LinuxCNC S-Curve Accelerations

tried here, it works with the original trajetory planer on the rip install, when i change to tpmode=scurve i need to desable homing on the gantry axis and i can do jog movements but when running gcode the machine seens to be stoped but it is runing with an extremaly low aceleration, near 1 minut to move 1mm

Hi Tia,

when i change to tpmode=scurve
It is : tpmod_scurve

And check if you use values for the trajectory :  vel + acc.
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I just isnstalled debian 13 on the desktop pc and installed the same software, but the ethercat-master from the codeberg repo.
It also runs ok. So that's a good sign.


 

Hi Rod,

The Cia-402 i have seen the source code. It does not much.
It sends and recieves position, velocity, torque  trough a can protocol?

this is from my INI file. i raised the values but see no difference.
before i tried with the values you send, is the same on the ethercat config example



[TRAJ]
TPMOD = tpmod_scurve
COORDINATES = X Y Z
LINEAR_UNITS = mm
ANGULAR_UNITS = degree
DEFAULT_LINEAR_VELOCITY = 20800.33
MAX_LINEAR_VELOCITY = 20800.33
DEFAULT_LINEAR_ACCELERATION = 350000
MAX_LINEAR_ACCELERATION = 350000
POSITION_FILE = position_mm.txt

Hi Tia,

I don't know why it won't run with cia-402.
We have more users with the same problem.

However the cia-402 source code does nothing with acceleration. Only torque, vel, pos.

Is there a alternative to the cia-402? 

Tried to compile but got this:

In file included from emc/planner/curve.h:14,
                 from emc/planner/feed.h:15,
                 from emc/planner/feed.c:12:
emc/planner/emcmot_segment.h:27:10: fatal error: segment.h: No such file or directory
   27 | #include "segment.h"

 

Hi Tia,

I don't know why it won't run with cia-402.
We have more users with the same problem.

However the cia-402 source code does nothing with acceleration. Only torque, vel, pos.

Is there a alternative to the cia-402?  

if you want to access my machine remotely i can give you access

Grotius wrote:

Hi Rod,

The Cia-402 i have seen the source code. It does not much.
It sends and recieves position, velocity, torque  trough a can protocol?

Yes, the cia402 protocol defines a state machine to turn on a machine using a standard control word and a status word confirming current machine state. The attached PDF is a good summary

There are also a loosely defined  set of PDOs

What we really need is a component that just defines the turn on sequence and then a seperate homemod for drive homing. It may be possible to do the turn on in the homemod so there is only one module but it might then sit outside the hal lcec Ethercat loop so it may run one servo thread cycle behind.

@Pcw,

Thanks for your effort. Not everything is installed by the makefile.
I think you need to look at the ./installer file, wich install's locally :

libclothoid3d
libscurve

segment.h is part off libclothoid3d and is installed in /usr/local/include

Then finally there is done a ldconfig.
I hope it works for you then.

 

@Rod,

In the mean time, have done some reading about the cia-402.

• The

  0x6065

  : following error window is not used or set by linuxcnc.
• Velocity mode in combination with a tuned linuxcnc pid could be a try out.

@Tia,
if you want to access my machine remotely i can give you access
We could verify iff all is installed ok. Like the libclothoid is in place etc.
But i think you already used the ./installer. It can be the installer failed at some step.
For the rest i don't know much about the cia-402.