Re: [Emc-users] Two machine configurations -> g-code check

[Tomaz T .]

That is correct, I don't use "B" axis on head/head in case/config where 
workpiece is rotating so in this config B axis is used for that and head/heads 
"B" axis is in this case/config as A axis and used only for homing. In g-code A 
is not programed in any case.
If machine is used as classic 5-axis (with kinematics), then head/head is B/C 
and rotary (for workpiece) is removed from machine but not disconnected and is 
configured as A just for homing (I don't like to disconnect/connect cables 
many times)

Here short video in 5-axis 
"mode":https://youtu.be/g2MSzw1MhYU?feature=shared=42

> Tomaz,
> I watched the video. Even at .25 speed I could not see the axis movement of
> the head/head. I would like to see the head/head moving.

> Do you sometimes run with the A axis rotary table unhooked from the control?


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Re: [Emc-users] Two machine configurations -> g-code check

[Tomaz T .]

I did try your code for M100 (M100 is first line of g-code) but I guess 
something isn't ok, as there is no message to be seen (at wrong config) and 
even at matched config, g-code is not executing forward no matter how many 
times I hit R...

> Did you try my M-code? If one PP inserts M100 and the other M101, then you
> should get what you want.


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Re: [Emc-users] Two machine configurations -> g-code check

[Tomaz T .]

Machine is 5-axis head-head, but now I have added rotary axis for workpiece 
turn which is also parallel to B axis, so in one configuration I use 5-axis 
knematics, for other I don't need to.
Now I also have two post processors and I need to be careful to select the 
right one for the current job, and if I'm not, I need to prevent on machine 
that I run it on wrong configuration.
Here you can see first tryout of added rotary axis, milling long speargun: 
https://youtu.be/Q-HBN2Rs0vE
Configuration in my case is XYZABC as I need A in one or the other case to home 
"unused" axis.

> How are the two machines configured?
> Do you have XYZAB and XYZAC?



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[Emc-users] Two machine configurations -> g-code check

[Tomaz T .]

I have created two configurations of LinuxCNC to be able to run may machine in 
two different (mechanical) configurations. Now I would like to prevent to run 
wrong g-code.
Is maybe there a custom M-code that I could use for that and it would prevent 
further execution if it doesn't match with running configuration?


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Re: [Emc-users] Home to index triggers following error

[Tomaz T .]

>There is an arbitrarily large position jump when the index
>pulse is detected.  The position counter is set from
>whatever has accumulated during the home move to zero.  My
>PPMC driver detects index_enable going from 1 to 0 and
>suppresses any velocity on the next servo cycle.  It still
>sometimes causes a following error on the next cycle, but
>that is somewhat rare.  What version of LinuxCNC are you using?

Linuxcnc is 2.9.2

>I'm a bit surprised by this as I have never seen this on a
>stepper system before.  (I do see it rarely on my PPMC
>analog servo machine.)  Rotary axes often have much lower
>SCALE values than linear, I wonder if that has something to
>do with the issue.

SCALE value in my case is 233.9181, due to reduction gear for increase output 
toque.
Stepper driver's microstepping is set to 2000puls/rev

>I notice your stepgen is on axis # 0, but your encoder is on
>axis # 4, which is on a different board than #0.  That seems
>like an odd way to do things, but should work.

On my machine I have Universal PWM controller to run 4 DC servos, and 
additional USC controller to run 3 additional steppers with "integrated" 
encoders for rotary axis.

So, I added linksp Bindex => pid.4.index_enable
now it doesn't trigger following error any more (homing completes 
successfully), interesting thing is, that on first attempt of homing after 
fresh starting LinuxCNC I see quite large spike on f-error when hitting index 
pulse, this large spike doesn't accrue on any more on second attempt of homing 
or later, only after fresh start and on first one.

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Re: [Emc-users] Home to index triggers following error

[Tomaz T .]

> Is your PID also connected to index-enable (so that it can ignore the
> step-change in inputs)

Now it is done like this:

linksp Bindex <= ppmc.0.encoder.04.index-enable
linksp Bindex => axis.4.index-enable

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[Emc-users] Home to index triggers following error

[Tomaz T .]

What could be reason that home to index triggers following error (rotary axis), 
as it is shown in HAL scope plot: 
https://i.ibb.co/FgN61cd/HOME-TO-INDEX-ERROR-1.jpg

[https://i.ibb.co/FgN61cd/HOME-TO-INDEX-ERROR-1.jpg]

INI:
HOME_OFFSET= 0
HOME_SEARCH_VEL= 0
HOME_LATCH_VEL = 2
HOME_USE_INDEX = YES
HOME_IGNORE_LIMITS = YES

HAL:
# connect position feedback signals to encoders
net Bpos-fb <= ppmc.0.encoder.04.position

# connect PID output signals to step generators
net Boutput => ppmc.0.stepgen.00.velocity

# connect axis enables to step generators
net Benable => ppmc.0.stepgen.00.enable


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Re: [Emc-users] 5axiskins rotation

[Tomaz T .]

> Are you running RTAI or preempt-rt?

fresh install was done from linuxcnc_2.9.1-amd64.hybrid.iso that means it is 
preempt-rt?

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Re: [Emc-users] 5axiskins rotation

[Tomaz T .]

> If it says "syntax error in VERSION script" then sorry, I have not
> worked out how to fix that.

this is what I see in my case

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Re: [Emc-users] 5axiskins rotation

[Tomaz T .]

> Are any of the other 5-axis kinematics a good match for your machine?
> http://linuxcnc.org/docs/stable/html/man/man9/kins.9.html
> http://linuxcnc.org/docs/stable/html/motion/5-axis-kinematics.html

Linuxcnc/configs/sim/axis/vismach/5axis/bridgemill/  is the closest 
configuration, it also using 5axiskins.c + switchkins type0. In this sim B axis 
also rotates counterclockwise around Y axis, looking from 0 of coordinate 
system.

Thinking that maybe easiest solution would be modifying postprocessor, as the 
rest of kinematics is OK?




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Re: [Emc-users] 5axiskins rotation

[Tomaz T .]

> How did you migrate? By just loading the 2.7 config into 2.9? (That
> ought to work)

I took clean clean config and modify it, as in my old config there was a lot of 
commented out mess from my learning process.


> I know I had same problem years ago on 2.7 or earlier, but I can't remember 
> what was solution (some modification in kinematics module or assigning 
> direction somewhere in INI).
> For now I'm using "fresh" 5axiskins.c

> It does sound like you modified the kinematics file, and you are now
> using the  unmodified version after the update.

I did compare my modified kinematics and compare to original (2.7) 5axiskins.c 
and only changes were regarding two parallel joints for Y-axis. That is now not 
necessary as geometry of machine is defined in INI and joints are correctly 
mapped in this new 5axiskins module (2.9). 

What I noticed inside 2.9 (5axiskins.c) is this comment:

* 10) The direction of the tilt axis is the opposite of the 
* conventional axis direction.



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[Emc-users] 5axiskins rotation

[Tomaz T .]

I'm working on migration from 2.7 to 2.9.2, machine (5axis head/head) is homing 
correct, jog works in correct directions for all axes etc ... problem I have, 
for example if I jog B-axis, X-axis moves in wrong direction. 
(B-axis rotates around Y-axis clockwise, looking from coordinate zero.)
I know I had same problem years ago on 2.7 or earlier, but I can't remember 
what was solution (some modification in kinematics module or assigning 
direction somewhere in INI).
For now I'm using "fresh" 5axiskins.c

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Re: [Emc-users] PCIe parallel port card suggestion

[Tomaz T .]

>But; why doesn’t the onboard port work? It really would be expected to.

lspci - did not return any useful information about onboard lpt

dmesg did:
[5.032598] ppdev: user-space parallel port driver
[5.036312] parport_pc 00:01: reported by Plug and Play ACPI
[5.036380] parport0: PC-style at 0x378, irq 5 [PCSPP,TRISTATE,EPP]

[5.140591] lp0: using parport0 (interrupt-driven).

anyway, then I tried to run Lcnc (2.9.2):

Note: Using POSIX realtime
PPMC: bus 0 epp_dir = 0
PPMC: bus 1 epp_dir = 0
PPMC: bus 2 epp_dir = 0
PPMC: checking EPP bus 0 at port 0378
PPMC: slot 0: ID code: 54 Univ. PWM Controller
PPMC:  exporting UxC digital inputs
PPMC:  exporting UxC digital outputs
PPMC:  exporting PWM generators
PPMC: exporting encoder pins / params
read cache bitmap: 7fff
write cache bitmap: f0ff2000
PPMC: slot 2: ID code: 43 Univ. Stepper Controller
PPMC:  exporting UxC digital inputs
PPMC:  exporting UxC digital outputs
PPMC:  slave UxC addr 26
PPMC:  slave UxC # 8
PPMC:  exporting step generators
PPMC: exporting encoder pins / params
read cache bitmap: 7fff
write cache bitmap: a000

BUT there is no position feedback from any encoder!

