Re: [Machinekit] Bamboo cnc/limit switch errors

[Jeff Pollard]

Hi,

  You should not make a loop of wire for the ground (gnd from switch to 
switch to switch is not good).
  You should have one wire for the switch input, and one wire for the 
signal ground in your switch cabling.
  All of the grounds from the various switches should meet at one point on 
the I/O terminal signal ground point.
  If possible, you should use shielded cabling.  Tie all of the shields 
(bare drain wires) at the same end near the inputs, but then connect them 
to an *earth* ground, not the signal ground of the input.  An example of an 
earth ground in a system would be the green wire (or green with yellow 
stripe) of a power supply, not the V- of the power supply.
  2-wire 22 gauge "sound and security" from Home Depot, etc. will typically 
be stranded wire with a drain wire and shielding.  This would be a good 
choice as it has all three of the conductors that you want.  Red for 
signal, black for signal ground and bare drain for shielding.

Jeff

On Friday, July 24, 2020 at 10:40:34 AM UTC-7, Frederic RIBLE wrote:
>
> Could you describe the wiring of these switches on your machine?
> I am wondering if you have two wires per switch going up to the logic 
> board, or only one, with ground sharing.
> On 2020-07-21 19:39, Mason Millner wrote:
>
> We are using momentary hinge limit switches (
> https://www.amazon.com/URBESTAC-Momentary-Hinge-Roller-Switches/dp/B00MFRMFS6/ref=sr_1_3?ie=UTF8=1535482225=8-3=limit+switch)
>  
> and our spindle (
> https://www.amazon.com/Koolertron-Spindle-Milling-Converter-Engraving/dp/B074XTKJTJ/ref=sr_1_9?ie=UTF8=1535482152=8-9=spindle+cnc)
>  
> is operating from its own power supply.  
> The machine is fairly rigid. No limit switches are triggered from until 
> material is being cut. The bamboo does vibrate quite a bit as it spans 65" 
> supported only on the ends, but we have been able to successfully cut this 
> dimension previously (on a 3-axis Techno machine).
>
>
> On Tuesday, July 21, 2020 at 1:12:01 PM UTC-4 blaz...@gmail.com wrote:
>
>> You didnt mention what type of limit switches you're using or how your 
>> spindle works. The Y axis itself shouldn't be under any special stress 
>> while cutting but the spindle generally takes a hard hit as soon as a tool 
>> enters the cut. Is the spindle motor powered by the same power supply your 
>> switches are on? Supply could be dropping low. Is the machine not ridgid 
>> and vibration tripping the switches?
>>
>> On Tue, Jul 21, 2020, 8:54 AM Mason Millner  wrote:
>>
>>> Hi All,
>>>
>>> We are developing a 4-axis CNC to mill bamboo poles and are currently 
>>> running tests in just three axis (x, y, z). We can dry-run g-code files 
>>> successfully, however we receive limit switch errors (primarily on joint 1) 
>>> when we begin cutting material. We suspect that the error is occuring in 
>>> the y-axis and that possibly our drivers are causing a problem (either they 
>>> are too small or not tuned adequately).. It is difficult to tell what is 
>>> going on and how the machine is configured from the information given.
>>>
>>>  We have the z-axis running on the long x-axis, running on two shorter 
>>> dual y-axes.
>>>
>>> The axis shaft is a ½” (12.7mm) , also the motor shaft is ¼” (6.35mm).  
>>> we are using polyurethane insert couplers (these have regularly been coming 
>>> loose though). 
>>>
>>> The motors are NEMA 23s with  3A rating/phase controlled by Pololu 
>>> TB67S249FTG drivers on a Cramps 2.2 cape on the Beaglebone Black. The 
>>> drivers have a current limit of 1.6A and are further limited to %90 for 
>>> safety. The Current limit for the board and drivers are defiantly a bottle 
>>> neck, but the motors have enough power to operate. [Could this be the 
>>> problem?]
>>>
>>> Any help or recommendations would be greatly appreciated. If more 
>>> information is needed please let me know. I'm fairly new to the machine 
>>> development side of this project. Thanks.
>>>
>> -- 
>>> website: http://www.machinekit.io blog: http://blog.machinekit.io 
>>> github: https://github.com/machinekit
>>> --- 
>>> You received this message because you are subscribed to the Google 
>>> Groups "Machinekit" group.
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>>> an email to machinekit+...@googlegroups.com.
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>>> https://groups.google.com/d/msgid/machinekit/790379d8-160b-4fed-9fa2-d03cbe160926n%40googlegroups.com
>>>  
>>> 
>>> .
>>>
>> -- 
> website: http://www.machinekit.io blog: http://blog.machinekit.io github: 
> https://github.com/machinekit
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> 

Re: [Machinekit] Bamboo cnc/limit switch errors

[Jeff Pollard]

Hi,

  The limit switch wiring may be picking up electrical noise.
  You can try adding a bypass capacitor from the input to GND or 
additionally add a resistor in the path right before entry to the input.

https://hackaday.com/2015/12/09/embed-with-elliot-debounce-your-noisy-buttons-part-i/
   the 74HC14 in the schematic is not strictly necessary, but can but used 
to "square up" the input signal (while inverting it).
   The value of R2 and C1 in the image determine how much filtering will 
occur.
   Too much filtering will affect switch performance.
   Not enough and you can still get the nuisance interrupts from voltage 
spikes caused by motors in the system.
:
  Additionally, you can add a debounce filter to the HAL file
http://www.machinekit.io/docs/hal/rtcomps/#sec:Debounce
http://www.machinekit.io/docs/man/man9/debounce/

Jeff


On Tuesday, July 21, 2020 at 10:39:00 AM UTC-7, Mason Millner wrote:
>
> We are using momentary hinge limit switches (
> https://www.amazon.com/URBESTAC-Momentary-Hinge-Roller-Switches/dp/B00MFRMFS6/ref=sr_1_3?ie=UTF8=1535482225=8-3=limit+switch)
>  
> and our spindle (
> https://www.amazon.com/Koolertron-Spindle-Milling-Converter-Engraving/dp/B074XTKJTJ/ref=sr_1_9?ie=UTF8=1535482152=8-9=spindle+cnc)
>  
> is operating from its own power supply. 
> The machine is fairly rigid. No limit switches are triggered from until 
> material is being cut. The bamboo does vibrate quite a bit as it spans 65" 
> supported only on the ends, but we have been able to successfully cut this 
> dimension previously (on a 3-axis Techno machine).
>
>
> On Tuesday, July 21, 2020 at 1:12:01 PM UTC-4 blaz...@gmail.com wrote:
>
>> You didnt mention what type of limit switches you're using or how your 
>> spindle works. The Y axis itself shouldn't be under any special stress 
>> while cutting but the spindle generally takes a hard hit as soon as a tool 
>> enters the cut. Is the spindle motor powered by the same power supply your 
>> switches are on? Supply could be dropping low. Is the machine not ridgid 
>> and vibration tripping the switches?
>>
>> On Tue, Jul 21, 2020, 8:54 AM Mason Millner  wrote:
>>
>>> Hi All,
>>>
>>> We are developing a 4-axis CNC to mill bamboo poles and are currently 
>>> running tests in just three axis (x, y, z). We can dry-run g-code files 
>>> successfully, however we receive limit switch errors (primarily on joint 1) 
>>> when we begin cutting material. We suspect that the error is occuring in 
>>> the y-axis and that possibly our drivers are causing a problem (either they 
>>> are too small or not tuned adequately).. It is difficult to tell what is 
>>> going on and how the machine is configured from the information given.
>>>
>>>  We have the z-axis running on the long x-axis, running on two shorter 
>>> dual y-axes.
>>>
>>> The axis shaft is a ½” (12.7mm) , also the motor shaft is ¼” (6.35mm).  
>>> we are using polyurethane insert couplers (these have regularly been coming 
>>> loose though). 
>>>
>>> The motors are NEMA 23s with  3A rating/phase controlled by Pololu 
>>> TB67S249FTG drivers on a Cramps 2.2 cape on the Beaglebone Black. The 
>>> drivers have a current limit of 1.6A and are further limited to %90 for 
>>> safety. The Current limit for the board and drivers are defiantly a bottle 
>>> neck, but the motors have enough power to operate. [Could this be the 
>>> problem?]
>>>
>>> Any help or recommendations would be greatly appreciated. If more 
>>> information is needed please let me know. I'm fairly new to the machine 
>>> development side of this project. Thanks.
>>>
>>> -- 
>>> website: http://www.machinekit.io blog: http://blog.machinekit.io 
>>> github: https://github.com/machinekit
>>> --- 
>>> You received this message because you are subscribed to the Google 
>>> Groups "Machinekit" group.
>>> To unsubscribe from this group and stop receiving emails from it, send 
>>> an email to machinekit+...@googlegroups.com.
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>>> https://groups.google.com/d/msgid/machinekit/790379d8-160b-4fed-9fa2-d03cbe160926n%40googlegroups.com
>>>  
>>> 
>>> .
>>>
>>

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[Machinekit] Re: BeagleBone local setup - Black screen with cursor after graphical login

[Jeff Pollard]

Hi,

  Some versions of MachineKit do not come with the desktop environment 
installed.  I'm not sure if that is the problem you are encountering, but I 
had a similar problem before.  I installed lxde as a desktop (remotely) 
then rebooted, and I got a desktop display after logging in.  

Jeff


On Sunday, May 3, 2020 at 5:07:38 AM UTC-7, Pierre Ingels wrote:
>
> Hello all,
>
> I am attempting to set up a controller for my CNC lathe using the 
> BeagleBone Black and Machinekit. I have set it up pretty well using remote 
> terminal and I am now completing the system with a touchscreen (an Elecrow 
> RR101 10.1 Inch 1280x800).
>
> It seems to work just fine and displaying the login graphical interface at 
> 1280x800, but as soon as I login the mouse cursor remains but the screen is 
> all dark. I have poked around with Xrandr thinking that it is the 
> resolution but I get this message:
> xrandr: Failed to get size of gamma for output default
> Screen 0: minimum 1280 x 800, current 1280 x 800, maximum 1280 x 800
> default connected 1280x800+0+0 0mm x 0mm
>1280x800   0.00*
>
>
> I assume that I have to define the screen - any pointers how to do this 
> and find the relevant parameters? Or obviously if I need to look in a very 
> different direction :)
>
> Thank you!
> Pierre
>

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[Machinekit] Re: Setting up Cape for BB Black

[Jeff Pollard]

Hi,

  I can't say for sure, but it may be PRU pins that are being described?
  If you take a look at the following file:
https://github.com/beagleboard/bb.org-overlays/blob/master/tools/beaglebone-universal-io/config-pin
  you can find some of these pins.  For example:

P9_27_PRU="147"
P9_27_GPIO="115"
P9_27_PIN="gpio"
P9_27_PINMUX="default gpio gpio_pu gpio_pd gpio_input qep pruout pruin"
P9_27_INFO="gpio3_19 default gpio3_19 gpio3_19 gpio3_19 gpio3_19 
eqep0b_in pru0_out5 pru0_in5"
P9_27_CAPE=""

or

P9_25_PRU="149"
P9_25_GPIO="117"
P9_25_PIN="audio"
P9_25_PINMUX="default gpio gpio_pu gpio_pd gpio_input qep pruout pruin"
P9_25_INFO="gpio3_21 default gpio3_21 gpio3_21 gpio3_21 gpio3_21 
eqep0_strobe pru0_out7 pru0_in7"
P9_25_CAPE=""

   147 here is linked to 9_27, and 149 to 9_25

I see in the novamill hal file I found online (your link did not work), 
Pin 142, 143, 144, 145, 149... are used which would correspond to pins 
42,43, 44... on the P8, and these would be in the LCD pinout region on the 
bus.
   Generally these pins are reserved for the LCD, so my guess is that the 
number 149 does not refer to pin 49 of P8, rather a different numbering 
scheme, perhaps like the one I mention above.

