlT19yYTg/edit?usp=sharing

400V, 8.2A in short, while I don't know anything about other windings yet.

Spindle has feedback encoder installed.

I am thinking about 3 phase bridge and capacitor to get 600VDC and one 
transistor with control circuit for PWM control and some protection 
circuit.
I will be able to use PWM signal from Mesa board.

Do you know any board to buy for this motor? If not - maybe some good 
schematics?

Marius




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Re: [Emc-users] Running high voltage DC spindle motor

[Marius Alksnys]

I need to run the motor to its top RPM.
Thanks, Andy, but I doubt this one will be enough. And even if it is - I 
think it's overcomplicated solution. Quite expensive too. I am planing 
to retrofit 2-4 machines.

What do you think about controlling DC SSR with PWM like HDD-9V30E from 
http://www.power-io.com/products/hdd.htm
?
Two more questions then:
How to stop the spindle?
How to control field weakening - by the same PWM principle, separate 
SSR? But what about field weakening theory? Or just leave approx. 400V 
at main windings and increase current on field weakening windings?

On 2014.09.11 12:02, andy pugh wrote:
 On 11 September 2014 09:34, Marius Alksnys marius.alks...@gmail.com wrote:
 Do you know any board to buy for this motor? If not - maybe some good
 schematics?
 Maybe one from Granite (in Finland) ?

 http://granitedevices.com/digital-servo-drive-argon

 It runs off single-phase mains so will only be about 300V output,
 which might limit the top speed (or it might not)

 The plate seems to hint that the original drive might have used
 field-weakening for higher top speed.




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Re: [Emc-users] Printing on wall

[Marius Alksnys]

I helped one company in buying Epson XP710 with continuous ink supply 
system from local CIS dealer.
Then printing goes really cheap, quality is good to excellent. I do help 
them with it sometimes.

On 2014.09.10 20:32, Bari wrote:
 Controlling the heads is only one part of your problem. The other is the
 inks. Unless you are planning on using the inks sold for use with that
 printer you'll have to formulate some inks.



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[Emc-users] Retrofitting scara robot

[Marius Alksnys]

Maybe someone knows what motors are in these robots? And how to find 
their documents?
The last one has a line in description, saying AC servo motors with 
harmonic drives. If there are AC servo motors - what optimal price 
solution would you suggest in case when there is no old electronics?


SEIKO Scara Robot ES651C
http://www.ebay.com/itm/321228772276?_trksid=p2054502.m570.l4456_trkparms=gh1g%3DI321228772276.N8.S1.M785.R1.TR3

Epson Scara Robot E2L653E
http://www.ebay.com/itm/Epson-Scara-Robot-E2L653E-With-Connector/321228683817?_trksid=p2047675.c15.m1851_trkparms=aid%3D222007%26algo%3DSIC.MBE%26ao%3D1%26asc%3D24351%26meid%3D79f2149b96c34c2e858e9971d604e291%26pid%3D15%26prg%3D10335%26rk%3D1%26rkt%3D6%26sd%3D321228772276rt=nc

Seiko Epson D-Train TT8550
http://www.ebay.com/itm/Seiko-Epson-D-Train-TT8550-4-Axis-SCARA-Robot-Payload-5kg/121062787966?_trksid=p2047675.c15.m1851_trkparms=aid%3D222007%26algo%3DSIC.MBE%26ao%3D1%26asc%3D24351%26meid%3D79f2149b96c34c2e858e9971d604e291%26pid%3D15%26prg%3D10335%26rk%3D2%26rkt%3D6%26sd%3D321228772276rt=nc


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Re: [Emc-users] Retrofitting scara robot

[Marius Alksnys]

On 2014.09.09 23:26, TJoseph Powderly wrote:
 Marius
 get something with documents
 its not just the motor and driver that can bite you.
 i got a 6dof with Sanyo Denki planetary drives
 and the encoder output is proprietary 'panasonic A'
 never did get that decoded

And how hard it would be to replace encoders?
What is the model of the robot? :)


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Re: [Emc-users] LinuxCNC Meeting Stuttgart, Germany 2014

[Marius Alksnys]

Hi, Rene,

what are current limits of this servo driver with IRAMX?
Before we get into those complex interfaces - could it accept raw PWM 
commands for current or PWM - one phase or three?

Marius

On 2014.09.09 16:48, Rene Hopf wrote:
 Hi,
 Have you decided on a date?
 Are the ABB robots still available?

 I will bring my AC Servo project, a driver based on the IRAMX16UP60B and 
 STM32F4 with resolver interface.
 I also have a stack of Beckhoff ethercat components, including a canopen 
 adaptor(EL6751), in case anyone wants to play with that.