PS. Wiring is OK as machine works on Lcnc 2.7 (on different/older computer).


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Re: [Emc-users] PCIe parallel port card suggestion

[Tomaz T .]

Thank you for suggestion 7I92TH is now actual version I guess?
I'm using Universal PWM Controller from Pico, this should work OK together?

 
>I'd be more inclined to change over to the MESA 7i92H and get two parallel
>port cards with all the high end capabilities of that product for smoother
>stepping etc.  I did and haven't looked back.
>John



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[Emc-users] PCIe parallel port card suggestion

[Tomaz T .]

As I had to change computer with a newer one, and onboard parallel port isn't 
working, I need PCI express parallel port card.
Which chipset or brand is verified to work well with lcnc?

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Re: [Emc-users] Chinese 400W AC servo + driver selection

[Tomaz T .]

Thank you for info about bergerda servos! Any idea which driver series would 
fit best with their 60SM-M0130MAL (400W AC servo)?

>
>

> From: John Dammeyer 
> Sent: Thursday, December 16, 2021 8:30 PM
> To: 'Enhanced Machine Controller (EMC)' 
> Subject: Re: [Emc-users] Chinese 400W AC servo + driver selection
>
> Hi Tomaz,
> I've moved from DC Servos with HP_UHU drivers to Bergerda 400W AC Servos on X 
> and Y, a 750W on the Knee and 1.8kW for the spindle.  Couldn't be happier 
> with price and service.  Especially  service/support.
>
> The problem with Aliexpress is you are dealing with little resellers (perhaps 
> not so little of course) but paying Alibaba and FedEx shipping for Bergerda I 
> still found the cost overall less than Ebay or Aliexpress.  And there's the 
> service.
>
> http://en.bergerda.com/product/607.html
>
> Be prepared for larger than normal motor shafts, 220VAC operation.  The 
> contact is Donald Chen.
>
> John Dammeyer
>
>> -Original Message-
>> From: Tomaz T. [mailto:tomaz_...@hotmail.com]
>> Sent: December-16-21 11:28 AM
>> To: emc-users
>> Subject: [Emc-users] Chinese 400W AC servo + driver selection
>>
>> Anyone here has experience with cheap Chinese 400W AC servos (and drivers) 
>> from aliexpress. Which combination to choose for on
>> "non commercial" cnc router!? There are so many of them and not much reviews 
>> to find ...
>>
>>
>>
>> ___
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[Emc-users] Chinese 400W AC servo + driver selection

[Tomaz T .]

Anyone here has experience with cheap Chinese 400W AC servos (and drivers) from 
aliexpress. Which combination to choose for on "non commercial" cnc router!? 
There are so many of them and not much reviews to find ...



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Re: [Emc-users] LinuxCNC in use on 5axis

[Tomaz T .]

>> Recent project done on my DIY 5-axis, controlled by LinuxCNC, just to 
>> encourage if anyone taking similar path:
>>
>> https://www.youtube.com/watch?v=TobQG2T7YV4
>>
>First of all.  Way cool!
>
>But I am hungry for more.  What is it you made?  How is it used? What does the 
>final product look like? Is it painted?  Is it turned over and the inside also 
>milled?
>
>But really cool!
>John
>
>
sorry, much of this is under NDA, as it is for automotive industry supplier

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Re: [Emc-users] LinuxCNC in use on 5axis

[Tomaz T .]

I'm using slightly modified 5axiskins, that means g-code is for tool center 
point.


>Are you using kinematic support and tool center point control in LinuxCNC
>or just relying on cam software to do the trajectory calculations from tool
>tip to rotational center?

>Phil T.
>The Feral Engineer
>
>Check out my LinuxCNC tutorials, machine builds and other antics at
>www.youtube.com/c/theferalengineer<http://www.youtube.com/c/theferalengineer>
>
>Help support my channel efforts and coffee addiction:
>www.patreon.com/theferalengineer<http://www.patreon.com/theferalengineer>
>
>On Sun, Jun 20, 2021, 3:35 PM Tomaz T.  wrote:
>
>> Recent project done on my DIY 5-axis, controlled by LinuxCNC, just to
>> encourage if anyone taking similar path:
>>
>> https://www.youtube.com/watch?v=TobQG2T7YV4
>>
>> Regards!
>>
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[Emc-users] LinuxCNC in use on 5axis

[Tomaz T .]

Recent project done on my DIY 5-axis, controlled by LinuxCNC, just to encourage 
if anyone taking similar path:

https://www.youtube.com/watch?v=TobQG2T7YV4

Regards!

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[Emc-users] Circle Diamond Square test - result interpretation

[Tomaz T .]

Is there anywhere to be found a good interpretation of Circle Diamond Square 
test result?

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[Emc-users] 2-axis head -> 5-axis kinematics

[Tomaz T .]

Hi all,

is there maybe 5-axis kinematics module suited for this kind of 2-axis head 
design which has A (or B) axis at an angle, for example 50 degrees, like the on 
from following link:
https://www.hiteco.net/en/products/bi-rotary-units.c8396/serie-orbital-j-50deg.8398/orbital-jqx-50-compressed-air.101428

Video: https://www.youtube.com/watch?v=rJs8RaKsnw8



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Re: [Emc-users] who is building big cnc machines with linuxcnc

[Tomaz T .]

Hi,
mine is not actually retrofit, but it can be used in commercial purposes, and 
it is 5-axis, electronics from Pico.

https://www.youtube.com/watch?v=g2MSzw1MhYU

Regards!


From: andrew beck 
Sent: Saturday, January 18, 2020 7:14 PM
To: Enhanced Machine Controller (EMC) 
Subject: [Emc-users] who is building big cnc machines with linuxcnc

Hi guys

I was just wondering who here has retrofitted any big commercial machines
with linuxcnc  and who actually uses there machine to make parts everyday.
I work in machine shops and am using fagor/ siemens/ controllers all the
time.  and I am retrofitting a cnc mill myself as a project and so I can
start my own machine shop at home on the farm.

I was thinking maybe if everyone makes a quick video of their machine I
could make a google drive link that everyone can add the videos to.  Then I
could compile everything into one big video.  It would be cool to see all
the big cool projects hiding out there that people have retrofitted with
linux cnc

There are not enough videos of machines actually making parts that are
professional quality.  I know linuxcnc is completely capable of it.  But
just haven't seen many examples.

Regards

Andrew

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Re: [Emc-users] Feed/Rapid override physical knob selection

[Tomaz T .]

I would prefere to have potentiometer style of knobs where I can include scale 
from 0-120%


Like on this picture:

https://www.dropbox.com/s/tc315af7ayee3gk/Rotary_switch.jpg?dl=0


Are for this used potentiometer or encoder?

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Re: [Emc-users] Feed/Rapid override physical knob selection

[Tomaz T .]

>I cut too much. These are just examples, not recommendations.
>
>https://www.ebay.co.uk/itm/183476117151
>https://www.ebay.co.uk/itm/152204137441

I think in my case this kind of controls would be more suitable:

https://1drv.ms/u/s!AsTjVWm3v2FThmzyEF6CuxRtAAHF
[https://kwpsdg.by.files.1drv.com/y4mvNUYn0J1_Po5_E9pCsr5sdu_eqlnxvKoURXOFew01q1EJ6w3fv25bXu1Wy6unrI0VoZC0i_VkpoA4HIIZAyLTy4ZCB1ZvIWoGBu96YUBB954msM6a8Erin6UY-A58P1d]
 
[https://kwpsdg.by.files.1drv.com/y4mvNUYn0J1_Po5_E9pCsr5sdu_eqlnxvKoURXOFew01q1EJ6w3fv25bXu1Wy6unrI0VoZC0i_VkpoA4HIIZAyLTy4ZCB1ZvIWoGBu96YUBB954msM6a8Erin6UY-A58P1d]
Do I need to look for "10 position rotary switch" or "Rotary encoder"?

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Re: [Emc-users] Feed/Rapid override physical knob selection

[Tomaz T .]

>If your knobs are near the mill even without coolant you will probably need
>some sort seal to prevent the ingress of swarf.

In my case, I'm going to install it on electronics enclosure for mid-size 
router for milling wooden parts, so no water or moisture at 
all.

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Re: [Emc-users] Feed/Rapid override physical knob selection

[Tomaz T .]