Jeff

On Friday, January 31, 2020 at 12:08:30 PM UTC-8, Ryan Perez wrote:
>
> Hello good people of the forum.
> I am currently doing a project creating a five-axis CNC machine utilizing 
> Stepper motors.I'm trying to use the BeagleBone Black revC with the 
> Probotix PBX-BB rev 5.2 cape. I have seen that people have had success with 
> the older versions of the PXB-BB but the gpio ports have been changed 
> around. So I will have to either modify/write my own config files.
>
> From examples I have seen, I do not understand how the gpio pin assignment 
> is linked to the Gpio inputs that the cape is set up for. Are there any 
> guides in assigning the gpio pins so they correspond to the location that 
> my cape is asking for? When looking at the Novamill hal file 
> 
>  the direction pin is set to 149 I understand the 100 refers to P8 but 
> there are only 46 pins so how can the direction pin be set to 49? If 
> someone could shed light on how the pin designation is connected to the 
> actual physical pins that would be most helpful! I am also having trouble 
> with the root folder password, Debian is telling me the default password is 
> blank but this seems to not be true. I have tried the "machinekit" as well 
> but no success
>
> I have: bone-debian-9.11-Machinekit-ArmHF-2019-12-16-4gb.img installed on 
> my EEMC
>

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[Machinekit] Re: BBB full tutorial for newbies

[Jeff Pollard]

Hi,

  If you want to use Axis instead of QT, you can do this remotely through 
the micro USB on the BBB.
  The address is : 192.168.7.2
  The username:password is machinekit:machinekit.

  The following is for a windows machine (not test on a Mac).
   Start by downloading "putty" networking terminal program
   Also download Xming
   Read their respective user manuals.

   Have your BBB up and running, with the micro USB plug in to your PC USB 
port.
   Start the Xming program on your PC.  This should just put an 
orange/black "X" in the hidden running icon on the lower right of the PC 
screen.
   Then start putty
   On the left menu choose: Connection-SSH-X11 and click the enable X11 
forwarding
   Go to the top item in the menu for "session" and enter 192.168.7.2 for 
the IP address
  Then click "open"

  After a few seconds, if the BBB, Xming and putty are running properly you 
should get a terminal window pop up on the PC.
  You may also get a security alert.  Just approve that.
  Then log in with the terminal to the username/password from above.

  From there you can type machinekit to get the user menu going.

  I would also recommend looking at the recent post with this title: Latest 
Image from elinux nonfunctional?
   
Jeff
   

On Monday, December 23, 2019 at 12:45:23 AM UTC-8, Jo sias wrote:
>
> Hi there, I'm super-new to the BBB World
>
> I've struggled a lot since you need to first get the thing working :) and 
> the primar access through USB-Network is with the drivers of BBB not 
> working driver-sign issues etc..
>
> so now i found that wonderful post here: 
> https://machinekoder.com/machinekit-debian-stretch-beaglebone-black/
>
> but unfortunately i cant get it setup correctly there is no picture over 
> the QT machinekit-client.
>
> i tried also the access to the desktop but its unfortunately empty as well.
>
> i would highly appreciate if someone could make an entire step by step 
> tutorial. until the point where the GPIOS are set to STEP / DIR as well as 
> the timings.
>
> i would like to use the BBB to run a 3-axis mill that was run with GRBL 
> before.
>
> cheers
>
>
>

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[Machinekit] Re: Latest Image from elinux nonfunctional?

[Jeff Pollard]

Hi,

  The newest version does not include a desktop (if that is what you were 
looking for).  If your right click on the screen after entering the 
username and password, you should be able to get a small menu.  From there 
you should be able to find a spot to get to a terminal window.  Finally 
from there you should be able to download a desktop like lxde.  This 
assumes you have an internet connection to the processor you are using.

  I don't remember the exact steps I used to do this, but it was something 
like:

First do a : sudo apt-get update
Then a : sudo apt-get install lxde
 
https://wiki.lxde.org/en/Installation (follow debian instructions - but I 
still recommend the update first).

   Then try a reboot and the desktop should come up.

   From there you can add other things as necessary ( editors, like 
leafpad,  file managers like pcmanfm).

Jeff


On Saturday, December 21, 2019 at 5:42:25 AM UTC-8, Alice Crichton wrote:
>
> Hey guys
>
> Currently, I don't have the ability to set up my own image, so I went with 
> the Machinekit.io suggestion of just flashing the pre-existing file on 
> elinux. The current version (2019/12/16) I could not get fully functional 
> for the life of me, I got past the login easily enough, and then it just 
> sits there with the cursor indefinitely. I spent about two days working on 
> it, trying different things to get it to run, with no luck. This morning, 
> after working through the night I realized for the sake of a sanity check I 
> should flash other things to check if it was my process, and managed to 
> install Debian, and then I attempted to hunt for an older image to try. Me 
> and a friend searched for about an hour for something prebuilt, and 
> couldn't find any backdated ones, so eventually I resorted to Wayback 
> Machine, and the next closest I could find was from 2017. I got that one 
> working with no trouble, but it doesn't seem to have support for my board 
> (CRAMPS) and is, I'm sure, missing out on all the cool tech you guys have 
> been working on for the past two years.
>
> I know you guys are normally a little more intense than "I screwed up 
> installing" and I wouldn't want to be the annoying noob with the idiot 
> question, but I've been working on solving this for around 2.5 days and all 
> I've got seems to point to "Something is wrong with the latest prebuilt 
> image". I've worked with a few singleboard computers in the past, and I 
> worked in QA for software for a bit, so I'm trying my best to point *at* 
> the problem, but I don't have the linux chops to know exactly what's going 
> wrong here. My old Ubuntu machine fried around 6 years ago and I haven't 
> had the time or courage to go back since. The only other thing I can think 
> of is the (brand new) beaglebone was actually just ancient stock, and is no 
> longer supported by the current update?
>
> If anyone can point me in the right direction I'd be very grateful, I'm 
> already quite a ways into this project in both time and money, and was 
> hoping to have some steppers spinning by christmas.
>
> Thanks a bunch
> -Alice
>

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[Machinekit] Re: PocketBeagle with MachineKit hal configuration question

[Jeff Pollard]

Hi,

  Every time in the past that I've checked the MD5, is came out fine.  I 
didn't check this time, so I don't know if that was the problem.  It is 
quite possible I messed around with some variable or parameter that I'm not 
aware of, and that got corrected by doing a new download  (although I'm 
pretty sure I followed the same procedure as before).  In any case I got it 
to work.

Jeff


On Thursday, December 19, 2019 at 5:30:52 AM UTC-8, fishy wrote:
>
> MD5?
>
> On Tuesday, 17 December 2019 23:06:22 UTC, Jeff Pollard wrote:
>>
>> Hi,
>>
>>An update: I downloaded the image file again, and it now works.
>>I'm not sure what was going on...
>>
>> Jeff
>>
>> On Saturday, December 14, 2019 at 7:30:49 PM UTC-8, Jeff Pollard wrote:
>>>
>>> Hi,
>>>
>>>   I am using a recent machinekit image:
>>>
>>> bone-debian-9.11-machinekit-armhf-2019-12-02-4gb.img.xz
>>>
>>> I have it running on my PocketBeagle, but I can't seem to communicate 
>>> with the I/O through hal.  I've done:
>>>
>>> config-pin -f Sample.bbio *(a listing of this file is below)*
>>> realtime start
>>> halcmd loadrt hal_bb_gpio board=PocketBeagle output_pins=202,204,206,208 
>>> input_pins=227,229,231,233,128
>>> halcmd loadusr halmeter
>>>
>>> From here, halmeter runs and will list all of the I/O expected, but if I 
>>> select an input (i.e. bb_gpio.p2.in-33) and watch for change, the display 
>>> will not change when I change the state of the pin.
>>>
>>> If I query the state of the same pin using:
>>>
>>> config-pin -q 2.33
>>>
>>> I can read the proper state of the pin.
>>>
>>> My uEnv.txt has not been modified. It has:
>>> uname_r=4.19.72-bone-rt-r40
>>> enable_uboot_overlays=1
>>> uboot_overlay_pru=/lib/firmware/AM335X-PRU-UIO-00A0.dtbo
>>> enable_uboot_cape_universal=1
>>> cmdline=coherent_pool=1M net.ifnames=0 rng_core.default_quality=100 quiet
>>>
>>> Am I missing a configuration step somewhere?
>>>
>>> Thanks,
>>>
>>> Jeff
>>> =
>>> Sample.bbio 
>>> -
>>> overlay cape-universal
>>> overlay cape-bone-iio
>>> P2.02 out # out 1
>>> P2.04 out # out 2
>>> P2.06 out # out 3
>>> P2.08 out # ou1 4
>>>
>>> P2.27 in # in 1
>>> P2.29 in # in 2
>>> P2.31 in # in 3
>>> P2.33 in # in 4
>>> P1.28 in # in 5
>>>
>>>

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[Machinekit] Re: PocketBeagle with MachineKit hal configuration question

[Jeff Pollard]

Hi,

   An update: I downloaded the image file again, and it now works.
   I'm not sure what was going on...

Jeff

On Saturday, December 14, 2019 at 7:30:49 PM UTC-8, Jeff Pollard wrote:
>
> Hi,
>
>   I am using a recent machinekit image:
>
> bone-debian-9.11-machinekit-armhf-2019-12-02-4gb.img.xz
>
> I have it running on my PocketBeagle, but I can't seem to communicate with 
> the I/O through hal.  I've done:
>
> config-pin -f Sample.bbio *(a listing of this file is below)*
> realtime start
> halcmd loadrt hal_bb_gpio board=PocketBeagle output_pins=202,204,206,208 
> input_pins=227,229,231,233,128
> halcmd loadusr halmeter
>
> From here, halmeter runs and will list all of the I/O expected, but if I 
> select an input (i.e. bb_gpio.p2.in-33) and watch for change, the display 
> will not change when I change the state of the pin.
>
> If I query the state of the same pin using:
>
> config-pin -q 2.33
>
> I can read the proper state of the pin.
>
> My uEnv.txt has not been modified. It has:
> uname_r=4.19.72-bone-rt-r40
> enable_uboot_overlays=1
> uboot_overlay_pru=/lib/firmware/AM335X-PRU-UIO-00A0.dtbo
> enable_uboot_cape_universal=1
> cmdline=coherent_pool=1M net.ifnames=0 rng_core.default_quality=100 quiet
>
> Am I missing a configuration step somewhere?
>
> Thanks,
>
> Jeff
> =
> Sample.bbio 
> -
> overlay cape-universal
> overlay cape-bone-iio
> P2.02 out # out 1
> P2.04 out # out 2
> P2.06 out # out 3
> P2.08 out # ou1 4
>
> P2.27 in # in 1
> P2.29 in # in 2
> P2.31 in # in 3
> P2.33 in # in 4
> P1.28 in # in 5
>
>

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[Machinekit] PocketBeagle with MachineKit hal configuration question

[Jeff Pollard]

Hi,

  I am using a recent machinekit image:

bone-debian-9.11-machinekit-armhf-2019-12-02-4gb.img.xz

I have it running on my PocketBeagle, but I can't seem to communicate with 
the I/O through hal.  I've done:

config-pin -f Sample.bbio *(a listing of this file is below)*
realtime start
halcmd loadrt hal_bb_gpio board=PocketBeagle output_pins=202,204,206,208 
input_pins=227,229,231,233,128
halcmd loadusr halmeter

>From here, halmeter runs and will list all of the I/O expected, but if I 
select an input (i.e. bb_gpio.p2.in-33) and watch for change, the display 
will not change when I change the state of the pin.

If I query the state of the same pin using:

config-pin -q 2.33

I can read the proper state of the pin.

My uEnv.txt has not been modified. It has:
uname_r=4.19.72-bone-rt-r40
enable_uboot_overlays=1
uboot_overlay_pru=/lib/firmware/AM335X-PRU-UIO-00A0.dtbo
enable_uboot_cape_universal=1
cmdline=coherent_pool=1M net.ifnames=0 rng_core.default_quality=100 quiet

Am I missing a configuration step somewhere?

