slightly OT comment, but I post anyway:
At work I've been playing with White Rabbit PTP hardware. Developed by CERN
for control/data-collection of the LHC.
It is all open hardware and software, available at: http://www.ohwr.org/
Very roughly this WR-PTP over optical fiber is maybe 100x better at
s
> A good answer to the inevitable user concerns could be to make that maximum
> configurable. The user could set their own maximum feedrate override in a
> configuration file. If the user wanted 150%, for example, then the planner
> would always calculate the maximum speeds using that override, the
On Sat, Sep 28, 2013 at 10:31 PM, Robert Ellenberg wrote:
> Hi All,
>I'm a grad student working on trajectory planning for robots. While
> doing some fine-detail work using LinuxCNC on a mini-mill, I've bumped up
> against the feed rate limitations due to small G-Code segments. Since this
> k
Thanks, it seems to work now (I tried with make -j4, as before)
I do get this on closing AXIS, but that has been there before and is not
unified-build related I guess:
scripts/linuxcnc: line 717: 24725 Segmentation fault (core dumped)
$EMCDISPLAY -ini "$INIFILE" $EMCDISPLAYARGS $EXTRA_ARGS
dm
Hi,
Would it be possible for someone who understands how to use the rs274,
gcode, canon pyhon modules to produce a minimal example of how to use these
modules in python to interpret a g-code file?
i.e. something that given a g-code file calls PrintCanon from
llb/python/rs274/interpret.py would be u
> Anders:
>
> I like the idea of scripting the transmission and acquisition of the
> test results. It fits with previous noodling on this list about a
> standard system information-gathering and reporting scheme which, among
> other things, would improve our ability to help people debug their
> ins
On Tue, Sep 3, 2013 at 9:26 AM, Michael Haberler wrote:
> I dont want to read this darn documentation, just try it
>
> cd src && ./autogen.sh && ./configure && make && sudo make setuid && .
> ../scripts/rip-environment && linuxcnc
>
should
I now tried:
$ make clean
$ ./configure --with-posix
$ make
but I get the same error (below) as before.
Anders
On Tue, Sep 3, 2013 at 6:38 PM, Anders Wallin
wrote:
>
>
>
> On Tue, Sep 3, 2013 at 9:26 AM, Michael Haberler wrote:
>
>> I dont want to read this darn docum
> what it does:
> =
> build LinuxCNC such that it runs unchanged on any kernel found on the
> build platform (even multiple versions): RTAI, Xenomai, RT-Preempt, or
> vanilla - only reboot into new kernel required. No configuration changes to
> existing configs should be necessary. Runs
How difficult would it be to automatically gather information about the
system (rt-patch, versions, etc.) along with the jitter values and format
them into a standard message (email, whatever).
The website could then have a database which is auto-updated whenever it
receives a correctly formatted e
On Sat, Aug 3, 2013 at 8:44 PM, Sebastian Kuzminsky wrote:
> Hi folks, Chris Radek and I just pushed a fix for the last known issue
> with LinuxCNC running on Linux 3.x with RTAI, on Ubuntu Precise.
>
Did anyone try this?
>From discussion earlier on the list I got the impression that RTAI might
It is fairly straightforward to plan a trajectory for a *single* segment
(line, arc, nurbs-curve) with limited acceleration/jerk/double-jerk etc.
It is much harder to come up with an algorithm that blends together *many*
lines/arcs/nurbs-curves and plans a smooth trajectory. Note that it is
always
Some random thoughts/discussion.
To be useful a stand-alone HAL package also needs tools for building HAL
networks.
These include halscope, halmeter, siggen, etc. as well as any future
insanely great visual HAL-netlist creation and visualization software.
Hardware-drivers should also be included i
Hi all,
Olimex has just released a Debian image for their latest single-board
computer based on the Allwinner A20 cpu:
http://olimex.wordpress.com/2013/06/19/a20-olinuxino-preliminary-debian-linux-image/
http://en.wikipedia.org/wiki/Allwinner_A20
has anyone tried Xenomai on this, or another, dual
> Circumstances prevent me from contributing much in the way of code but
> y'all know I have a passion for decent documentation. I have made a
> number of contributions to the Wiki and to the distributed LinuxCNC
> documentation.
>
I've also contributed a few documentation patches here and there.
Hi all,
I am considering building various analog interface cards such as
temperature-measurement, DACs, current-DACs, etc. for instrumentation
purposes.
Any suggestions on what would be a good way to interface these to a mesa
card?