>Work out if you want 6 wire or 4 wire. (Does your Pico board support
>differential encoders? If it does you want the 6-wire)

I think it takes only 3-wire encoders (A,B,I)

>There are two main choices, MPG ( https://www.ebay.co.uk/183476117151)
>or potentiometer-style encoder ( https://www.ebay.co.uk/152204137441)

Your links doesn't work, what do I need to look for to get right reaults?

>Do you need waterproofing? That costs extra.

Only some dust might be present trugh time...


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[Emc-users] Feed/Rapid override physical knob selection

[Tomaz T .]

I would like to add two physical knobs for adjusting Feed Override and Rapid 
Override. Are there any caracteristics I should be aware of, befre ordering 
cheapest one from ebay? Any suggestions?


PS. I'm using Pico sytems controller board.




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Re: [Emc-users] Rack and pinion - tension or not

[Tomaz T .]

Something like this would reduce backlash to "zero" (without gearbox):


https://www.damencnc.com/products/mechanical-components/rack-pinion/r-p-drive-antibacklash-diy-includes-gears15t/_404_w_74_554_GB_1




>It ocurred to me a while ago that if using a double-helical rack and
>pinion then you can achieve zero backlash with an axial displacement
>of the pinion/gear relative to the rack.
>I don't know if anyone has ever done that.

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[Emc-users] Rack and pinion - tension or not

[Tomaz T .]

For my future project (cnc router) I will have to use helical rack and pinion 
system on two longer axis (2 and 3.5m). There are some designs where pinion is 
forced against rack with spring tensioner, on the other side, if I follow 
Atlanta's installation manual for their system, they forbid tensioning pinion 
against rack as it would cause  wear and tear or rupture of teeth (they suggest 
pre-load pinion shaft).

In my case this will be used for woodworking cnc router, so I'm not looking for 
very high precision, but anyway if there is anyone heaving experience with this 
would be nice to hear.

Example of tensioned pinion:

https://www.google.si/search?q=rack+pinion+cnc=lnms=isch=X=0ahUKEwi8g8ziqrPVAhVE6xoKHf02A3gQ_AUICigB=1536=735#imgrc=Yrj6s6vvjL--WM:

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Re: [Emc-users] How to add additional condition for enabling machine

[Tomaz T .]

newsig pressureOK bit
linksp pressureOK <= ppmc.0.din.09.in

now, how to properly implement this pin to condition powering up machine?


>Electrically you need a way to get this signal on a pin.
>
>Past that, it well within the capabilities of the HAL to code up that
>this pin reading "TRUE" is a condition for running.  It will not matter
>if "TRUE" is high or low.
>
>The HAL can be used to integrate this signal, in like a dozen different
>ways.  It will only require like <5 lines.

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Re: [Emc-users] How to add additional condition for enabling machine

[Tomaz T .]

Some more explanation


pressure switch is a simple NO switch which is triggered at certain pressure 
(5.5bar in my case) and that is minimum I need to operate my machine (Z-axis 
counter weight cylinder). So every time I want to use my machine I (manually) 
have to open valve for air.

I doesn't need to stop (or pause) machine if pressure drops, as my air 
compressor is always on "stand by".

So this should be one of conditions needed to power up machine and start homing 
axes.

I don't like the idea to wire it in same circuit as e-stop, I think it would be 
nice to receive warning for this specific error, if it is possible?


>Two important questions:

>1.  Do you want the machine to pause if you lose pressure mid-run?
>(almost certainly so)

>2.  Do you want the machine to be able to auto-resume if pressure drops
>but comes back?




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[Emc-users] How to add additional condition for enabling machine

[Tomaz T .]

I have air pressure switch to control if there is enough air pressure. Now I 
would like that this is also condition for enabling machine to run.

I would need a little help how to correctly add this to hal.
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[Emc-users] OT - R Drive AntiBacklash

[Tomaz T .]

I'm in doing a little research on replacing "low pitch" slow ballscrews with 
faster R and found this anti backlash system:


https://www.damencnc.com/en/components/mechanical-parts/rack---pinion/320



Does anyone here use it, and is it worth of investment compared to single 
pinion "standard" drive?


Reason for replacing ballscrews is also extension of axis and dusty 
environment, as in majority I'm milling MDF and plywood, where I can sacrifice 
some accuracy for more speed.
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Re: [Emc-users] adding hardware pouse/resume button

[Tomaz T .]

Found the missing line!


addf toggle.0 servo-thread

and also had to remove -not as I'm using NO button

Now ti works as expected!


From: Jon Elson <el...@pico-systems.com>
Sent: Friday, November 25, 2016 6:11 PM
To: Enhanced Machine Controller (EMC)
Subject: Re: [Emc-users] adding hardware pouse/resume button

On 11/25/2016 10:31 AM, Tomaz T. wrote:
> I'm trying to implement hardware push button (NO) for pause/resume program, 
> but it has no effect and I'm not sure what is wrong or missing
>
>
>
I've done this, a toggle button that turns on feed hold.

Here's the HAL code (feedhold.hal) :
loadrt toggle

addf toggle.0 servo-thread

# following for feed-hold toggle button
net feedholdbtn ppmc.0.din.15.in-not => toggle.0.in
setp toggle.0.debounce 20
net feedhold toggle.0.out => motion.feed-hold
net feedhold pyvcp.FeedHold



And here's an xml file (feedhold.xml) that puts up an "LED"
for the feedhold condition on a pyvcp control panel.  You
need an indicator, otherwise you'll never know why the
machine refuses to move.


  
   "Feed Hold:"


   "FeedHold"
"red"
"green"




In the [DISPLAY] section of your .ini file, add this line :
PYVCP = feedhold.xml

And in the [HAL] section, add this :
HALFILLE = feedhold.hal


Jon

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[Emc-users] adding hardware pouse/resume button

[Tomaz T .]

I'm trying to implement hardware push button (NO) for pause/resume program, but 
it has no effect and I'm not sure what is wrong or missing


Here is code (taken from forum):


loadrt and2 count=4
loadrt or2 count=1
loadrt toggle count=1
loadrt toggle2nist count=1


addf and2.0servo-thread
addf and2.1servo-thread
addf and2.2servo-thread
addf and2.3servo-thread
addf or2.0   servo-thread
addf toggle2nist.0 servo-thread



net pause-resume-btn and2.1.in0 and2.2.in0 <= ppmc.0.din.08.in-not
net pause-on toggle2nist.0.is-on and2.1.in1 and2.3.in1 <= 
halui.program.is-paused
net run-on and2.2.in1 <= halui.program.is-running
net pause-sig or2.0.in0 <= and2.1.out
net resume-sig or2.0.in1 <= and2.2.out
net toggle-ok toggle.0.in <= or2.0.out
net togglesig toggle2nist.0.in <= toggle.0.out
net toggleon halui.program.pause <= toggle2nist.0.on
net toggleoff halui.program.resume <= toggle2nist.0.off



(and2.0 is used for e-stop)
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Re: [Emc-users] max_velocity during execution - multiple axis

[Tomaz T .]

I'm very very sorry, I really did't want to blame anyone, especially 
developers, I really appreciate your work an effort to bring Lcnc this far. I 
just wanted to present my situation and what triggered to open this discussion. 
Anyway I'm using my machine for afternoon job opportunities which are appearing 
from time to time, but I was wondering if there are users who are running Lcnc 
on sirius (retrofitted) machines with more than 3-axis.



From: Todd Zuercher <zuerc...@embarqmail.com>
Sent: Monday, November 7, 2016 3:05 PM
To: Enhanced Machine Controller (EMC)
Subject: Re: [Emc-users] max_velocity during execution - multiple axis

Unfortunately this is a limitation that has always existed with Linuxcnc.  The 
new TP helped relieve the problem with 3 axis carving, but these limitations 
have always been there.   I don't think the developers can be blamed for you 
not knowing the limitations of your machine (and its software) when you bid 
your jobs.

- Original Message -
From: "Tomaz T." <tomaz_...@hotmail.com>
To: "Enhanced Machine Controller (EMC)" <emc-users@lists.sourceforge.net>
Sent: Monday, November 7, 2016 9:35:34 AM
Subject: Re: [Emc-users] max_velocity during execution - multiple axis

It surprises me that there were not much discussion about this "drawback" 
regarding TP, when trying to use it on machine and g-code with rotary axis 
moves. For example in my case I have to do an offer for milling PU foam pieces, 
where I could use higher speeds for cutting (like 2500mm/min), but 
unfortunately geometry of final pieces demands full 5-axis final cut where I 
can now reach only about 650mm/min, that means my machining time exceeds way 
over budget and I'm "out of business".



From: Klemen Zivkovic <klemen.zivko...@gmail.com>
Sent: Monday, November 7, 2016 8:05 AM
To: Enhanced Machine Controller (EMC)
Subject: Re: [Emc-users] max_velocity during execution - multiple axis

It should complete whole combined move in 1/F minutes.
So if F=2 whole move with acc dec takes 30 secs.