 Rene

 On 15 Aug 2014, at 07:59, Sven Wesley svenne.d...@gmail.com wrote:

 Oh nooo! I can't go this year, I am moving to the other side of the US for
 a year. This was the best weekend of the entire 2013 so you guys that are
 thinking about it. Damn it stop thinking and go!!!

 I really, really want to go...
 Den 11 aug 2014 19:48 skrev Niemand Sonst nie...@web.de:

 Am 11.08.2014 um 19:25 schrieb andy pugh:
 On 11 August 2014 18:05, Niemand Sonst nie...@web.de wrote:

 May be this year I can bring a Heckler and Koch Mill with tool changer
 to convert it with your help ;-)
 Is this one for making 9mm holes in distant workpieces?

 It is able to make also 9 mm holes, but not in distance ;-)
 It is a education mill with 225 x 120 x 200 mm travel way and a 9 slot
 turrent changer.
 With cabine and cooling.

 I do my 9 mm holes with a Glock 19 ;-)

 Norbert


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Re: [Emc-users] Retrofitting scara robot

[Marius Alksnys]

On 2014.09.09 23:26, TJoseph Powderly wrote:
 get something with documents
 its not just the motor and driver that can bite you.

Do you think it would be very hard to get those documents?
My luck in getting old (18 to 32 year old) machine documents from 
manufacturer is about 50%. Sometimes it costs.


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[Emc-users] limit3 issue

[Marius Alksnys]

I have no idea why, but in my config limit3 works wrong with certain 
maxv and maxa parameters.

My servo thread period is 20 (0.2ms - 5 kHz) and parameters are:
maxv 1500
maxa 720
min and max - defaults (or 0 and 160 - doesn't matter).

Then when in changes from 0 to 160, out ramps correctly, but when in 
goes back to 0, out starts to increase (!) slowly and steadily. And this 
even occurs with limit3.max = 160! I saw numbers in limit3.out like 
171.69 and counting up slowly...

I tried to change parameters to similar numbers, like:
maxv 1501
maxa 721
and then everything works as expected!

In my setup situations might happen that limit3.in changes back to 0 
earlier than output reaches 160.

I am happy I found a workaround, but behaviour is very strange. And I 
don't know what to report more to repeat the situation or find a bug.

Latest master version.


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Re: [Emc-users] limit3 issue

[Marius Alksnys]

actually it seems it does not depend on maxv, only when maxa = 720


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Re: [Emc-users] pins for bldc init and drive enable

[Marius Alksnys]

You can take a look at one of my hal setups for bldc init in qi mode 
below. You have to use logic components with adequate input count. This 
configuration does not have neither bldc-init timeout nor it reacts to 
some e-stop signal at bldc-init step.

Or you could use Classicladder for this task.

...

net all-inited and-all-inited.and not-all-inited.in 
iocontrol.0.emc-enable-in
net not-inited not-all-inited.out = and-init.in-00
net user-enable-out iocontrol.0.user-enable-out
net user-enable-out and-init.in-01
net bldc-init and-init.and
net machine-is-enabled or-amp-enable.in-00
net bldc-init or-amp-enable.in-01

# --- X ---
newsig x.enable bit
sets x.enable FALSE

net axis-0-enable axis.0.amp-enable-out = pid.x.enable
net bldc-init = bldc.0.init
net x.init-done bldc.0.init-done = and-all-inited.in-00

net x.index bldc.0.index-enable

...

net amp-enable [HM2](DIG)32.out or-amp-enable.or


On 07/23/2014 07:46 PM, Ralph Stirling wrote:
 I'm trying to get bldc init to run off machine on
 rather than just once when I start axis and
 reset estop the first time.  My current hal
 configuration ties bldc.0.init to iocontrol.0.user-enable-out
 and bldc.0.init-done to iocontrol.0.emc-enable-in,
 which may have been what pncconf suggested.
 I would also like to have hm2_7i43.0.3pwmgen.03.enable
 be enabled and disabled from machine on/off.

 I've tried, without success, connecting bldc.0.init to
 halui.machine.is-on.  Any other suggestions?

 Thanks,
 -- Ralph



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[Emc-users] OT: 1D cutting problem solver

[Marius Alksnys]

Maybe someone here has experience with solving 1d cutting problem?

The task will be to cut parts by defined demand table with required 
lengths and quantities. This has to be done in real-time: stock is 
measured on conveyor and it can appear as several stock parts at once.

I think I need some working and suitable 1D cutting solver. From this 
point I will be able to measure stock parts, plan and program cutting 
actions.

I tried vpsolver with GLPK, but it seems it can take one type (length) 
of stock only.


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