Thanks,

Jeff
=
Sample.bbio 
-
overlay cape-universal
overlay cape-bone-iio
P2.02 out # out 1
P2.04 out # out 2
P2.06 out # out 3
P2.08 out # ou1 4

P2.27 in # in 1
P2.29 in # in 2
P2.31 in # in 3
P2.33 in # in 4
P1.28 in # in 5

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[Machinekit] Re: can CRAMPS X_STEP/X_DIR,... drive 4N26 optoIsolator

[Jeff Pollard]

Hi,

  I have an a simple interface board that outputs signals on a DB25 
connector that plugs in to the BBB header.
  They are buffered by LVC series chips and work well for driving optos 
such as 6N137.
  If interested, you can get more info here:

http://xylotex.netfirms.com/OSCommerce/catalog/product_info.php?products_id=146

Jeff

On Sunday, June 30, 2019 at 10:38:18 AM UTC-7, Doug LaRue wrote:
>
> I have a 3040T 4 axis CNC and currently have grbl on an Arduino Nano 
> connected to the DB25.  
>
> I was wondering if anyone has tried Machinekit on a CRAMPS board driving 
> the DB25 directly instead of going inside the control box and replacing 
> things.  The DB25 has opto isolators on the DB25 inputs. 
> Probably more of a question for Charles unless someone else is familiar 
> with the drive capabilities of the BBB and input bufffering of CRAMPS. 
>
> They are 4N26 - http://www.vishay.com/docs/83725/4n25.pdf
>
> DB25P wirings:
> From Vide CNC LPT Pinout
> db25 Pin Description
>  1   A Enable
>  2   X Step
>  3   X Direction
>  4   Y Step
>  5   Y Direction
>  6   Z Step
>  7   Z Direction
>  8   A Step **
>  9   A Direction **
> 10  Reset / Abort / E-Stop
> 11  Z limit( Mach 3 video =X)
> 12  Y limit( Mach 3 video =Y)
> 13  X limit( Mach 3 video =Z)
> 14  X Enable
> 15  Probe
> 16  Y Enable( Mach 3 vidoe =Output1)
> 17  Z Enable
> 18 - 25 Ground 
>
>
>
> [image: GRBL_Arduino_Nano_DB25_CNC_1.jpg]
>
>

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[Machinekit] Re: help for a newbie please

[Jeff Pollard]

Hi,
  The setup file should get automatically run when the HAL file is run. 
  You should only have to go through the configuration chooser, select 
CRAMPS, then run it.
  The INI and HAL files will do the rest, including run the setup files.  
  This assumes you use an older version of Machinekit. 
  I do not know what the current version requires as far as setup.sh files 
is concerned.

  To make it operational, you need to make sure that you have met any HAL 
requirements that the CRAMPS configuration may setup (like jumper an output 
and input for a safety switch).

Jeff



On Tuesday, June 25, 2019 at 10:01:48 AM UTC-7, Roberto Gonzalez wrote:
>
> Thanks again, Jeff.   
>
> That was basically my idea, in fact I have already launched an axis GUI 
> with the CRAMPS configuration, all I would have to do would be to adjust a 
> few parameters in the .INI to adapt them to my engines, I have printed the 
> scheme you mentioned (thank you very much) and in the next few days I will 
> test the wiring. 
>
> Now my question is, once the setup is chosen, running the setup.sh file is 
> all I have to do to make it operational?  surely it is a stupid doubt (how 
> bad is ignorance)

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[Machinekit] Re: help for a newbie please

[Jeff Pollard]

Hi,
  The CRAMPS has space for built-in drivers, and it not itself a breakout 
board, so really would not be useful for your system as a hardware option.  
The reason I mention it is that it is a complete software setup that would 
be ready to run and has schematic available to see how the INI and HAL 
files are used with direct relation to the BBB hardware.

  The CRAMPS wiring configuration is not tied to any size stepper motor 
(the board would be though).  The CRAMPS configuration can handle up to 6 
motors.

  The easiest way to start using the BBB and MachineKit would be with the 
BBB in full "desktop" mode, using a USB keyboard, mouse and an HDMI 
monitor.  This way you don't have to worry about trying to run through a 
terminal (if you meant SSH in on a remote terminal).  You can use the 
Machinekit software running the Axis GUI to try and control your motors.  
Start with the CRAMPS configuration and its pinout.  Use BBB pins for 
STEP/DIR that are specified by the CRAMPS ini and hal.  This way you do not 
need to worry about changing the setup.sh.  I would recommend one of the 
older versions of Machinekit software from a couple years back as they 
would run "out of the box" on a BBB.  The newer ones may require some 
tweaking.

  From the main linux desktop screen, open a linux terminal and type 
Machinekit followed by a carriage return.
  A selector screen should come up and allow you to select the CRAMPS 
setup.  Do that, and after it has initialized, it will bring up the Axis 
GUI.

  From there you can start making your connections from the BBB pins to 
your motor driver.  Start with only one drive and get it working before 
trying to add more i.e. the CRAMPS specified X STEP, X DIR and a GND pin 
are all you would need to use to go from the BBB to your drive (make sure 
your drive does not need an external enable signals to be ready to go).  
Then try to jog the X axis.  Depending on the CRAMPS configuration (which 
I'm only vaguely familiar with) you may need to have a jumper wire between 
two BBB pins: an enable output and an enable input.  You can read the HAL 
file to figure out which pins to jumper.  I don't know if there is a setup 
manual for CRAMPS that describes setup of not, but without the jumper you 
would either have to change the HAL (not recommended to start with) or 
simply add the jumper.  Once you get familiar with getting the X moving, 
you can move on to adding more axes, or start modifying the INI and HAL as 
necessary.  Don't start modifying any of the files until you actually have 
something working/moving.

Jeff

  
On Monday, June 24, 2019 at 9:05:22 AM UTC-7, Roberto Gonzalez wrote:
>
> Hello Jeff, thanks for the quick response.
>
> So far I have done tests with a mega Arduino and the engines are going 
> well so I understand that there would be no problem.  From what I have read 
> so far here CRAMPS was an option that I contemplated but I had doubts if it 
> would serve me for the Nema 23 and expand to 5 axes.  Would you recommend 
> buying the cape and forgetting about the BOB?  As for the configuration 
> would be to adapt the file .INI and .HAL to my needs and execute the file 
> setup.sh?  what I've already tried it and the only thing I see is a line in 
> the terminal or a Splash of this if it was executed under a graphic 
> environment and as an ignorant newbie I do not know if it should happen and 
> it is good or bad
>

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[Machinekit] Re: help for a newbie please

[Jeff Pollard]

Hi,

  The BBB outputs 3.3V for its digital I/O.  This may, or may not be enough 
to drive your motor drives.  You do not *have* to have a cape if you wired 
the BBB pins to the parallel port BOB and from there to your motor drive.

  Different version of the MachineKit software act differently on start 
up.  I'm more familiar with the older (2017) software.  Most of the 
pre-configured INI and HAL files from back then will work without 
modifications.  New version may require changes to pin setup files for 
device tree overlay.

  If you start with an older Machinekit, I'd recommend using the CRAMPS 
configuration, as not only does it work, but there are also schematics 
available of the CRAMPS board you can reference to when you are making the 
connections from the BBB to your BOB.

https://reprap.org/wiki/CRAMPS#Schematic_Files

Jeff

On Monday, June 24, 2019 at 7:56:23 AM UTC-7, Roberto Gonzalez wrote:
>
> Hi all.   
> Recently I have finally manufactured my CNC milling machine and I have 
> proposed to handle it with a BBB and Machinekit which I already have 
> (without any type of cape). After much reading and reading, I am still 
> completely lost and I write here with the hope of receiving help, as I have 
> seen that you have a lot of knowledge about it.  I give you all my data and 
> expectations to see if you can help me. 
>
> At the moment it is a three-axis milling machine with Nema23 motors and 
> external drivers and in the future I would like to extend it to 5 axes and 
> possibly to Nema34.  On the other hand, I have a Chinese parallel port 
> breakout board.  I have managed to flash the BBB as well as run Machinekit 
> following tutorials. And here all my doubts begin. 
>
> Is it strictly necessary that I buy a cape to be able to operate the 
> machine or would it be worth the breakout board that I already have and 
> connect it pin to pin to the corresponding ones of the BBB?  Should you 
> need one which would be the easiest to acquire and configure?  I tried to 
> write an email for a BeBop ++ but it seems that the address does not exist. 
>
> And on the other hand and already to finish, so I have read (and tried) 
> once created and modified one of the configurations that well within the 
> Machinekit itself I must compile it or run some kind of program to make it 
> functional and activate the pins of  the headers of the BBB, right?  I have 
> tried and executed some but I do not know how to check if I have done well 
> . 
>
> I would appreciate any help, references, links to follow, etc.  It is very 
> hard to be self-taught. Thank you very much in advance even if only for the 
> inconvenience and the time spent reading.   
>
> Thank you!! 
>

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Re: [Machinekit] packages for PRU assembler (pasm)

[Jeff Pollard]

Hi Jon,

  Below are *old*  notes I made for myself on how to get/compile machinekit 
for a BBB.  I have never done PASM with it, but I have compiled the entire 
Machinekit source code.  The notes should get you further along with 
getting a compilable Machinekit source.  A lot of it you will already know 
about, but for others that may end up here, the list is as complete as I 
can remember.
==

How I did Machineikit on a BBB

[1] *download Machinekit(whatever version you want...)*
[1] wget 
https://rcn-ee.com/rootfs/bb.org/testing/2017-02-12/machinekit/bone-debian-8.7-machinekit-armhf-2017-02-12-4gb.img.xz


[2] *check it (against whatever version you downloaded)*
[2] sha256sum bone-debian-8.7-machinekit-armhf-2017-02-12-4gb*
18361e0426715974b5a0e7f014ff1bf26db2421cbf8d61622efd2856cd8c6214  
bone-debian-8.7-machinekit-armhf-2017-02-12-4gb.img.xz

[3] *copy it to a uSD where sdX is your uSD and put in the proper file name.  
Use an 8GB or larger uSD*
[3] xzcat bone-debian-8.7-machinekit-armhf-2017-02-12-4gb.img.xz | sudo dd 
of=/dev/sdX bs=1M status=progress

[4] *install uSD in to BBB*

[5] *expand the drive to full 8GB (or whatever size uSD you have) capacity*
[5] cd /opt/scripts/tools/
[6] git pull
[7] sudo ./grow_partition.sh
[8] sudo reboot

[9] *Make a swap file.  Otherwise the system can't compile the really large 
files*
[9] sudo dd if=/dev/zero of=swap_file bs=1024 count=524288
[10] sudo mkswap swap_file
[11] sudo chown root swap_file
[12] sudo chmod 600 swap_file
[13] sudo swapon swap_file

[14] *Start a fresh Machinekit user by getting rid of the old one (from other's 
notes online, not sure why)*
[14] *It may be possible to skip these two steps?*
[14] sudo apt-get remove --purge machinekit
[15] sudo rm -rf machinekit

[16] *prepare to update files*
[16] sudo apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv 43DDF224
[17] sudo sh -c \
  "echo 'deb http://deb.machinekit.io/debian jessie main' > \
  /etc/apt/sources.list.d/machinekit.list"

[18] sudo apt-get update

[19-21] I have done an install with *and without* 19-21 and it worked fine as 
the RT was already in the Machinekit download from RCNs Machinekit directories.
These are just part of the list of steps I gathered from various pages about 
installing machinekit
[19] sudo apt-cache search linux-image-3.8 |grep xenomai 
[20] sudo apt-get install linux-image-3.8.13-xenomai-r83) 
[21] sudo apt-get install machinekit-xenomai

[22] sudo apt-get install libczmq-dev python-zmq libjansson-dev pkg-config \
  libwebsockets-dev libxenomai-dev python-pyftpdlib cython bwidget lsb-release

[23] sudo apt-get install git dpkg-dev
[24] sudo apt-get install --no-install-recommends devscripts equivs*from HOME 
dir:* 
[25] *make the new dir for developement and change to machinekit user*
[25] sudo mkdir machinekit-dev
[26] sudo chown machinekit:machinekit machinekit-dev

[27] *get machinekit-dev files* to your new directory
[27] git clone https://github.com/machinekit/machinekit.git /home/machinekit-dev
[28] cd machinekit-dev
[29] *Make sure everything is ready for compiling*
[29] ./debian/configure -prx
[30] sudo mk-build-deps -ir
[31] cd src
[32] ./autogen.sh
[33] ./configure --with-platform-beaglebone
[34] make
[35] sudo make setuid