In my gcode processor I calculate it from speed/distance and unit is 1/min
for each segment of toolpath. Beeing axis unitless it can be applied to
axis with different distance units.

On 7 Nov 2016 5:19 a.m., "Danny Miller" <dan...@austin.rr.com> wrote:

> How does inverse-time work?
>
> Say you specify 1 sec to do 1" for a single vector not connected to
> other cuts, so it starts/stop fully at the ends.
>
> Is that the same as F=60ipm, which will take longer due to accel/decel?
>
>
> Or does it guarantee that the whole cut will take 1 sec, which will go
> faster than 60 ipm in the middle?
>
> Danny
>
>
> On 11/6/2016 2:23 PM, andy pugh wrote:
> > On 6 November 2016 at 20:09, Danny Miller <dan...@austin.rr.com> wrote:
> >> Huh, ok, yeah inverse-time does make sense.
> > A little less sense than not-inverse time. In my opinion.
> >
>
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Re: [Emc-users] max_velocity during execution - multiple axis

[Tomaz T .]

It surprises me that there were not much discussion about this "drawback" 
regarding TP, when trying to use it on machine and g-code with rotary axis 
moves. For example in my case I have to do an offer for milling PU foam pieces, 
where I could use higher speeds for cutting (like 2500mm/min), but 
unfortunately geometry of final pieces demands full 5-axis final cut where I 
can now reach only about 650mm/min, that means my machining time exceeds way 
over budget and I'm "out of business".



From: Klemen Zivkovic 
Sent: Monday, November 7, 2016 8:05 AM
To: Enhanced Machine Controller (EMC)
Subject: Re: [Emc-users] max_velocity during execution - multiple axis

It should complete whole combined move in 1/F minutes.
So if F=2 whole move with acc dec takes 30 secs.

In my gcode processor I calculate it from speed/distance and unit is 1/min
for each segment of toolpath. Beeing axis unitless it can be applied to
axis with different distance units.

On 7 Nov 2016 5:19 a.m., "Danny Miller"  wrote:

> How does inverse-time work?
>
> Say you specify 1 sec to do 1" for a single vector not connected to
> other cuts, so it starts/stop fully at the ends.
>
> Is that the same as F=60ipm, which will take longer due to accel/decel?
>
>
> Or does it guarantee that the whole cut will take 1 sec, which will go
> faster than 60 ipm in the middle?
>
> Danny
>
>
> On 11/6/2016 2:23 PM, andy pugh wrote:
> > On 6 November 2016 at 20:09, Danny Miller  wrote:
> >> Huh, ok, yeah inverse-time does make sense.
> > A little less sense than not-inverse time. In my opinion.
> >
>
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Re: [Emc-users] max_velocity during execution - multiple axis

[Tomaz T .]

So for now there is no solution to speed this up till TP will be modified in 
the way that it will take and "optimize" also moves with rotary axis ...?


PS. yes I'm from Slovenia.



From: klemenzivko...@gmail.com  on behalf of Klemen 
Zivkovic 
Sent: Sunday, November 6, 2016 2:10 PM
To: tomaz_...@hotmail.com
Subject: [Emc-users] max_velocity during execution - multiple axis

Hello,


I think your problem is that linuxcnc have x,y,z trajectory planning. As soon 
as you add rotary axis to have combined move you end up with single lookahead 
in tp, so this limits velocity.
Check this out:
https://forum.linuxcnc.org/20-g-code/29662-coordinated-motion-involving-rotary-axis


According to your name - I need to ask you are you native slovenian speaker?


regards
KLemen
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[Emc-users] max_velocity during execution - multiple axis

[Tomaz T .]

I'm doing some tests on sim.vismach.5axis running full 5-axis code (milling 
sphere with spiral tool path). I have entered max_velocity and max_acceleration 
for each axis same as I have on my real machine and also in TRAJ section. So, 
when I'm running code, machine (sim) it reaches only half of its max_velocity, 
and only thing that helps is to "insanely" increase max_acceleration for both 
angular axis.

So why is there such a big difference, and what else could help to speed it up?


If there is anyone interest to test this (in sim), here is code:

https://dl.dropboxusercontent.com/u/11501489/5x-test02.ngc


My INI settings for linear axis are:

MAX_VELOCITY:   90

MAX_ACCELERATION: 100


and for angular axis:

MAX_VELOCITY:   20

MAX_ACCELERATION: 35
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[Emc-users] OT Q about feed forces calculation

[Tomaz T .]

I would need a little help about how to approximately calculate force needed 
for feed when milling steel (for example 1.1730)  with certain tool (flat end 
cutter), cutting parameters (suggested from cutting tool supplier) etc...   
   
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Re: [Emc-users] Unexpected move after Stop

[Tomaz T .]

I also tried to prevent this move to happen with lowering Max Velocity slider 
to zero (before pressing Stop), then warning show up: can't do that 
(EMC_TRAJ_SET_TELEOP_ENABLE) in auto mode with interpreter idle.

> 
> I seem to recall that 5axiskins links to the tool-length offset, so a
> change in tool length might change the apparent position of the
> controlled point, which the servo loop will attempt to correct.
> 

  
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Re: [Emc-users] Unexpected move after Stop

[Tomaz T .]

Yes I'm using 5axiskins (slightly modified) and till now I didn't noticed this 
kind of issues.
> 
> Is this a non-trivial kinematics machine?
> 
> I'm working on a machine that does something like this when switching
> between forward and inverse kinematics (or maybe the other way around). In
> my case it is caused by a slight error in my forward kinematics function.
> 
  
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[Emc-users] Unexpected move after Stop

[Tomaz T .]

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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[Emc-users] PID explanation a bit different

[Tomaz T .]

Might be interesting to some of you, how PID can be explained from RC (drone) 
expert :)  
https://www.youtube.com/watch?v=0vqWyramGy8 
  
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Re: [Emc-users] Spur gear transmission

[Tomaz T .]

I did some more analysis based on your proposals, also removed torque force (on 
bigger spur) in opposite direction with which I tried to simulate some friction 
...
Here is plot with 15 teeth 
spur:https://www.dropbox.com/s/5i8s34qnixajldk/Plot_3.jpg?dl=0
and here is plot from gearing using module 0.5 size (25 teeth : 250 
teeth):https://www.dropbox.com/s/jivrotzn6b1xb0b/Plot_4.jpg?dl=0
I might getaway with 0.5, as it should run much smoother compared to module 1 
sized.
Till now I didn't find source for helical gear this small, as I'm limited to 
140mm in diameter for largest gear and I need to reach 1:10 ratio in single 
stage.




  
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[Emc-users] Spur gear transmission

[Tomaz T .]

I'm working on design and analysis of spur gear transmission with the help of 
Solidworks. What I need to do is 10:1 transmission ratio, using module 1 size 
spur gears.
Here is what I simulated in SW:
- 12 teeth spur gear generated from SW toolbox- 120 teeth spur gear generated 
from SW toolbox- 10RPM motor applied to smaller spur gear- 1Nm force applied to 
bigger spur gear (simulating some constant friction in opposite direction of 
rotation)
Image: https://www.dropbox.com/s/r13c84ob2ov7dvh/Gearing_1.jpg?dl=0
After running simulation and plot graph of angular velocities, reading is this 
(blue line is bigger spur):
Image: https://www.dropbox.com/s/j59pc4cbss3ldhj/Graph_1.jpg?dl=0

Is this normal that transmitted velocity isn't linear anymore, or is there 
something wrong with analysis or maybe SW generated spur gears are not 
suitable? 




  
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Re: [Emc-users] Question about closed loop CNC

[Tomaz T .]

Recently I installed Leadshine's nema 34 stepper with integrated encoder, 
driver used is also from Leadshine, and it is driven by Pico system's Universal 
Stepper Controller to which is also attached encoder feedback, so system is in 
close loop and it works very good. One thing I like about Leadshine's steppers 
with integrated encoder is that it already output's differential signals!
> >
> Many low-cost DRO scales are NOT quadrature encoders 
> reporting position in real time, but some kind of 
> interpolated sensor that gives several position reports a 
> second.  These cannot be used for closed-loop servo 
> operation.  So, check what sort of scale you have.
> 
> See  http://pico-systems.com/minimill.html  for some pics 
> and discussion of my minimill servo conversion.
> This is not a machine I use for general machining, (I have a 
> CNC Bridgeport that is a lot more capable) but is portable 
> for demos, and I also use if to experiment with motion control.
> 
> I (Pico Systems) have all the hardware you need for such a 
> conversion, using either brush or brushless motors.
> 
  
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[Emc-users] How to delay spindle-at-speed

[Tomaz T .]

I don't have encoder feedback from spindle and in 99% times I'm using same rpm 
speed, so I know how long it takes spindle to reach programmed rpms...

Is there a way to delay motion.spindle-at-speed for few seconds, before it 
proceeds with g-code?
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[Emc-users] Teleop and soft limits

[Tomaz T .]

How to properly setup machine, that soft limits wouldn't be ignored when jog in 
teleop (world mode)?  
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[Emc-users] stepper lose steps at low speed

[Tomaz T .]

What could be the reason that stepper is losing steps at very low speeds?  On 
my machine I have servos for XYZ axes (Pico control), and two (leadshine) 
hybrid steppers for rotary axes, which I found out that they are loosing steps 
at very low speeds. I think it might not be related to driver and stepper, as I 
tried to switch them with some other non-hybrid stepper and driver and results 
were the same, also after changing breakout board
My HAL content:http://pastebin.com/n6KAUE10My INI 
content:http://pastebin.com/zETiGmFT
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Re: [Emc-users] stepper lose steps at low speed

[Tomaz T .]

Microstep is set to 4000, gearing is 21:1 and it has very very small backlash 
and its well above my accuracy needs. The thing is that at very low speeds (ie 
50deg/min on motor side) it loses so many steps that the error is more then few 
degrees after reaching final position...

 Make sure you dont power down, stay at full power, you did not mention
 microsteps, Are you expecting higher resolution and accuracy than is
 possible with a stepper.
 You can see regular accuracy error due to the stepper when I tested a
 linear axis
 http://www.archivist.info/cnc/screw_error/

 I also have seen some terrible rotary tables and some good ones, there
 is a basic error at worm and gear rate which will/should be better at
 higher reduction ratios, all the low reduction I have measured were
 bad (up to .7 degree error and worm wheel rate) they were all below
 60:1 the 72:1 I tested was within specification and used for some gear
 cutting masters I made. The Vertex 90:1 I use seems ok not done the
 full test I did on the 72:1.
 Method was angle dekkor and precision polygon.

 Dave Caroline

  
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Re: [Emc-users] stepper lose steps at low speed

[Tomaz T .]

 What could be the reason that stepper is losing steps at very low speeds?
 
 It could be that the drives are of a type that switches to a standby current 
 when idle. (Though if that always caused problems they clearly wouldn't do it)
 
 A recent similar problem on the forum went away when he increased step 
 length. 

I found in driver's manuals that pulse width should be longer than 2.5μs, so 
what would be recommended value to set it for steplen?  
 
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[Emc-users] G43 Hn question

[Tomaz T .]

I'm frequently using G43 Hn (n-tool number) and this applies tool length offset 
from tool table (W), and this also applies offset distance to W axis. What 
bothers me is that after this G43 Hn, I always have to follow it with G0 W0 
which moves Z axis upwards (negative Z) for a distance in W axis which came 
from W column from tool table, and after that I actually get the right offset 
(at tool tip). Is there a way where this W (tool length) would be directly 
accepted and compensated after G43 Hn command, without extra G0 W0?I'm not 
familiar how commercial controllers are working, but I think there is tool 
compensation at the tool tip right after G43 command is executed?   
  
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Re: [Emc-users] Error on startup Lcnc

[Tomaz T .]

I found out that it was entirely hardware problem, because after moving 
parallel pci card to the other pci slot, it finally started to work.



 A wild guess might be that the PPMC board is not powered up or not
 connected? There is a Pico diagnostic program you might try.

 http://pico-systems.com/codes/univpwmdiags.tgz
  
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[Emc-users] Error on startup Lcnc

[Tomaz T .]

Anyone have ideas what could be wrong, and causing me this error on Lcnc 
startup:

Debug file information:
Can not find -sec APPLICATIONS -var DELAY -num 1 
insmod: error inserting 
'/usr/realtime-2.6.32-122-rtai/modules/linuxcnc/hal_ppmc.ko': -1 Operation not 
permitted
my5axis_load.hal:19: exit value: 1
my5axis_load.hal:19: insmod failed, returned -1
See the output of 'dmesg' for more information.
1614
  PID TTY  STAT   TIME COMMAND
Stopping realtime threads
Unloading hal components
  
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[Emc-users] Homing and restarting Lcnc problem

[Tomaz T .]

Suddenly I have problem with homing my z axis, as it reaches switch it back's 
off as it supposed to, but then it doesn't stop on programmed home offset 
instead it runs over it and keeps searching with its delatching velocity... 
Next problem occurred after update to 2.7.0 pre, as when I restart linuxcnc i'm 
getting error saying:
Debug file information:insmod: error inserting 
'/usr/realtime-2.6.32-122-rtai/modules/linuxcnc/hal_parport.ko': -1 Device or 
resource busymy5axis_load.hal:25: exit value: 1my5axis_load.hal:25: insmod 
failed, returned -1See the output of 'dmesg' for more information.2036

  
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Re: [Emc-users] Homing and restarting Lcnc problem

[Tomaz T .]

Commenting out  LP line in modules doesn't help, and also uncommenting install 
parport_pc /bin/true didn't in /etc/modprobe.d/linuxcnc.conf 



 
 Next problem occurred after update to 2.7.0 pre, as when I restart linuxcnc 
 i'm getting error saying:
 Debug file information:insmod: error inserting 
 '/usr/realtime-2.6.32-122-rtai/modules/linuxcnc/hal_parport.ko': -1 Device or 
 resource busymy5axis_load.hal:25: exit value: 1my5axis_load.hal:25: insmod 
 failed, returned -1See the output of 'dmesg' for more information.2036

  
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[Emc-users] Slip ring - experiences

[Tomaz T .]

Hi,
Does anyone here have any experiences with slip ring components? I'm thinking 
to use it to make one of my rotating axes limitless, but I would need to lead 
trough this device encoder and limit switch signals and also power lines for 
one servo and spindle...I'm a bit worried about encoder signals for which I'm 
already planing to use cable drivers, but anyway any second thoughts are 
welcome...  
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Re: [Emc-users] MPG pendant

[Tomaz T .]

I have the one with BLUE keypad and works OK, you can read about that here:
http://www.linuxcnc.org/index.php/english/forum/24-hal-components/26679-xhc-hb04-wireless-mpg-pendant-hal-module?start=10

Till now I didn't noticed any glitches except display going to sleep after 
~40sec


 
 These look interesting.. I might get one.. Only issue I see is.. all the ones 
 I can find are the 18 key version.. Which hasn't been tested with the driver 
 according to the Wiki. 
 Also, Ebay has several of which that have a different face plate.. Ones with 
 Blue and have Macro.. I like the 16 Key better.. Has Step Mode instead of  
 and says X Y Z 4 Spindle 
 Feed. Looks like the newer one Has X Y Z Spindle Feed and Something Else ? 
 Also like the silver all metal button vs the cheap looking red one.. Can 
 anyone comment on the different 
 ones ?
 
 On Ebay
 
 http://www.ebay.com/itm/New-NCStudio-CNC-3-4-Axis-Wireless-Handwheel-Manual-Pulse-Generator-MPG-Pendant-/171161089364?pt=BI_Heavy_Equipment_Partshash=item27d9fef554
 
 One with BLUE keypad -- Has the nice silver Button.
 http://www.ebay.com/itm/2-4G-Wireless-Mach3-MPG-Pendant-Electronic-Handwheel-For-CNC-Mac-Mach-3-4-Axis-/390713482854?pt=LH_DefaultDomain_0hash=item5af8569e66
   
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[Emc-users] Servo replacement for stepper

[Tomaz T .]

I have rotation stage as shown on picture below, and would need some 
recommendations which servo motor to choose for replacing stepper (nema17 frame 
size). Stage has 180:1 ratio.

Picture:
http://www.zappautomation.co.uk/930-large/zxr100ma-miniature-precision-rotary-stage.jpg
   
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Re: [Emc-users] Servo replacement for stepper

[Tomaz T .]

Thank you for the info, on their old page can also be found BL motors as small 
as nema17 frame size. I hope they are still available!
 

 See
 http://www.automationtechnologiesinc.com/
 for some decently priced servo motors. they have both brush and
 brushless. Their size 23 brushless motors are awesome.
 Although
 it seems the automationtech web site has them priced 50%
 higher than the kelinginc site. I have no idea what would
 happen if
 you placed an order through the Keling site at the lower price.
 My guess is they wouldn't honor that price, but I don't know.

 I have PWM drives for both the brush and brushless motors.

 Jon 
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Re: [Emc-users] Slow G code

[Tomaz T .]