[36] *from the home dir*, so you will run the newly compiled code: 
 . ./machinekit-dev/scripts/rip-environment
[37] *also make a machinekit directory in home and assign it to machinekit 
user...* (home/machinekit) as [15] will remove the original
[38] *change and save the boot configuration file as necessary..*
[38] sudo nano /boot/uEnv.txt
 *Then edit the file to include the command: (i.e. remove the #)*
 cape_disable=capemgr.disable_partno=BB-BONELT-HDMI 
[39] sudo reboot

*Now make your changes to src/...
then from machinekit-dev/src 
run: *
  make*  This will take a long (maybe 1.5 to 2 hrs?) time the first time it is 
run.  Then after it's compiled:*
  sudo make setuid*  from another terminal window that you want to test run 
from*, from the /home directory, (once per shell session)
  . ./machinekit-dev/scritps/rip-environment 
  *then run machinekit (assuming you have a INI and HAL file set that you want 
to use*
  machinekit 

More Notes: AFTER a reboot:
  sudo swapon swap_file if a large file was changed and needs to be compiled
=

Jeff


On Monday, April 22, 2019 at 1:17:15 PM UTC-7, Jon Elson wrote:
>
>
>
> On Saturday, April 20, 2019 at 3:40:01 AM UTC-5, Schooner wrote:
>>
>> Hi Jon
>>
>> The pasm compiler is built from sources as part of the build for armhf.
>> See
>> https://github.com/machinekit/machinekit/tree/master/src/hal/support/pasm 
>>
>> If you could give me the steps to get the source from git, I can probably 
> take it from there.  It seems to be in some sub-directory of LinuxCNC.
> Or, would I just load the whole sources of LinuxCNC?
>
> Thanks,
>
> Jon
>

-- 
website: 

Re: [Machinekit] Re: config-pin setting for Mode 0 (gpmc) question

[Jeff Pollard]

Hi Charles,

   OK, I think I got it (notes below so I have a place to refer to in the 
future - and if you have any comments)

   I copied cape-universal-00A0.dts to a file called cape-univ-gpmc.dts in 
the bb.org-overlays/src/arm directory.
   I then modified it to have gpmc pin configs I wanted
   Then I ran ./install.sh
   After that I modified the config-pin file in /usr/local/bin to allow the 
new gpmc variable with the various new pin function (AD0, AD2, CEn, WEn...)
   Then I modified the /boot/uEnv.txt to use 
uboot_overlay_addr4=/lib/firmware/cape-univ-gpmc-00A0.dtbo
   Followed by a reboot.
   After that I was able to do a *config-pin P8.03 gpmc* without getting 
the error from before.

   I won't know if it *really* works until I test it with my hm2-servo 
stuff and if it doesn't,...* I'll be back*.
   The biggest issue I was having was trying to wade through so many 
different ways to update an overlay that can be found with a google search 
(most of which are now out of date).
   After I found this page: https://github.com/beagleboard/bb.org-overlays 
it became clearer.

  After I make sure it is all working I'll try to get a new copy of 
config-pin and cape-univ-gpmc.dts up to the machinekit code base.
  
Thanks,

Jeff

On Friday, April 19, 2019 at 7:24:11 PM UTC-7, Jeff Pollard wrote:
>
>
> Hi,
>
>   One of the reasons I'm trying to update is the uSD card I was using 
> stopped working(booting).  I can access some of the files, but I don't 
> remember exactly the process I used to enable the pins (it was 4 to 5 years 
> ago!).  So, I'm not actually "running" it any more.
>
>   In any case I think what I did was modify your old config-pin to a 
> different version called config-pins:
>
> http://xylotex.com/config-pins.txt
>
> and the overlay file here:
>
> http://xylotex.com/cape-univ-gpmc-00A0.dts.txt
>
>   I would program the fpga with a general I/O bit-bang and then had a 
> simple batch file that would call config-pins for each gpmc pin I wanted to 
> switch modes on:
>
> *sudo ./config-pins P8.14 gpmc*
>
>   I just did similar for all 20 pins I wanted to use for gpmc, and I was 
> able to use the bus.  I could then call the linuxcnc script (before the 
> scripts was changed to machinekit), and the hm2-servo code would be able to 
> access the fpga through the gpmc bus.
>
>   Now when I try the same thing I end up with errors, which I'm now trying 
> to solve.
>
> Thanks,
>
> Jeff
>
> On Friday, April 19, 2019 at 6:32:57 PM UTC-7, Charles Steinkuehler wrote:
>>
>> OK, so for that I would definitely recommend crafting your own overlay 
>> that enables the GPMC pins you need.  Again, most "casual" users will 
>> not be able to do anything with GPMC, which is why it isn't part of 
>> the "universal" cape to begin with. 
>>
>> It shouldn't be too hard to migrate your existing device tree (or 
>> overlay) to work on modern kernels.  Do you have a link to the source 
>> for what you're currently running? 
>>
>> On 4/19/2019 7:40 PM, Jeff Pollard wrote: 
>> > 
>> > Hi, 
>> > 
>> >   Not taken the wrong way. 
>> >   I've already used the gpmc to communicate with my fpga board. 
>> >   I have a servo system based on hostmot2 and a custom driver to go 
>> between 
>> > hm2-servo and the gpmc which then 'talks' to the fpga. 
>> >   This all works fine 
>> >   This way way back in 2015 though. 
>> >   The method of accessing the gpmc connectivity has changed a lot since 
>> I 
>> > last tried using the BBB with the old version of machinekit I was 
>> using. 
>> >   Now I'm trying to update what I have to newer machinekit software 
>> (with 
>> > all the new overlays, etc.) and can no longer program the pins to allow 
>> me 
>> > to access the gpmc. 
>> >   
>> > Jeff 
>> > 
>> > 
>> > On Friday, April 19, 2019 at 4:51:17 PM UTC-7, Charles Steinkuehler 
>> wrote: 
>> >> 
>> >> On 4/19/2019 6:39 PM, Jeff Pollard wrote: 
>> >>> 
>> >>> Hi, 
>> >>> 
>> >>>   Thanks Robert and Charles. 
>> >>>   I've taken this: 
>> >>> 
>> >> 
>> https://github.com/RobertCNelson/bb.org-overlays/blob/master/src/arm/cape-universal-00A0.dts#L1551-L1562
>>  
>> >>> 
>> >>>   and added what would be necessary to get the gmpc pins usable 
>> >> following 
>> >>> the convention of the rest of the file. 
>> >>>   Hopefully this something I can test here... or is this something 
>> that 
>&g

Re: [Machinekit] Re: config-pin setting for Mode 0 (gpmc) question

[Jeff Pollard]

Hi,

  One of the reasons I'm trying to update is the uSD card I was using 
stopped working(booting).  I can access some of the files, but I don't 
remember exactly the process I used to enable the pins (it was 4 to 5 years 
ago!).  So, I'm not actually "running" it any more.

  In any case I think what I did was modify your old config-pin to a 
different version called config-pins:

http://xylotex.com/config-pins.txt

and the overlay file here:

http://xylotex.com/cape-univ-gpmc-00A0.dts.txt

  I would program the fpga with a general I/O bit-bang and then had a 
simple batch file that would call config-pins for each gpmc pin I wanted to 
switch modes on:

*sudo ./config-pins P8.14 gpmc*

  I just did similar for all 20 pins I wanted to use for gpmc, and I was 
able to use the bus.  I could then call the linuxcnc script (before the 
scripts was changed to machinekit), and the hm2-servo code would be able to 
access the fpga through the gpmc bus.

  Now when I try the same thing I end up with errors, which I'm now trying 
to solve.

Thanks,

Jeff

On Friday, April 19, 2019 at 6:32:57 PM UTC-7, Charles Steinkuehler wrote:
>
> OK, so for that I would definitely recommend crafting your own overlay 
> that enables the GPMC pins you need.  Again, most "casual" users will 
> not be able to do anything with GPMC, which is why it isn't part of 
> the "universal" cape to begin with. 
>
> It shouldn't be too hard to migrate your existing device tree (or 
> overlay) to work on modern kernels.  Do you have a link to the source 
> for what you're currently running? 
>
> On 4/19/2019 7:40 PM, Jeff Pollard wrote: 
> > 
> > Hi, 
> > 
> >   Not taken the wrong way. 
> >   I've already used the gpmc to communicate with my fpga board. 
> >   I have a servo system based on hostmot2 and a custom driver to go 
> between 
> > hm2-servo and the gpmc which then 'talks' to the fpga. 
> >   This all works fine 
> >   This way way back in 2015 though. 
> >   The method of accessing the gpmc connectivity has changed a lot since 
> I 
> > last tried using the BBB with the old version of machinekit I was using. 
> >   Now I'm trying to update what I have to newer machinekit software 
> (with 
> > all the new overlays, etc.) and can no longer program the pins to allow 
> me 
> > to access the gpmc. 
> >   
> > Jeff 
> > 
> > 
> > On Friday, April 19, 2019 at 4:51:17 PM UTC-7, Charles Steinkuehler 
> wrote: 
> >> 
> >> On 4/19/2019 6:39 PM, Jeff Pollard wrote: 
> >>> 
> >>> Hi, 
> >>> 
> >>>   Thanks Robert and Charles. 
> >>>   I've taken this: 
> >>> 
> >> 
> https://github.com/RobertCNelson/bb.org-overlays/blob/master/src/arm/cape-universal-00A0.dts#L1551-L1562
>  
> >>> 
> >>>   and added what would be necessary to get the gmpc pins usable 
> >> following 
> >>> the convention of the rest of the file. 
> >>>   Hopefully this something I can test here... or is this something 
> that 
> >> has 
> >>> to be in the "kernel" and out of my reach? 
> >>>   If I can test here, can you tell me how to compile and deploy the 
> new 
> >> dts 
> >>> file so I can test it out? 
> >> 
> >> Don't take this the wrong way, but if you have to ask about how to 
> >> compile a device tree (or overlay), you probably shouldn't be trying 
> >> to use the GPMC interface. 
> >> 
> >> Let's take a step back...exactly what are you trying to do? 
> >> 
> >> -- 
> >> Charles Steinkuehler 
> >> cha...@steinkuehler.net  
> >> 
> > 
>
>
> -- 
> Charles Steinkuehler 
> cha...@steinkuehler.net  
>

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Re: [Machinekit] Re: config-pin setting for Mode 0 (gpmc) question

[Jeff Pollard]

Hi,

  Not taken the wrong way.
  I've already used the gpmc to communicate with my fpga board.
  I have a servo system based on hostmot2 and a custom driver to go between 
hm2-servo and the gpmc which then 'talks' to the fpga.
  This all works fine
  This way way back in 2015 though.
  The method of accessing the gpmc connectivity has changed a lot since I 
last tried using the BBB with the old version of machinekit I was using.
  Now I'm trying to update what I have to newer machinekit software (with 
all the new overlays, etc.) and can no longer program the pins to allow me 
to access the gpmc.
  
Jeff


On Friday, April 19, 2019 at 4:51:17 PM UTC-7, Charles Steinkuehler wrote:
>
> On 4/19/2019 6:39 PM, Jeff Pollard wrote: 
> > 
> > Hi, 
> > 
> >   Thanks Robert and Charles. 
> >   I've taken this: 
> > 
> https://github.com/RobertCNelson/bb.org-overlays/blob/master/src/arm/cape-universal-00A0.dts#L1551-L1562
>  
> > 
> >   and added what would be necessary to get the gmpc pins usable 
> following 
> > the convention of the rest of the file. 
> >   Hopefully this something I can test here... or is this something that 
> has 
> > to be in the "kernel" and out of my reach? 
> >   If I can test here, can you tell me how to compile and deploy the new 
> dts 
> > file so I can test it out? 
>
> Don't take this the wrong way, but if you have to ask about how to 
> compile a device tree (or overlay), you probably shouldn't be trying 
> to use the GPMC interface. 
>
> Let's take a step back...exactly what are you trying to do? 
>
> -- 
> Charles Steinkuehler 
> cha...@steinkuehler.net  
>

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Re: [Machinekit] Re: config-pin setting for Mode 0 (gpmc) question

[Jeff Pollard]

Hi,

  Thanks Robert and Charles.
  I've taken this:
https://github.com/RobertCNelson/bb.org-overlays/blob/master/src/arm/cape-universal-00A0.dts#L1551-L1562

  and added what would be necessary to get the gmpc pins usable following 
the convention of the rest of the file.
  Hopefully this something I can test here... or is this something that has 
to be in the "kernel" and out of my reach?
  If I can test here, can you tell me how to compile and deploy the new dts 
file so I can test it out?