Very nice to hear someone is working on that, I can provide you some complex 3 
and 5-axis code generated from NX (siemens unigraphics), and I can also test it 
on my machine to check for improvements...
If you want, I can send you a this code I used for this test mill of 
turbine:http://www.youtube.com/watch?v=iy1Mb6G_VJ0  
 If you'd like to contribute to this effort, I'm looking for G-code that
 runs slower than the requested feed rate. In particular, I'm looking for
 programs that have lots of short segments that approximate smooth paths. If
 you have a program that you think should run faster and are willing to
 share it, please email it to me. While my fixes won't improve every issue,
 part of my goal here is to survey how common some problems are. If it turns
 out that a slowdown I consider rare is common in your programs, it will
 justify some additional work in that direction.

  
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Re: [Emc-users] XHC HB04 pendant buttons and debouncing

[Tomaz T .]

 I am setting XHC HB04 wireless pendant up. I am almost satisfied how 
 everything works except for bouncy buttons. 

Did you maybe found any good workaround to prevent unwanted switching from 
world to joint mode after executing MDI command programmed for certain button?  
   
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Re: [Emc-users] rotary table .... has anyone tried this?

[Tomaz T .]

 are there any major advantages over encoders in this case of installation?

 If you can sample for long enough your resolution is infinite. (or, at
 least, better than your ADC)

 So, 16 bits of position information is easy and you can have a lot more.

 Plus all the other resolver advantages (they work when full of
 coolant, you can't break them) and disadvantages (awkward to
 interface, horribly expensive)

 The Tamagawa web site is very proud of the fact that they have a
 design that can be wound by machine rather than by hand.


I was thinking of installing encoder on final stage of gearing instead on beck 
of servo, if there would be any benefits concerning accuracy/backlash.  
   
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Re: [Emc-users] rotary table .... has anyone tried this?

[Tomaz T .]

This could be solution to gain gearing ratio in combination with timing belt...

Where would you place tensioner(s) to get rid of backlash ... ?

http://picpaste.com/pics/Gearing_01-X1NbZKYn.1383331283.jpg 
  
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Re: [Emc-users] rotary table .... has anyone tried this?

[Tomaz T .]

 But, with a nice multi-pole resolver directly coupled to the table,
 none of those would matter.

can you suggest any?  
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Re: [Emc-users] rotary table .... has anyone tried this?

[Tomaz T .]

 There are lots of resolvers on eBay. But I am not keen to look up the
 specs of every one to figure out if they are multi-pole.

are there any major advantages over encoders in this case of installation?  
  
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Re: [Emc-users] Rotary stage

[Tomaz T .]

This one has a bit more specs about accuracy...  if I could trust them :I
http://bjwn.en.alibaba.com/product/215200677-200438444/Motorized_Rotation_Stage.html
On this rotary stage sizes is usually nema 17 frame size, so with 1:180 ratio I 
could expect minimum 40Nm of torque?Isn't usually there a mechanism that 
allows to tighten worm against worm wheel to reduce backlash? 


 That device has a resolution and a repeatability specifications but no 
 accuracy
 which worries me.

 A few years ago I measured some rotary tables and found most of them
 were useless for the job we were doing due to periodic error due to
 the worm to wormwheel engagement, a basic sawtooth error which in one
 case was nearly .75 of a degree.

 Currently on my 5 axis I use a Vertex brand rotary (Taiwan) which has
 a 90-1 worm.
 So far for clock gears it has been good enough but I have not measured
 the accuracy beyond checking the resulting manufactured gear pitches.

 To provoke the error from a worm cut a gear of much higher number
 number than the internal worm. Simple check is, get a digital vernier,
 pick a number of teeth to measure over, measure , zero the vernier,
 then step around the gear, any time the vernier reads negative zero
 it, repeat till you get a lap just positive and record the peak
 distance, should be very small for a good rotary. I have seen some
 terrible variation from some rotaries.

 Backlash in these low cost rotaries I avoid by writing directional gcode.

 Dave Caroline

  
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Re: [Emc-users] joint_axes3 - info needed

[Tomaz T .]

I recently updated on ja4 and issue with jog in world mode is still present.
  
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Re: [Emc-users] joint_axes3 - info needed

[Tomaz T .]

$ ./configure --enable-run-in-place

ends with:

configure: error: libmodbus3 not found!
install with sudo apt-get install libmodbus-dev or disable with

I'm trying to install libmodbus 3.1.0 but also doesn't pass without failure...

~/libmodbus-3.1.0$ ./autogen.sh
Can't exec libtoolize: No such file or directory at /usr/bin/autoreconf line 
189.
Use of uninitialized value in pattern match (m//) at /usr/bin/autoreconf line 
189.
autoreconf: Entering directory `.'
autoreconf: configure.ac: not using Gettext
autoreconf: running: aclocal --force 
autoreconf: configure.ac: tracing
autoreconf: configure.ac: not using Libtool
autoreconf: running: /usr/bin/autoconf --force
autoreconf: running: /usr/bin/autoheader --force
autoreconf: running: automake --add-missing --copy --force-missing
src/Makefile.am:1: Libtool library used but `LIBTOOL' is undefined
src/Makefile.am:1:   The usual way to define `LIBTOOL' is to add 
`AC_PROG_LIBTOOL'
src/Makefile.am:1:   to `configure.ac' and run `aclocal' and `autoconf' again.
src/Makefile.am:1:   If `AC_PROG_LIBTOOL' is in `configure.ac', make sure
src/Makefile.am:1:   its definition is in aclocal's search path.
autoreconf: automake failed with exit status: 1

libmodbus3 downloaded from here: http://www.libmodbus.org/

What else can I do to install it properly?


 Looks like trying to run make without being configured properly

 Try

 git clean -xdf
 cd src
 ./autogen.sh
 ./configure --with-whatever-switches-apply
 make
 
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Re: [Emc-users] joint_axes3 - info needed

[Tomaz T .]

This one worked out.

I tested Jog, and there is no difference, so in world mode Jog is still at 
max_velocity

Here you can check if I did correct modification in control.c
http://pastebin.com/HLLq5VFu



 try without modbus

 ./configure --enable-run-in-place --without-libmodbus
 
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Re: [Emc-users] joint_axes3 - info needed

[Tomaz T .]

Any modification needed to make it work properly?


 I tested Jog, and there is no difference, so in world mode Jog is still at
 max_velocity


 World jog works properly on my delta robot (but I have not updated ja3 for
 a few month there).

 By the way, joints_axes4 is just released! I hope to test it soon.
 
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Re: [Emc-users] joint_axes3 - info needed

[Tomaz T .]

Trying to compile but $ make  returns me:

~/linuxcnc-fda6359/src$ make
Makefile:55: Makefile.inc: No such file or directory
Makefile:66: *** Makefile.inc must specify RTPREFIX and other variables.  Stop.
  

 - get current source code of joints_axes3 here:
 http://git.linuxcnc.org/gitweb?p=linuxcnc.git;a=snapshot;h=fda6359085a401fa7ff8af290a4c6a33715d10f3;sf=tgz
 - open file src/emc/motion/control.c
 - comment line 1279 (axis-teleop_tp.max_vel = axis-vel_limit)
 - compile it with these instructions
 http://wiki.linuxcnc.org/cgi-bin/wiki.pl?Installing_LinuxCNC#Building_LinuxCNC_realtime

 let us know if anything changes.
 regards,
 Michael 
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Re: [Emc-users] joint_axes3 - info needed

[Tomaz T .]

There is no difference if I press only arrow on keyboard, or Shift +arrow key, 
it always jogs with   MAX_VELOCITY, which is in my case 85 in both sections 
[AXIS_n] and [JOINT_n]

Here is how my [TRAJ] section looks like:

LINEAR_UNITS =  mm
ANGULAR_UNITS = degree
CYCLE_TIME =0.010
DEFAULT_VELOCITY =  45
MAX_VELOCITY =  85
DEFAULT_ACCELERATION =  90
MAX_ACCELERATION =  150
PROBE_INDEX =   0
PROBE_POLARITY =1

Also changing Jog speed slider position has no effect...


 
 Please describe with as much detail as you can what test you did and why 
 you think the jog speed slider isn't working.
 


  
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Re: [Emc-users] joint_axes3 - info needed

[Tomaz T .]

That's right, if I try to jog in joint mode, everything works as it should, 
as soon as I switch to world mode, there is only max velocity for jog.
Yes I'm using slightly modified 5axiskins.

 
 Hm, the change that Michał suggests changes teleop mode (aka world mode) 
 jogging speed.
 
 Maybe Tomaz is seeing a problem that I'm not seeing because he's jogging 
 in teleop mode (which maybe doesn't work) and i'm jogging in free mode 
 (aka joint mode), which apparently does work.
 
 Tomaz, you're using 5axiskins, right?  That might mean that you don't 
 get free-mode jogging, and get teleop jogging instead...
 
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Re: [Emc-users] joint_axes3 - info needed

[Tomaz T .]

http://pastebin.com/JEZtsTvH

 
 Pastebin your complete .ini file. 
 
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Re: [Emc-users] joint_axes3 - info needed

[Tomaz T .]

Next thing is why where is no effect of velocity settings for jog speeds, it 
always jogs with maximum velocity defined for that axis for example in 
continuous jog. Moving Jog Speed slider also has no effect...

  
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[Emc-users] joint_axes3 - info needed

[Tomaz T .]

Now i'm running my machine with 2.6pre (master) and would like  to test also 
joint_axes3. Is there a way to simply update existing one to ja3? 
 
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Re: [Emc-users] joint_axes3 - info needed

[Tomaz T .]

Ok, before I do this I should ask if after switching to ja3, do I need to do 
any modifications in my ini/hal file and also kinematics (I'm using 5axiskins)?



 In case that you get sources from git and don't have any source code
 changes:
 $ git branch --track joints_axes3 origin/joints_axes3
 $ git checkout joints_axes3
 $ cd src
 $ make clean
 $ autogen.sh
 $ ./configure
 $ make

 
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Re: [Emc-users] joint_axes3 - info needed

[Tomaz T .]

Can you please provide direct link to joints_axes3 branch where I can find 
those configs etc...?
Thank you.


 in joints_axes3 branch take a look at axis/sim_mm config.
 changes are:
 required [KINS]JOINTS setting
 separate [AXIS_X] [AXIS_Y] sections and [JOINT_n] sections
 in hal file all axis.n. pins changed to joint.n

 Ok, before I do this I should ask if after switching to ja3, do I need to do 
 any modifications in my ini/hal file and also kinematics (I'm using 
 5axiskins)?   
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Re: [Emc-users] joint_axes3 - info needed

[Tomaz T .]

$ git branch -track joints_axes3 origin/joints_axes3

returns me

fatal: Not a git repository (or any of the parent directories): .git

?



 In case that you get sources from git and don't have any source code
 changes:
 $ git branch --track joints_axes3 origin/joints_axes3
 $ git checkout joints_axes3
 $ cd src
 $ make clean
 $ autogen.sh
 $ ./configure
 $ make
   
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Re: [Emc-users] joint_axes3 - info needed

[Tomaz T .]

I'm using 

deb     http://buildbot.linuxcnc.org/ lucid master-rt
deb-src http://buildbot.linuxcnc.org/ lucid master-rt


 $ git branch -track joints_axes3 origin/joints_axes3

 returns me

 fatal: Not a git repository (or any of the parent directories): .git

 It should be --track, but that isn't your problem.

 The problem is that, as it says, you are not in a git repository.

 Did you build Master from source, or are you using a Buildbot version?
 
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Re: [Emc-users] joint_axes3 - info needed

[Tomaz T .]

Ok, I added those line here:
https://www.dropbox.com/s/09hpcp1mdt6545o/sources.jpg

but in update manager have nothing to update, also tried with
$ sudo apt-get update
$ sudo apt-get upgrade

what did I missed?


 Thanks for testing joints_axes3! That's very helpful.

 joints_axes3 is currently an experimental feature branch, so testing it
 is a little awkward, but possible.


 Add these lines to the file in /etc/apt that you got the above lines from:

 deb http://buildbot.linuxcnc.org/ lucid scratch-rt
 deb-src http://buildbot.linuxcnc.org/ lucid scratch-rt

 Use your regular update manager to update your package list, then select
 the version of linuxcnc that has 'joints_axes3' in the version number.


 The joints_axes branch needs some config changes, I've tried to write
 down what you need to change here:

 http://wiki.linuxcnc.org/cgi-bin/wiki.pl?JointAxesBranch


 Good luck, and let us know how it goes!


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Re: [Emc-users] joint_axes3 - info needed

[Tomaz T .]

Got it!

Now, regarding INI file, there is added MAX_JERK and can't find what's it's 
function, to set it correctly?



 The 'apt-get upgrade' won't move from master to ja3, you need to do that
 by hand.

 First run apt-cache policy linuxcnc, that'll list all versions of the
 linuxcnc package that your system knows about.

 You should see a couple with version numbers like
 1:2.6.0~pre0.4781.gbd069fb, and (if you successfully added the scratch
 repo and updated your package list) one with a name like
 1:2.6.0~pre~joints.axes3~6a281a6. Yes, that's a beautiful version
 number, no?

 Ok, next tell apt that you want *that* one, like this:

 sudo apt-get install linuxcnc=1:2.6.0~pre~joints.axes3~6a281a6

 It'll ask you if you want to downgrade linuxcnc, say yes.


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Re: [Emc-users] joint_axes3 - info needed

[Tomaz T .]

 The joints_axes branch needs some config changes, I've tried to write
 down what you need to change here:

 http://wiki.linuxcnc.org/cgi-bin/wiki.pl?JointAxesBranch


Regarding hal file modification, I hope my understanding is right ...

AXIS_n changes to JOINT_n
axis.n. changes to joint.n.

for example:

setp stepgen.0.position-scale [JOINT_4]SCALE
setp stepgen.0.steplen 1
setp stepgen.0.stepspace 0
setp stepgen.0.dirhold 27272
setp stepgen.0.dirsetup 8272
setp stepgen.0.maxaccel [JOINT_4]STEPGEN_MAXACCEL
net bpos-cmd joint.4.motor-pos-cmd = stepgen.0.position-cmd
net bpos-fb stepgen.0.position-fb = joint.4.motor-pos-fb
net bstep = stepgen.0.step
net bdir = stepgen.0.dir
net benable joint.4.amp-enable-out = stepgen.0.enable

? 
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Re: [Emc-users] joint_axes3 - info needed

[Tomaz T .]

I was referring to this sample:
 
http://github.com/araisrobo/linuxcnc/blob/feature/usb-rigid-tap/configs/sim/axis/axis_mm.ini#L149

If there is no need for it, I'll config without it



 Now, regarding INI file, there is added MAX_JERK and can't find what's it's 
 function, to set it correctly?

 The joints_axes3 branch does not have jerk limiting, so no MAX_JERK.
 Maybe you're thinking of a different branch (that I don't know about)?
 
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[Emc-users] Following error pin

[Tomaz T .]

I have two motor drivers (for axis 4 and 5) which have alarm signal telling me 
that motor is off position, and would like to connect that in linuxcnc, so when 
it is active it would trigger following error for certain axis. Which hal pin 
can I use for that input signals to connect on to?  
 
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Re: [Emc-users] Following error pin

[Tomaz T .]

Motors are step/dir controlled hybrid steppers that have encoder, and encoder 
feedback goes only to drivers so linuxcnc doesn't see actual position, and the 
only thing I could use is alarm signal from driver that would trigger linuxcnc 
to stop.
If it helps, this is driver used in system:
http://www.americanmotiontech.com/Products/ProductDetail.aspx?category=2model=HBS57

 
 I assume that in this system LinuxCNC is not seeing accurate position 
 feedback?
 
 Can you describe the system?
 
 One solution, assuming a step-controlled servo system where the
 encoder output only goes to the drives and not back to LinuxCNC would
 be to meddle with the normal feedback loop.
 
 So, if you normally have
 net x-fb stepgen.0.position-fb axis.0.motor-pos-fb
 
 Then you could have:
 
 net x-fb-raw stepgen.0.position-fb = mux2.0.in0
 net x-fb mux2.0.out = axis.0.motor-pos-fb
 setp mux2.0.in1 1000
 net error-signal {error source} = mux2.0.sel
 
 So, most of the time the system sees the normal stepgen feedback, but
 if the error trips it suddenly sees a bad value.  
   
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Re: [Emc-users] Following error pin

[Tomaz T .]

Motors are step/dir controlled hybrid steppers that have encoder, and encoder 
feedback goes only to drivers so linuxcnc doesn't see actual position, and the 
only thing I could use is alarm signal from driver that would trigger linuxcnc 
to stop.
If it helps, this is driver used in system:
http://www.americanmotiontech.com/Products/ProductDetail.aspx?category=2model=HBS57


 I assume that in this system LinuxCNC is not seeing accurate position 
 feedback?

 Can you describe the system?

 One solution, assuming a step-controlled servo system where the
 encoder output only goes to the drives and not back to LinuxCNC would
 be to meddle with the normal feedback loop.

 So, if you normally have
 net x-fb stepgen.0.position-fb axis.0.motor-pos-fb

 Then you could have:

 net x-fb-raw stepgen.0.position-fb = mux2.0.in0
 net x-fb mux2.0.out = axis.0.motor-pos-fb
 setp mux2.0.in1 1000
 net error-signal {error source} = mux2.0.sel

 So, most of the time the system sees the normal stepgen feedback, but
 if the error trips it suddenly sees a bad value.
 