Thanks,

Jeff



On Friday, April 19, 2019 at 2:10:56 PM UTC-7, Charles Steinkuehler wrote:
>
> You are correct...you error is at a lower level than config-pin. 
>
> The problem is the mode you want is not implemented by the universal 
> overlay: 
>
>
> https://github.com/RobertCNelson/bb.org-overlays/blob/master/src/arm/cape-universal-00A0.dts#L1551-L1562
>  
>
> You can either request an update to the universal overlay, patch it 
> and send a PR, or migrate to using a "real" device-tree overlay. 
>
> When I created the "Universal" overlay, I didn't expect many people to 
> be trying to use the General Purpose Memory Controller.  ;-) 
>
> On 4/19/2019 3:08 PM, Jeff Pollard wrote: 
> > Hi, 
> >   That makes sense, but 
> > 
> >   I can use config-pin to set the value to something like: 
> > *  pwm* 
> >   for example: 
> > *  config-pin P8.14 pwm* 
> >   will work just fine 
> >   as will *gpio* 
> >   and 
> > *gpio_pd, etc.* 
> > 
> >   But, *gpmc* (mode 0) is not a valid choice i.e. config-pin  p8.14 gpmc 
> is 
> > invalid 
> >   I tried adding it to the config-pin script for pin 8_14, but that 
> didn't 
> > help as it appears the problem is deeper than than.  I can't change the 
> > value of state in: 
> > 
> > /sys/devices/platform/ocp/ocp:P8_14_pinmux/state 
> > 
> >   the error I get is: 
> > 
> > *Cannot write pinmux File: 
> /sys/devices/platform/ocp/ocp:P8_14_pinmux/state* 
> > 
> > Jeff 
> > 
> > On Friday, April 19, 2019 at 12:39:21 PM UTC-7, Mala Dies wrote: 
> >> 
> >> Hello, 
> >> 
> >> The config-pin utility can be used in user land or user land w/ a .sh 
> >> script and .service file to boot the board w/ the required config-pin 
> >> utility being present. 
> >> 
> >> Seth 
> >> 
> >> P.S. If you know how to do this instead, this may work for you. So, 
> use: 
> >> config-pin P8.14  <--- this would be your mode, i.e. GPIO, UART, 
> and 
> >> etc. 
> >> 
> >> So, if you wanted to put in gpio in , you could if this is what 
> you 
> >> want. Does this sort of make sense? 
> >> 
> >> On Friday, April 19, 2019 at 1:55:21 PM UTC-5, Jeff Pollard wrote: 
> >>> 
> >>> 
> >>> Hi, 
> >>> 
> >>>   I'm using:* Linux beaglebone 4.14.106-bone-rt-r19 #1 PREEMPT RT Tue 
> >>> Mar 26 19:02:06 UTC 2019 armv7l GNU/Linux* 
> >>> 
> >>>   I started by disabling the emmc in uEnv.txt 
> >>> 
> >>>   I then tried to modify the config-pin script for P8_14 (which would 
> be 
> >>> gpmc_AD14 as a starting example), but I get 
> >>> 
> >>> *Cannot write pinmux File: 
> >>> /sys/devices/platform/ocp/ocp:P8_14_pinmux/state* 
> >>> 
> >>>   Can anyone give a pointer on how to go about configuring pins to use 
> >>> gmpc mode with the config-pin script (or any other method)? 
> >>> 
> >>> Thanks, 
> >>> 
> >>> Jeff 
> >>> 
> >> 
> > 
>
>
> -- 
> Charles Steinkuehler 
> cha...@steinkuehler.net  
>

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[Machinekit] Re: config-pin setting for Mode 0 (gpmc) question

[Jeff Pollard]

Hi,
  That makes sense, but

  I can use config-pin to set the value to something like: 
*  pwm*
  for example:
*  config-pin P8.14 pwm* 
  will work just fine
  as will *gpio*
  and 
*gpio_pd, etc.*

  But, *gpmc* (mode 0) is not a valid choice i.e. config-pin  p8.14 gpmc is 
invalid
  I tried adding it to the config-pin script for pin 8_14, but that didn't 
help as it appears the problem is deeper than than.  I can't change the 
value of state in:

/sys/devices/platform/ocp/ocp:P8_14_pinmux/state

  the error I get is:

*Cannot write pinmux File: /sys/devices/platform/ocp/ocp:P8_14_pinmux/state*

Jeff

On Friday, April 19, 2019 at 12:39:21 PM UTC-7, Mala Dies wrote:
>
> Hello,
>
> The config-pin utility can be used in user land or user land w/ a .sh 
> script and .service file to boot the board w/ the required config-pin 
> utility being present.
>
> Seth
>
> P.S. If you know how to do this instead, this may work for you. So, use: 
> config-pin P8.14  <--- this would be your mode, i.e. GPIO, UART, and 
> etc.
>
> So, if you wanted to put in gpio in , you could if this is what you 
> want. Does this sort of make sense?
>
> On Friday, April 19, 2019 at 1:55:21 PM UTC-5, Jeff Pollard wrote:
>>
>>
>> Hi,
>>
>>   I'm using:* Linux beaglebone 4.14.106-bone-rt-r19 #1 PREEMPT RT Tue 
>> Mar 26 19:02:06 UTC 2019 armv7l GNU/Linux*
>>
>>   I started by disabling the emmc in uEnv.txt
>>
>>   I then tried to modify the config-pin script for P8_14 (which would be 
>> gpmc_AD14 as a starting example), but I get
>>
>> *Cannot write pinmux File: 
>> /sys/devices/platform/ocp/ocp:P8_14_pinmux/state*
>>
>>   Can anyone give a pointer on how to go about configuring pins to use 
>> gmpc mode with the config-pin script (or any other method)?
>>
>> Thanks,
>>
>> Jeff
>>
>

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[Machinekit] config-pin setting for Mode 0 (gpmc) question

[Jeff Pollard]

Hi,

  I'm using:* Linux beaglebone 4.14.106-bone-rt-r19 #1 PREEMPT RT Tue Mar 
26 19:02:06 UTC 2019 armv7l GNU/Linux*

  I started by disabling the emmc in uEnv.txt

  I then tried to modify the config-pin script for P8_14 (which would be 
gpmc_AD14 as a starting example), but I get

*Cannot write pinmux File: /sys/devices/platform/ocp/ocp:P8_14_pinmux/state*

  Can anyone give a pointer on how to go about configuring pins to use gmpc 
mode with the config-pin script (or any other method)?

Thanks,

Jeff

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[Machinekit] testing machine-client & anddemo

[Jeff Pollard]

Hi,

  I am trying to get machine-client to run with Cetus, but with no luck, so 
I've backed up to trying with anddemo.
  Also no luck.
  I'm using: bone-debian-8.11-machinekit-armhf-2019-04-01-4gb.img.xz on a 
BBB
  After downloading that to uSD I follow up with 

 sudo apt-get update
 sudo apt-get upgrade

  then 

 sudo nano /etc/linuxcnc/machinekit.ini

  to set REMOTE=1
  Next I downloaded the anddemo files and then run:
  ./run.py 
  From that I get:

starting realtime...rtapi_msgd command:  /usr/libexec/linuxcnc/rtapi_msgd 
--instance=0 --rtmsglevel=1 --usrmsglevel=1 --halsize=524288
rtapi_app command:  /usr/libexec/linuxcnc/rtapi_app_rt-preempt --instance=0
done
loading anddemo.py... done
starting mklauncher... done
starting configserver... done
-
  I then try machinekit-client (both 32 and 64 bit windows versions) on my 
Windows PC on the network.
  but it can't find the BBB client in either unicast or multicast
  I can however ssh in to the BBB from Windows running putty, so the BBB is 
visible to Windows on the network.

  Any suggestions on how to get the communications link working properly?

Thanks,

Jeff





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[Machinekit] Re: BBB servo motor control signal

[Jeff Pollard]

Hi,

  I would recommend using a stepper motor drive chip rather than trying to 
use a transistor.  The motor drive chips provide all sorts of benefits, 
many of them able to accept 3.3V logic levels.
  They come in many packages including ZIP and DIP which make it relatively 
easy to connect up without having to have a circuit board.
  Look at the TB6600 for example.
  Note that stepper motors are run at voltages much higher than their rated 
"holding torque" voltages.  Look at the datasheet for the motor drive for 
more information.  Always leave a 10 to 20 percent buffer at the high end 
of the motor drive range (i.e. if the chip can handle 40V max., try to keep 
the supplied voltage at a running max. of around 32V.

Jeff


On Friday, November 23, 2018 at 12:07:40 PM UTC-8, Gediminas Dirma wrote:
>
> Hello
>
> I am trying to control sanyo denki servo motor with machinekit and 
> beaglebone black. I want to use step/dir signals for its rotation. 
> According servo motor manual it should be 5v and transisotor should sink 
> current to ground. I have done this circuit with arduino and 2n 
> transistor and motor works. But now if i want to use beaglebone this 
> transistor is not good for this purpose. So maybe someone could suggest 
> some optocoupler or some other solution to this problem. I also though 
> about logic level shifters but than i would also need transistors which 
> makes it quite a big circuit and i cant decicde which one is better.
>
> Thanks for help.
>
>

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[Machinekit] Re: Need help on pin mapping (BBB)

[Jeff Pollard]

Hi,

  If you need someone that knows the the specifics of the BBB, I would 
recommend the BBB user group here:

https://groups.google.com/forum/#!categories/beagleboard/beaglebone-black

  They could give better advice on your schematic.

Jeff



On Thursday, August 9, 2018 at 12:50:40 AM UTC-7, Lang Gu wrote:
>
> Hi Jeff，
>
> I read the pinmux.ods file ,it's very useful for me, but i find input GPIO 
> pin it's not enough.
> If I disable EMMC and use that pin ?
> I have drawn 2 versions  breakout board schematic for BBB:
> (1)outputs use  74ls244,  inputs use OPTO,(22  outputs  22 inputs)
> (2)outputs use 6N137(tlp521)   inputs use OPTO  ( 14 high-speed 
> outputs & 8 normal outputs   22 inputs)
>
> I want to sent to you.. help me check it。When it's practical，I will open 
> source in the future。
> Can I send the schematic to your email (*sup...@xylotex.com 
> )* ?
>
> 在 2018年8月7日星期二 UTC+8下午11:57:57，Jeff Pollard写道：
>>
>> Hi,
>>
>>   There is a table here:
>>
>>
>> https://github.com/cdsteinkuehler/beaglebone-black-pinmux/blob/hal_pru_generic/pinmux.ods
>>
>>   that shows how various pins can be assigned.
>>
>>The pin's drive capability seems to vary from pin to pin on the BBB, 
>> so you should probably check that to make sure it can drive your led in the 
>> opto.  Or just use a logic buffer to drive the opto.
>>
>> Jeff
>>
>>
>> On Tuesday, August 7, 2018 at 1:45:43 AM UTC-7, Lang Gu wrote:
>>>
>>>
>>> <https://lh3.googleusercontent.com/-vL3glDwarSs/W2lcL-j567I/ACo/i7AaeUXFcyQkaQsnMzG4csJXAJv---KEQCLcBGAs/s1600/QQ%25E5%259B%25BE%25E7%2589%258720180807164436.png>
>>> Hello machinekit team and everyone 
>>>
>>> I come from China,my english is very poor.So try to say as simple as 
>>> possible. 
>>> In China  It's no cnc cape available.So i try to make a 5 axis cnc cape 
>>> for BBB.
>>>
>>> Someone can tell me if this pin assignment is possible, or if there are 
>>> any problems?
>>>
>>> P8 SIGNAL 
>>> 1 GND 
>>> 2 GND 
>>> 3 A_ 
>>> 4 B_ 
>>> 5 X_1 
>>> 6 X_10 
>>> 7 X_100 
>>> 8 X-AXIS 
>>> 9 Y-AXIS 
>>> 10 Z-AXIS 
>>> 11 4-AXIS 
>>> 12 5-AXIS 
>>> 13 PWM-0 
>>> 14 X-MIN 
>>> 15 X-MAX 
>>> 16 Y-MIN 
>>> 17 Y-MAX 
>>> 18 Z-MIN 
>>> 19 Z-MAX 
>>> 20 A-MIN 
>>> 21 A-HOME 
>>> 22 B-HOME 
>>> 23 E-STOP 
>>> 24 SPINDLE-SPEED 
>>> 25 Z-PROBE 
>>> 26 TOOL-SENSOR 
>>> 27 HDMI 
>>> 28 HDMI 
>>> 29 HDMI 
>>> 30 HDMI 
>>> 31 HDMI 
>>> 32 HDMI 
>>> 33 HDMI 
>>> 34 HDMI 
>>> 35 HDMI 
>>> 36 HDMI 
>>> 37 HDMI 
>>> 38 HDMI 
>>> 39 HDMI 
>>> 40 HDMI 
>>> 41 HDMI 
>>> 42 HDMI 
>>> 43 HDMI 
>>> 44 HDMI 
>>> 45 HDMI 
>>> 46 HDMI 
>>>
>>>
>>>
>>> P9 SIGNAL 
>>> 1 GND 
>>> 2 GND 
>>> 3 3.3V 
>>> 4 3.3V 
>>> 5 5V 
>>> 6 5V 
>>> 7 SYS-5V 
>>> 8 SYS-5V 
>>> 9 PWR_BUT 
>>> 10 SYS_RESETn 
>>> 11 X-STEP 
>>> 12 X-DIR 
>>> 13 Y-STEP 
>>> 14 PWM-2 
>>> 15 Y-DIR 
>>> 16 Z-STEP 
>>> 17 Z-DIR 
>>> 18 A-STEP 
>>> 19 I2C2_SCL 
>>> 20 I2C2_SDA 
>>> 21 A-DIR 
>>> 22 B-STEP 
>>> 23 B-DIR 
>>> 24 6-STEP 
>>> 25 6-DIR 
>>> 26 SPINDLE-ON 
>>> 27 COOLANT 
>>> 28 OUT3 
>>> 29 OUT4 
>>> 30 OUT5 
>>> 31 OUT6 
>>> 32 
>>> 33 
>>> 34 
>>> 35 
>>> 36 
>>> 37 
>>> 38 
>>> 39 
>>> 40 
>>> 41 OUT7 
>>> 42 OUT8 
>>> 43 GND 
>>> 44 GND 
>>> 45 GND 
>>> 46 GND 
>>> INPUT & OUTPUT SCH 
>>>
>>>
>>>

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[Machinekit] Re: Need help on pin mapping (BBB)

[Jeff Pollard]

Hi,

  There is a table here:

https://github.com/cdsteinkuehler/beaglebone-black-pinmux/blob/hal_pru_generic/pinmux.ods

  that shows how various pins can be assigned.

   The pin's drive capability seems to vary from pin to pin on the BBB, so 
you should probably check that to make sure it can drive your led in the 
opto.  Or just use a logic buffer to drive the opto.

Jeff


On Tuesday, August 7, 2018 at 1:45:43 AM UTC-7, Lang Gu wrote:
>
>
> 
> Hello machinekit team and everyone 
>
> I come from China,my english is very poor.So try to say as simple as 
> possible. 
> In China  It's no cnc cape available.So i try to make a 5 axis cnc cape 
> for BBB.
>
> Someone can tell me if this pin assignment is possible, or if there are 
> any problems?
>
> P8 SIGNAL 
> 1 GND 
> 2 GND 
> 3 A_ 
> 4 B_ 
> 5 X_1 
> 6 X_10 
> 7 X_100 
> 8 X-AXIS 
> 9 Y-AXIS 
> 10 Z-AXIS 
> 11 4-AXIS 
> 12 5-AXIS 
> 13 PWM-0 
> 14 X-MIN 
> 15 X-MAX 
> 16 Y-MIN 
> 17 Y-MAX 
> 18 Z-MIN 
> 19 Z-MAX 
> 20 A-MIN 
> 21 A-HOME 
> 22 B-HOME 
> 23 E-STOP 
> 24 SPINDLE-SPEED 
> 25 Z-PROBE 
> 26 TOOL-SENSOR 
> 27 HDMI 
> 28 HDMI 
> 29 HDMI 
> 30 HDMI 
> 31 HDMI 
> 32 HDMI 
> 33 HDMI 
> 34 HDMI 
> 35 HDMI 
> 36 HDMI 
> 37 HDMI 
> 38 HDMI 
> 39 HDMI 
> 40 HDMI 
> 41 HDMI 
> 42 HDMI 
> 43 HDMI 
> 44 HDMI 
> 45 HDMI 
> 46 HDMI 
>
>
>
> P9 SIGNAL 
> 1 GND 
> 2 GND 
> 3 3.3V 
> 4 3.3V 
> 5 5V 
> 6 5V 
> 7 SYS-5V 
> 8 SYS-5V 
> 9 PWR_BUT 
> 10 SYS_RESETn 
> 11 X-STEP 
> 12 X-DIR 
> 13 Y-STEP 
> 14 PWM-2 
> 15 Y-DIR 
> 16 Z-STEP 
> 17 Z-DIR 
> 18 A-STEP 
> 19 I2C2_SCL 
> 20 I2C2_SDA 
> 21 A-DIR 
> 22 B-STEP 
> 23 B-DIR 
> 24 6-STEP 
> 25 6-DIR 
> 26 SPINDLE-ON 
> 27 COOLANT 
> 28 OUT3 
> 29 OUT4 
> 30 OUT5 
> 31 OUT6 
> 32 
> 33 
> 34 
> 35 
> 36 
> 37 
> 38 
> 39 
> 40 
> 41 OUT7 
> 42 OUT8 
> 43 GND 
> 44 GND 
> 45 GND 
> 46 GND 
> INPUT & OUTPUT SCH 
>
>

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[Machinekit] Re: Guidance on 3 axis retrofit

[Jeff Pollard]

Hi,

  Although I don't sell the BBB_DB25/26 any more I think it should be noted 
that I have run MachineKit with limit/home switches on all three axes 
(actually 4 since I had the Y and A axes slaved, and each had their own 
limit/home switch).  I'm not sure of your specific configuration, but the 
board *will* work with switches.  

  Your are defeating the safety setup of the board by trying to use pin 1 
as a different function.  The board was design to work with both pin DB1 
and pin DB10 working in conjunction as a safety stop loop in hardware. 

There is a solution to using physical pin 1 in an alternative fashion.  
First, you have to separate the output of the HCT541 pin 14 from the trace 
on the board by lifting the leg of the IC off the board.  Then you have to 
route that *pin* (not board trace), to the input of DB10.  This new route 
(or wire) is now  the safety circuity that would generally include a stop 
switch.  By completing that loop you complete the safety circuit as 
designed, and the HAL program will still function as intended .  After 
lifting pin 14 of the HCT541 from the board,  Pin 1 on the DB connector 
will be basically floating.  You can then wire any BBB output pin to the DB 
pin and control DB1 noting that unless you provide it, there will be no 
buffering of the BBB signal to the DB1 pin (i.e. the HCT541 can provide 
more load than the BBB).

Jeff

On Sunday, May 20, 2018 at 2:46:14 PM UTC-7, John Dammeyer wrote:
>
>
>
> On Sunday, May 20, 2018 at 5:20:57 AM UTC-7, Eric wrote:
>>
>> That looks awesome!
>>
>> Are you going to be able to manually move the axes too, or is it now 
>> going to be full CNC?
>>
>> At the speed that the XY axis turn the handles would have to be balanced 
> and not near my private parts.  That would hurt.
> The plan is full CNC.  I have both a ShuttleXpress (on my MACH3 CNC 
> router) and I'm trying out one of these on it since there's a windows 
> driver for it.
> Ebay item # 221940342899
>
> So with that I can manually move the axis.
>
> But I've run into a problem with the BBB-DB25/26 and since Xylotex doesn't 
> release schematics I'm not sure exactly how I'll fix it.   Jeff did reply 
> to a request about making the IOPWR# an active high output on pin 1 so it 
> would enable the PMDX-126 BoB.  But I've run into another issue and I'm not 
> sure if it's the BBB MachineKit or the way the Cape is wired.
>
> I pulled my LinuxCNC PC off the shelf and connected the same Probotix 
> BB-RF I was using with the Beagle.   So LinuxCNC on a parallel port.  A bit 
> of mucking around to get the correct polarity signals for Machine Enable 
> and ESTOP.  At that point I can jog in the positive direction, pull the 
> limit switch wire on the terminal strip to simulate running into a limit.
>
> At that point like the Beagle the Machine Power button on the screen goes 
> off.  The checkbox for override limits is not greyed out and I can check 
> the box.  Now I can click on the POWER button on the screen and jog in the 
> negative direction and reconnect the limit switch input to ground.  This is 
> the one that is shared for all three axis.  When I release the jog button 
> The Override checkbox is greyed out again.
>
> The MachineKit with BBB cape doesn't do that.  Hit a limit and Machine 
> POWER button goes off.  That also brings the IOPWR# low which then disables 
> the entire set of level translation buffers. And the Override limits 
> remains greyed out.  So now clicking on the Machine POWER button doesn't do 
> anything because the limit switch is still active.
>
> There may well be a solution but I haven't figured it out yet.  At the 
> moment I don't think the Xylotex cape will actually be usable with 
> MachineKit that has limit switches.
>
>

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[Machinekit] Re: Compiling Machinekit on BBB

[Jeff Pollard]

Hi,

  From one of the previous posts:
=
add a swap file first:

 dd if=/dev/zero of=my_swap bs=1024 count=524288
 mkswap my_swap 
 sudo chown root my_swap 
 sudo chmod 600 my_swap 
 sudo swapon my_swap