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[Emc-users] updating linuxcnc

[Tomaz T .]

Why I cant thick linuxcnc and linuxcnc-dev in Update Manager? (This change is 
not coming from a source that supports changelogs.)
It's fresh install from LiveCD.   
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Re: [Emc-users] updating linuxcnc

[Tomaz T .]

It's probably also problem caused by dependencies, as it returns:

$ sudo apt-get install linuxcnc
Reading package lists... Done
Building dependency tree       
Reading state information... Done
Some packages could not be installed. This may mean that you have
requested an impossible situation or if you are using the unstable
distribution that some required packages have not yet been created
or been moved out of Incoming.
The following information may help to resolve the situation:

The following packages have unmet dependencies:
  linuxcnc: Depends: libmodbus5 but it is not installable
            Recommends: hostmot2-firmware but it is not installable
E: Broken packages

Where to get and how to install this missing components?


 1. It the same error we all are looking at, and have been since the 8.04
 installs, click by to ignore it. But it is more mouse clicks. Basically
 the same deal if you have the freecad buildbot in your repo list. Except
 that one is caused by freecad not being signed. Either way, its extra
 mouse clicks 5 minutes after you clicked install.

 My name for it is PIMA. ;-)

 Cheers, Gene
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Re: [Emc-users] axis.py - how to question

[Tomaz T .]

I did as you described, but receiving an error on start up, as it's still 
searching for axis.tcl which I renamed.
   


 Yes, and rename it any different name, so that it is not overwritten on
 next update of LinuxCNC.
 There are 2 files:
 1) axis in /usr/bin/
 this is where I did my modifications to implement HAL pin for setting world
 mode (I link that to axis.n.homed through and4 module in HAL);
 2) there is another file axis.tcl in /usr/share/axis/tcl that I also just
 rename to whatever-the-name-is.tcl without any modifications;

 Then in your INI file instead of axis you write whatever is your GUI name
 in the particular line DISPLAY = ...

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Re: [Emc-users] USB Pendant (XHC HB04)

[Tomaz T .]

I have I guess quite recent version of this pendant and have successfully 
tested on 2.5.2, Frederic also adjusted it for smooth jog in case of using it 
in world mode..
 
 
Now I have installed also 2.6.0-pre (run in place) and there I'm receiving an 
error, described here: 
http://www.linuxcnc.org/index.php/english/forum/24-hal-components/26679-xhc-hb04-wireless-mpg-pendant-hal-module?start=40
 
 
 
 Maybe at this place, someone else could test it on his machine, so we can see 
if error is related only to my machine or it is related to Run in place version 
of linuxcnc, or something totally different ...
 



 Frederic, have you been using this pendant?

 Are the driver  hardware working well?

 Do you still want to integrate it with LinuxCNC? The feature freeze for
 2.6 is approaching. I'll be happy to help you integrate it if you want.


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[Emc-users] axis.py - how to question

[Tomaz T .]

Is it possible to somehow update axis.py in my installed linuxcnc (2.5.2)
 
I would need to add few string related to automatic forcing to world mode
 
If so, where can I find original axis.py file, to modify it, and how to compile 
it (if needed)?   
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Re: [Emc-users] Round column mill/drill conversion

[Tomaz T .]

I was also thinking that way, and put it on local ebay and there is quite a 
lot interest for it, so it will probably be sold in short...
I already briefly went trough available machines (locally) and found this 
candidate, for reasonable price ..
http://www.bernardo.at/index.php?id=62L=1openuid=121katid=4groupid=170product_id=3469variation_id=3469
It's probably from the same chinese supplier as for other 45 sized versions 
on the market ...
So anyone here who could give an opinion about its quality and retrofitting 
possibilities?


 If you have the machine already, why not sell it and buy one of these;
 http://image.made-in-china.com/2f0j00CBHtvYeKhWoa/Drilling-and-Milling-Machine-ZAY7045FG-.jpg
 
 For the difference of a square column, and an R8 spindle, I think it would
 be worth it. I have a mill like yours, and have examined it many times, but
 faced with a sloppy quill, a morse taper and a round column, means too much
 of a re-work to be worthwhile.
 
 Regards
 Roland  
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Re: [Emc-users] Jog in world mode - increments

[Tomaz T .]

Ok, here is the situation I have related to my previous question. I have MPG 
control which works perfectly in joint mode. Now what would be the solution to 
make it useful also in world mode, where only continuous jog is possible?
 
 What could be the reason that when I switch to world mode (after homing) Jog 
 increments selection drop-down menu is greyed out, so I cannot select any jog 
 increment (it stays locked on continuous).In joint mode works ok.
 
 
  
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[Emc-users] Jog in world mode - increments

[Tomaz T .]

I'm what could be the reason that when I switch to world mode (after homing) 
Jog increments selection drop-down menu is greyed out, so I cannot select any 
jog increment (it stays locked on continuous).In joint mode works ok.

  
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Re: [Emc-users] USB Pendant (XHC HB04)

[Tomaz T .]

I would need some help with xhc-hb04.c, I'm trying to compile it, but getting 
errors on stdlib.h, stdio.h, string.h, math.h probably missing some dev 
libraries? 
I tried with sudo apt-get install build-essential but no success...





 I have developed a HAL module for this kind of MPG pendant.
 Look at
 http://www.linuxcnc.org/index.php/english/forum/24-hal-components/26679-xhc-hb04-wireless-mpg-pendant-hal-module
 Frederic.

 
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Re: [Emc-users] USB Pendant (XHC HB04)

[Tomaz T .]

I'm afraid I'm not doing it right (I'm a bit inexperienced in compiling), so 
please if you can write down steps I should do to implement this in linuxcnc.





 Below is the list of dev packages I have on my machine.
 I do not know exactly what packages are required, but you may start by
 installing
 - libc6-dev
 - libusb-1.0-0-dev

 Frederic.

 dpkg --get-selections | grep dev
 autotools-dev install
 devscripts install
 dpkg-dev install
 libart-2.0-dev install
 libatk1.0-dev install
 libc-dev-bin install
 libc6-dev install
 libcairo2-dev install
 libdevel-symdump-perl install
 libdevkit-power-gobject1 install
 libdevmapper1.02.1 install
 libdirectfb-dev install
 libdrm-dev install
 libexpat1-dev install
 libfontconfig1-dev install
 libfreetype6-dev install
 libgail-dev install
 libgl1-mesa-dev install
 libglib2.0-dev install
 libglu1-mesa-dev install
 libgnomecanvas2-dev install
 libgnomeprint2.2-dev install
 libgnomeprintui2.2-dev install
 libgtk2.0-dev install
 libgudev-1.0-0 install
 libice-dev install
 libimobiledevice0 install
 libjpeg62-dev install
 libncurses5-dev install
 libpango1.0-dev install
 libpixman-1-dev install
 libpng12-dev install
 libpth-dev install
 libpthread-stubs0-dev install
 libreadline5-dev install
 libsm-dev install
 libstdc++6-4.4-dev install
 libsysfs-dev install
 libudev0 install
 libusb-1.0-0-dev install
 libusb-dev install
 libx11-dev install
 libxau-dev install
 libxaw7-dev install
 libxcb-render-util0-dev install
 libxcb-render0-dev install
 libxcb1-dev install
 libxcomposite-dev install
 libxcursor-dev install
 libxdamage-dev install
 libxdmcp-dev install
 libxext-dev install
 libxfixes-dev install
 libxft-dev install
 libxi-dev install
 libxinerama-dev install
 libxml2-dev install
 libxmu-dev install
 libxpm-dev install
 libxrandr-dev install
 libxrender-dev install
 libxss-dev install
 libxt-dev install
 linux-libc-dev install
 makedev install
 manpages-dev install
 mesa-common-dev install
 python-dev install
 python2.6-dev install
 system-config-printer-udev install
 tcl8.5-dev install
 tk8.5-dev install
 udev install
 x11proto-composite-dev install
 x11proto-core-dev install
 x11proto-damage-dev install
 x11proto-fixes-dev install
 x11proto-input-dev install
 x11proto-kb-dev install
 x11proto-randr-dev install
 x11proto-render-dev install
 x11proto-scrnsaver-dev install
 x11proto-xext-dev install
 x11proto-xinerama-dev install
 xserver-xorg-input-evdev install
 xserver-xorg-video-fbdev install
 xtrans-dev install
 zlib1g-dev install

 Le 2013-06-28 10:03, Tomaz T. a écrit :
 I would need some help with xhc-hb04.c, I'm trying to compile it, but 
 getting errors on stdlib.h, stdio.h, string.h, math.h probably missing 
 some dev libraries?
 I tried with sudo apt-get install build-essential but no success...

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