  you can make the file permanent by adding a line to fstab

 /path-to-file/my_swap swap swap defaults 0 0
===
Jeff

On Sunday, April 8, 2018 at 11:06:51 AM UTC-7, mahdi@gmail.com wrote:
>
>
> could you please tell me how to  set the swap file properly
>
>
>>
>> On Friday, March 31, 2017 at 1:29:32 PM UTC-7, ceha...@gmail.com wrote:
>>>
>>> I just checked which image I have on my BBB, and it is the 1-30-2017 
>>> release.  My notes had the 3-15-17 release specified, but while that 
>>> compiled, it would not run.  I think the 2-12-17 release works though.  
>>> Sorry for any confusion.
>>>
>>> On Friday, March 31, 2017 at 4:21:42 PM UTC-4, ceha...@gmail.com wrote:
>>>>
>>>>
>>>> I've compiled on beaglebone using these steps.  The process runs much 
>>>> faster when running out of EMMC, so I recommend that you flash your SD 
>>>> card 
>>>> image onto the BBB, otherwise it will take hours.
>>>>
>>>> The swapfile is necessary as you've noted.  My first compile failed in 
>>>> the same way but I had another window open running 'top' which showed all 
>>>> of memory being consumed, and then the crash.  Running 'top' is an easy 
>>>> way 
>>>> to verify that a swap file is being used.
>>>>
>>>> From my notes:
>>>>
>>>> Build machinekit on the beaglebone
>>>>
>>>> Start with this image:
>>>>
>>>>   bone-debian-8.7-machinekit-armhf-2017-03-12-4gb.img.xz
>>>>   
>>>>   install on an SD card and boot holding the boot button down at 
>>>> power-on
>>>>   open a terminal up, and use the following instructions:
>>>>
>>>> add a swap file first:
>>>>
>>>>  dd if=/dev/zero of=my_swap bs=1024 count=524288
>>>>  mkswap my_swap 
>>>>  sudo chown root my_swap 
>>>>  sudo chmod 600 my_swap 
>>>>  sudo swapon my_swap
>>>>
>>>>   you can make the file permanent by adding a line to fstab
>>>>
>>>>  /path-to-file/my_swap swap swap defaults 0 0
>>>>
>>>> then do this to build machinekit:
>>>>
>>>> sudo apt-get remove --purge machinekit
>>>> rm -rf machinekit
>>>>
>>>> sudo apt-get install libczmq-dev python-zmq libjansson-dev pkg-config \
>>>>   libwebsockets-dev libxenomai-dev python-pyftpdlib cython bwidget 
>>>> lsb-release
>>>>
>>>> sudo apt-get install git dpkg-dev
>>>> sudo apt-get install --no-install-recommends devscripts equivs
>>>> git clone https://github.com/machinekit/machinekit.git
>>>> cd machinekit
>>>> # to add RT-PREEMPT support, add a 'r'
>>>> # to add Xenomai support, add an 'x'
>>>> # this builds for Posix, RT-PREEMPT, Xenomai:
>>>> debian/configure -prx
>>>> sudo mk-build-deps -ir
>>>> cd src
>>>> ./autogen.sh
>>>> # for the Beaglebone, add --with-platform-beaglebone to ./configure
>>>> # for the Raspberry2, add --with-platform-raspberry to ./configure
>>>> # for PC platforms, add --with-rt-preempt  --with-posix  --with-xenomai
>>>> ./configure --with-platform-beaglebone
>>>>
>>>> make   <-- this takes a LONG time
>>>>
>>>> sudo make setuid
>>>>
>>>> Hope this helps!
>>>>
>>>>
>>>> On Thursday, March 30, 2017 at 7:51:50 PM UTC-4, Jeff Pollard wrote:
>>>>>
>>>>>
>>>>> Hi,
>>>>>
>>>>>   I'm trying to build machinekit from the 2017-02-12 version.  I've 
>>>>> gone through the steps below, and at step 24 I encounter an error while 
>>>>> compiling emctask.cc.  I read somewhere that adding a swap space might 
>>>>> help, so I tried to add one, and it either didn't help, or I did it 
>>>>> wrong.  
>>>>> In any case, can anyone tell me if the steps I've taken below are either 
>>>>> wrong, or if I'm missing any?
>>>>>
>>>>> Thanks,
>>>>>
>>>&g

Re: [Machinekit] Re: Strange pulse waves on X,Y,Z direction outputs when axis are static

[Jeff Pollard]

Hi,

  I'm saying that the actual steps are generated by the PRU (the orange 
section of the diagram linked to above), while the position generation is 
done on the main processor (the pink section), and still further more work 
is done outside the picture.  The PRU and main processors are separate from 
each other and communicate step and speed information between themselves.

  The real fix would be in the PRU code.
  
  A work around is by adding the PID stuff in the HAL file.

  The dithering DIR line should not affect the actual position of the 
stepper motor.  
  What it can do, depending on the actual hardware, is change the way the 
drive handles recirculating current in the transistors.  This can end up 
making a frequency that can be heard as a ticking or buzzing noise.

Jeff



On Thursday, May 11, 2017 at 11:11:19 AM UTC-7, Nick Collier wrote:
>
> @Jeff Pollard
>
> My machine seems to be working fine, I would like to fix the bug because 
> it is making me feel like I need to understand the system more. 
>
> So I can modify the PID using the stepgen command in the hal config file? 
>
> Are you saying that the stepgen algorithm is using several different 
> processors?
>
>

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Re: [Machinekit] Re: Strange pulse waves on X,Y,Z direction outputs when axis are static

[Jeff Pollard]

Hi Nick,
 
   As the current system stands, if you want to get rid of the hunting on 
the DIR lines then it seems you need the PID loop.
   or...
   If you want to get rid of the necessity to use the PID code, you can 
modify the PRU code that generates the step pulses.

   The original EMC system MachineKit is based on was not a stepper centric 
system, rather a servo based system that used encoders for position 
feedback.  Later modifications were added to allow steppers and when the 
system migrated to the BBB, the PRU code  (which is run on another 
processor inside the chip) was added to generate step pulses.  The complex 
communication between the several internal processes (running independently 
and at different rates) has lead to a situation where the problem with the 
hunting occurs.  For a diagram of the different processes, look here:

http://www.machinekit.io/docs/hal/rtcomps/#sec:Stepgen

Jeff

On Thursday, May 11, 2017 at 5:08:33 AM UTC-7, Nick Collier wrote:
>
> @Alexander Rössler 
>
> I am new to Machinekit. I don't think I have that Python file. In lib I 
> don't have any python directory. I can't seem to find an fdm directory on 
> my system. 
>
> I just have a fresh install of this image with no modifications. 
>
> https://rcn-ee.com/rootfs/bb.org/testing/2017-02-12/machinekit/bone-debian-8.7-machinekit-armhf-2017-02-12-4gb.img.xz
>  
>
> Btw why do I need a PID loop with a stepper motor? Could I not just remove 
> the PID loop? 
>
>

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Re: [Machinekit] Re: Strange pulse waves on X,Y,Z direction outputs when axis are static

[Jeff Pollard]

Hi,

  A PID loop has been added to the Xylotex HAL file in the 
ARM/BeagleBone/Xylotex configs section.
  Take a look there for a way to set up the axes with a PID loop that gets 
rid of the hunting problem.

Jeff


On Wednesday, May 10, 2017 at 7:15:44 AM UTC-7, Alexander Rössler wrote:
>
> This phenomena is known as PRU pin hunting and a result of the internal 
> PRU stepper feedback loop being too "tight" (so the DIR pin toggles all 
> the time). You can fix it by adding a PID loop before the stepper and 
> adding a minimum threshold. Just search for PRU pin hunting in the 
> mailing list. 
>
> Another solution would be to adapt the PRU HAL driver code. However, the 
> PID loop has the additional advantage that it smoothes out RT jitter. 
>
> The solution is also present in the Machinekit fdm Python libraries: 
>
> https://github.com/machinekit/machinekit/blob/master/lib/python/fdm/config/base.py#L61-L75
>  
>
> michelvand...@gmail.com  writes: 
>
> > Hello Nick, 
> > If i am correct this is some form of "hunting" mode which is being done 
> by 
> > the feedback loop in the PRU. I have seen the same behavior on our 
> > machines, but I have no clue what this actually does internally in 
> > machinekit. 
> > 
> > Op woensdag 10 mei 2017 11:14:45 UTC+2 schreef Nick Collier: 
> >> 
> >> I am running Machinekit on a BBB. 
> >> 
> >> When tasting the physical step and direction output pins with an 
> >> oscilloscope, I noticed that there are various rectangle/pulse type 
> waves 
> >> on the direction pins when the respective axis are not moving. Is this 
> >> normal? 
> >> 
> >> As soon I make the axis move, the direction pin goes to either high or 
> low 
> >> depending on the direction. 
> >> 
> >> When the axis are moving, everything looks fine. But I would expect no 
> >> signal when there is no movement. The step outputs produce no signal 
> when 
> >> there is no movement, so I guess the signal from the direction outputs 
> are 
> >> not going to do any harm. 
> >> 
> >> 
>
>
> -- 
> Alexander 
>

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Re: [Machinekit] Re: MachineKit on BBB running Hostmot2 with Xilinx FPGA

[Jeff Pollard]

Hi,

  I will have to relearn how to do the whole git/pull stuff (which will 
take some time).
  And I will have to clean up the files before I do that...
  In the mean time, if you e-mail me at supp...@xylotex.com I can e-mail 
you the files.
  I have the gpmc access file currently named  hm2_Xi90.c, but that will 
probably change
  That code basically sets up the GPMC bus and provides read/write function 
for the hostmot2 software.  The bit settings for the gpmc configure the bus 
for multiplexed address/data with specific timing that the bitfile in the 
FPGA would expect
  If you are going to use the GPMC you will need to disable the emmc in the 
/boot/uboot/uEnv.txt (or wherever that file is kept these days- I'm still 
working from an old 2015 version of machinekit).
  Then you'll need to get the vhdl file to match the timing generated by 
the gpmc bus.  It's currently called topEPPHostMot2.vhd on my computer, but 
should be renamed to something else as well.  I started with mesa EPP bus 
stuff to make the gpmc interface and haven't renamed the file.  There is a 
lot of stuff commented out that should be cleaned up, but dismissing that, 
you should be able to get an idea of what was done to interface to the gpmc.

  The files I have is for the board (cape) I'm presently working with:

(4) sets of Servo PWM (PWM/DIR/Enable) outputs
(4) sets of Single ended Incremental Encoder inputs along with two inputs 
for limit switches
(1) Single Ended incremental Encoder input for Spindle
(1) PWM output for spindle speed control along with FWD,REV output 
commands, and a FLT input.
(1) Single Ended incremental encoder input for MPG (A and B only, no index 
input)
(1) UART in TTL mode to communicate with a uP on the MPG which encodes axis 
select and jog rate switches as well as other button inputs
Mist/flood output signals
E-stop signal chain
 
  To see a picture, go here:

http://xylotex.netfirms.com/OSCommerce/catalog/product_info.php?cPath=27_id=122

  Anyway, drop me an e-mail, and I'll try to get you the files you want.

Jeff



On Thursday, May 4, 2017 at 12:20:03 PM UTC-7, Timm Eversmeyer wrote:
>
>
>
> Am Dienstag, 2. Februar 2016 04:25:51 UTC+1 schrieb Jeff Pollard:
>>
>>
>>   I started with the TopEPPSHostMot2 version of the FPGA code from 
>> mesanet.com and modified that by removing the parallel port interface 
>> and building in the GPMC interface.  Then on the machinekit side I wrote a 
>> stand alone C program that did the same I/O as the hm2_Xi90.c file 
>> mentioned above.  There is a memory space in the FPGA where a "cookie" is 
>> stored once it has been properly programmed. The value is:55AACAFE and is 
>> stored at location 0x0100.  Once you can read that, you can start making 
>> your own hm2_XXX file.
>>
>>   Hopefully that will give people wanting to use hostmot2 with MachineKit 
>> a start on how I implemented it.
>>
>
> I have an unused LogiBone [1] which could be used to run hostmot2. I have 
> not found the VDHL code in your MachineKit fork [2]. Would you mind share 
> the GPMC adapter to hostmot2 with me?
>
> Your Beagle Bone FPGA shield looks nice. Looking forward to hear any news.
>
>
> [1] http://valentfx.com/logi-bone/  
> [2] 
> https://github.com/xylotex/MachineKit/tree/MachineKit-ubc/src/hal/drivers
>

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[Machinekit] Re: Advice for BBB breakout for Taig Micromill

[Jeff Pollard]

Hi,

  If you want to use a BBB as the main CNC processor (including 
video/keyboard/mouse I/O), then you might want to take a look at one of the 
boards I sell:

http://xylotex.netfirms.com/OSCommerce/catalog/product_info.php?products_id=114

  It has two DB25 ports, with one made for PC CNC control, and the other 
with general I/O.  Both can be connected to DB25 breakout boards (BOBs).  
The xylotex config file sets up the main port for X, Y, Z and A stepper 
with 4 inputs for limit switches and 3 outputs for relay signal control.  
It has no provisions for the encoders that your system currently has.   
Having said all of that, I have absolutely NO idea what the TAIG control 
you have requires as far as control signals.

Jeff
www.xylotex.com

On Tuesday, April 18, 2017 at 3:26:51 PM UTC-7, Siggi wrote:
>
> Hey y'all,
>
> I recently had a 4 axis Taig Micromill DSLS 3000 
>  follow me home. I'm currently 
> driving it with Mach3 and a ThinkPad laptop, through the USB->Parallel port 
> module provided by Taig/Microproto, but this is ... sub-optimal. The driver 
> box takes what looks to me (a rank n00b) standard DB25 parallel signals for 
> XYZA step/dir control and spindle/coolant switching. The DLSL allegedly has 
> 1600 CPR encoders that hook into the control box and are supposed to 
> "servo" the steppers. From what I read the stepper drivers are half step 
> only, however, so I don't know. The only user-visible benefit to this that 
> I've seen is that if (when - *sigh*) I crash, the encoders detect it and 
> flag on the respective axis "limit" inputs on the DB25. Sometimes it seems 
> the USB module takes ... a while ... to bring this to Mach3's attention, 
> however.
> I guess it may also help to have an acceleration/speed control loop around 
> the steppers?
>
> In any case, I want to kit my mill out with homing switches at least, and 
> perhaps limit switches. There are suitable inputs on the control box, but 
> they get ORed with the servo loop "limit" gunk, which means the control 
> software wouldn't be able to tell home from "limit". I'd also like to 
> liberate the ThinkPad from machine control duty.
>
> In any case, I'd like to hook up a BBB with Machinekit to the control box 
> I have already, and to hook up the home and perhaps limit switches to it.
> Ideally I'd want a breakout with a DB25 feeding the XYZA axis and the the 
> spindle/coolant outputs, as well as the XYZA limit inputs. Screw terminals 
> would be ideal for the rest.
> I wonder which cape or breakout board would be best/reasonable for me to 
> buy for this (I'm in Canada, in case that makes any difference)?
>
> Siggi
>

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[Machinekit] Re: Compiling Machinekit on BBB

[Jeff Pollard]

Hi,

  Thanks, I got it to compile.  I needed to set the swap file properly.  I 
didn't get it properly set up the last time, and I wasn't sure if it was 
*needed*, but it is.  I had compiled machinekit on the BBB a couple of 
years ago and it wasn't needed back then, but I guess *a lot* has changed 
since.

Thanks again,

Jeff



On Friday, March 31, 2017 at 1:29:32 PM UTC-7, ceha...@gmail.com wrote:
>
> I just checked which image I have on my BBB, and it is the 1-30-2017 
> release.  My notes had the 3-15-17 release specified, but while that 
> compiled, it would not run.  I think the 2-12-17 release works though.  
> Sorry for any confusion.
>
> On Friday, March 31, 2017 at 4:21:42 PM UTC-4, ceha...@gmail.com wrote:
>>
>>
>> I've compiled on beaglebone using these steps.  The process runs much 
>> faster when running out of EMMC, so I recommend that you flash your SD card 
>> image onto the BBB, otherwise it will take hours.
>>
>> The swapfile is necessary as you've noted.  My first compile failed in 
>> the same way but I had another window open running 'top' which showed all 
>> of memory being consumed, and then the crash.  Running 'top' is an easy way 
>> to verify that a swap file is being used.
>>
>> From my notes:
>>
>> Build machinekit on the beaglebone
>>
>> Start with this image:
>>
>>   bone-debian-8.7-machinekit-armhf-2017-03-12-4gb.img.xz
>>   
>>   install on an SD card and boot holding the boot button down at power-on
>>   open a terminal up, and use the following instructions:
>>
>> add a swap file first:
>>
>>  dd if=/dev/zero of=my_swap bs=1024 count=524288
>>  mkswap my_swap 
>>  sudo chown root my_swap 
>>  sudo chmod 600 my_swap 
>>  sudo swapon my_swap
>>
>>   you can make the file permanent by adding a line to fstab
>>
>>  /path-to-file/my_swap swap swap defaults 0 0
>>
>> then do this to build machinekit:
>>
>> sudo apt-get remove --purge machinekit
>> rm -rf machinekit
>>
>> sudo apt-get install libczmq-dev python-zmq libjansson-dev pkg-config \
>>   libwebsockets-dev libxenomai-dev python-pyftpdlib cython bwidget 
>> lsb-release
>>
>> sudo apt-get install git dpkg-dev
>> sudo apt-get install --no-install-recommends devscripts equivs
>> git clone https://github.com/machinekit/machinekit.git
>> cd machinekit
>> # to add RT-PREEMPT support, add a 'r'
>> # to add Xenomai support, add an 'x'
>> # this builds for Posix, RT-PREEMPT, Xenomai:
>> debian/configure -prx
>> sudo mk-build-deps -ir
>> cd src
>> ./autogen.sh
>> # for the Beaglebone, add --with-platform-beaglebone to ./configure
>> # for the Raspberry2, add --with-platform-raspberry to ./configure
>> # for PC platforms, add --with-rt-preempt  --with-posix  --with-xenomai
>> ./configure --with-platform-beaglebone
>>
>> make   <-- this takes a LONG time
>>
>> sudo make setuid
>>
>> Hope this helps!
>>
>>
>> On Thursday, March 30, 2017 at 7:51:50 PM UTC-4, Jeff Pollard wrote:
>>>
>>>
>>> Hi,
>>>
>>>   I'm trying to build machinekit from the 2017-02-12 version.  I've gone 
>>> through the steps below, and at step 24 I encounter an error while 
>>> compiling emctask.cc.  I read somewhere that adding a swap space might 
>>> help, so I tried to add one, and it either didn't help, or I did it wrong.  
>>> In any case, can anyone tell me if the steps I've taken below are either 
>>> wrong, or if I'm missing any?
>>>
>>> Thanks,
>>>
>>> Jeff
>>> (PS.  I tried to download the most recent Jessie version and when 
>>> booting the three blue LEDs would light up, and the BBB would freeze, thus 
>>> I'm using the 02-12 version)
>>> == 
>>> on ubuntu
>>> [1] wget 
>>> https://rcn-ee.com/rootfs/bb.org/testing/2017-02-12/machinekit/bone-debian-8.7-machinekit-armhf-2017-02-12-4gb.img.xz
>>>
>>> [2] sha256sum bone-debian-8.7-machinekit-armhf-2017-02-12-4gb*
>>> 18361e0426715974b5a0e7f014ff1bf26db2421cbf8d61622efd2856cd8c6214  
>>> bone-debian-8.7-machinekit-armhf-2017-02-12-4gb.img.xz
>>>
>>> [3] xzcat bone-debian-8.7-machinekit-armhf-2017-02-12-4gb.img.xz | sudo 
>>> dd of=/dev/sdc
>>> 
>>> [4] install uSD in to BBB and boot
>>> 
>>> resize 4GB to full 16 GB
>>> [5] cd /opt/scripts/tools/
>>> [6] git

[Machinekit] Re: Machinekit interface to DAC

[Jeff Pollard]

Hi,

  If you are looking for a simple microcontroller with built-in quadrature 
encoder interface as well as analog in and motor control features (like PWM 
out), you might want to look at the Microchip dsPIC line.  Microchip has 
examples on how to use these chips to control motors.  The microcontroller 
is totally unrelated to/unsupported by MachineKit though.

  As far as MachineKit is concerned, Mesa makes interface boards that can 
control SPI (serial peripheral interface). 

  The BBB also has an SPI port on it.  SPI has both a serial input and 
serial output.  

  In any case, if it is a custom interface, you may need to write a driver 
for it to interface between MachineKit and the actual hardware.

Jeff 

On Tuesday, January 17, 2017 at 9:35:02 PM UTC-8, mark hubrich wrote:
>
> Hi. Can someone direct me to any info regarding shifting out to 595 shift 
> registers? Also is there a shift in? I'd like to play with reading encoder 
> and analog position control. I have some hctl2016 chips I'd like to mess 
> with. Better yet if anyone knows of a DSP made for motion control it may 
> simplify my circuit.
>
> Thanks!!
> Mark
>

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[Machinekit] Re: axis, configuration

[Jeff Pollard]

Hi,

  I think you are looking for what is described in section 1.11.7 here:

http://linuxcnc.org/docs/2.4/html/gui_axis.html

Jeff

On Wednesday, January 4, 2017 at 8:50:15 AM UTC-8, Marco Negrini wrote:
>
> Hi everyone,
>
> i was looking in the ini file, and i was wondering if i can set axis to do 
> NOT check the gcode before running.
>
>

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Re: [Machinekit] Pulsing on the DIR signal.

[Jeff Pollard]

Hi,

  Check the Xylotex hal file in the ARM/BeagleBone directory for an example 
of using PID to get rid of the hunting problem on the DIR line.

Jeff


On Saturday, November 5, 2016 at 7:01:30 AM UTC-7, Charles Steinkuehler 
wrote:
>
> On 11/5/2016 8:11 AM, Johan Jensen wrote: 
> > 
> > _4. After completing the first jog command (+/- does not matter), the 
> DIR signal 
> > starts to oscillate between 0V and 4V continuously. __Not expected._ 
> > 5. If I use "disable motors" in Machinekit the DIR signal stops 
> oscillating and 
> > goes back to 0V. 
> > 
> > Any ideas on how to correct this would be greatly appreciated. Thanks. 
>
> This is "hunting" where the PRU driven step/dir generator is 
> oscillating back and forth (by a fraction of a step) around the set 
> position point due to the two asynchronous timebases (ARM CPU core and 
> PRU stepgen) and the ARM interrupt latency/jitter. 
>
> If this is causing you problems, you could add a deadband to the 
> hal_pru_generic stepgen driver (PR welcome!), or switch to using a 
> standard HAL PID control (with the PRU stepgen in velocity mode) 
> instead of the fairly simplistic PID loop found in the hpg driver. 
> There are some examples of configurations using the HAL PID + steppers 
> for hostmot2 (Mesa) hardware, and I think there have been some for the 
> BeagleBone if you dig through the group archives. 
>
> A PR for an example BegleBone configuration using HAL pid components 
> would also be welcome! 
>
> -- 
> Charles Steinkuehler 
> cha...@steinkuehler.net  
>

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[Machinekit] Re: using machinekit with bbb and polulu driver to drive stepper motor without any cape

[Jeff Pollard]

Hi,

  You don't need an eeprom (you don't need a cape) to be able to use the 
signals from P8 and P9.
  If your config is running a program that needs a eeprom, then I'd suggest 
trying another config that doesn't require an eeprom be programmed and 
present.

Jeff


On Thursday, September 1, 2016 at 6:30:18 PM UTC-7, joe2456001 wrote:
>
> HI guys
>I was trying to use bbb and run machinekit to send signals to a polulu 
> driver, to drive a stepper motor. This way the signal will be coming from 
> pru, i don't want  to get a cape for this. When i choose a config fie now 
> the bbb is search for the eeprom of the cape which i don't have.Is  this 
> possible?
> Any suggestions will be appreciated.
> Thanks
> Best
> Jason
>

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[Machinekit] Re: Help: new setup, motors not moving

[Jeff Pollard]

Hi,

   When you jog, look at the voltage on pin3 of the DB25 connector and note 
its level.  Then jog the other direction, and note the voltage while 
jogging.  The voltage should swing from a low level of less than 1.0 volts 
to a high voltage of greater than 3.0 volts (or the other way around 
depending on the direction you jog).  This is an easy test to see of 
electrical commands are coming out of the BBB_DB25.

Jeff

On Saturday, August 20, 2016 at 3:54:34 PM UTC-7, ziggy wrote:
>
> Hi folks,
>
> I've bounced around the forums etc a bit. I'm trying to get my machinekit 
> -> BBB -> Xylotex DB25 cape -> parallel port cable -> gecko g540 -> 3 x 
> nema 23 motor moving.
>
> This is just an electronics software test before mounting and calibrating 
> etc.
>
> I've disabled the fourth axis in the Xylotex.hal and ini files (which i've 
> attached ). 
>
> Any help to pin point what i might have missed would be great.
>
> Things i've done: 
>  *  tested pin connectivity on the db25 cable for each pin with a 
> multimeter, no open circuits detected and the pins are one to one which i 
> assume is the straightthrough kind
>  *  tested gecko with the 48V power supply that comes with the kit from 
> automation technologies the motors are powered and humming (not sure if 
> that's a good or bad thing)
>  *  hal configuration tool/plugin on axis shows pulses/signals being 
> generated on emcmot.xx for both pos and vel cmd pins for all three axes. 
>  Same for the motor.xx.command pins 
>  *  I can software jog etc but nothing moves the motors
>  * i have the pin 1 and pin 10 of the xylotex bbb cape connected per my 
> understanding of the instructions on xylotex website to have a normally 
> closed  connection between the two 
>  * I also have the typical estop connection wired for the gecko (tested 
> and working.
>  * tested all db9 connections to make sure they are wired according to 
> geckos docs as well.
>
>
> Let me know if there's any other information I'm missing that might help. 
> All and any help is greatly appreciated.
>

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