SPI:
+Most ADC and DAC chips seem to have SPI interfaces, but so
1. vcpparse looked ugly with mixed tabs/spaces for whitespace.
2. Inspired by Gene's two-needle-meter idea I hacked together something.
Anders
0001-use-spaces-not-tabs-for-whitespace.patch
Description: Binary data
0002-dual-needle-meter-use-with-halpin2-meter2-halpin2.patch
Description: Binar
The usermode-pci code is ready for testing and review:
>
> http://git.mah.priv.at/gitweb/emc2-dev.git/shortlog/refs/heads/usermode-pci
>
>
Yes! The latest from the usermode-pci branch (674e6a8c27) works for me.
hardware: 3x20 + 6i68
Ubuntu 12.04LTS with xenomai debs from Michael
uname -r: 3.2.21-
On Tue, Dec 18, 2012 at 12:06 PM, Charles Steinkuehler <
char...@steinkuehler.net> wrote:
> -BEGIN PGP SIGNED MESSAGE-
> Hash: SHA1
>
> The usermode-pci code is ready for testing and review:
>
> http://git.mah.priv.at/gitweb/emc2-dev.git/shortlog/refs/heads/usermode-pci
>
the git commit-i
- pull this branch:
> http://git.mah.priv.at/gitweb/emc2-dev.git/shortlog/refs/heads/usermode-pci
>
> known-to-work configs are: 5i20.ini and 5i25.ini
>
I can preliminarily confirm that
git checkout 9a20569656795474cb95a0177a517f7f11da05b7
(not the latest git commit, since it messes with the build
>
> Is this normal LinuxCNC or the Xenomai/ userland PCI code?
>
I am testing on Ubuntu 12.04LTS with the userland-pci branch from here
http://git.mah.priv.at/gitweb/emc2-dev.git/shortlog/refs/heads/usermode-pci
uname -a says:
3.2.21-xenomai+ #1 SMP PREEMPT Tue Oct 30 19:01:33 UTC 2012 i686 i686 i
> >> with the hostmot2-firmware-3x20-1 deb package installed from
> >>> www.linuxcnc.org and trying 3x20-small.ini I now get
> >>> http://pastebin.ca/2293883
> >>>
>
>
> Also is it possible you have the 6I68 jumpered to auto load a EEPROM
> config?
> This might cause that error
>
On the 6i68, I ha
I was reading sampler_usr.c and noticed on line 235 and 236
int tmpout and int newout are assigned a value from fifo->out which is of
type unsigned int.
why doesn't the compiler warn about this? could this cause trouble, since
an unsigned int can hold larger values than an int?
Or could the ->in a
> > also, the error-messages that follow seem to indicate I don't have the
> > separate deb-package installed that contains the BIT-files for the mesa
> > cards.
> > Can the mesa firmware deb-package for 10.04lts/rtai be installed on
> > 12.04lts/xenomai ?
>
> Gut feeling: yes, but I cant tell
> I
with the hostmot2-firmware-3x20-1 deb package installed from
> www.linuxcnc.org and trying 3x20-small.ini I now get
> http://pastebin.ca/2293883
>
browsing the code, the relevant error message seems to come from
src/hal/drivers/mesa-hostmot2/hm2_pci.c
where around line 446 it says
"
// N
>
> also, the error-messages that follow seem to indicate I don't have the
> separate deb-package installed that contains the BIT-files for the mesa
> cards.
> Can the mesa firmware deb-package for 10.04lts/rtai be installed on
> 12.04lts/xenomai ?
>
with the hostmot2-firmware-3x20-1 deb package
> make LDFLAGS="-ludev "
>
Testing on 12.04lts with 3.2.21-xenomai+ ( gcc 4.6.3 and ld 2.22)
"make LDFLAGS="-ludev " does add -ludev to the linking command, but the
order of libraries seems to be wrong for me.
I can get the usermode-pci branch to compile by modifying
emc2-dev/src/rtapi/Submakefil
Sounds good!
Is the code for this somewhere online?
I've just received one of the new 6i68 + 3x20 combinations (for PCI-E) and
would be interested in getting started with it.
Anders
On Wed, Dec 12, 2012 at 7:49 PM, Michael Haberler wrote:
> Charles managed to get userland PCI working such that
On Wed, Dec 12, 2012 at 7:57 AM, Anders Wallin
wrote:
>
> I used log() in a HAL component over here
> http://pastebin.ca/2291678
> it seems to compile, install, and work fine on 12.04LTS.
> I am including
>
> However I got a report that on 10.04LTS comp --install gives
I used log() in a HAL component over here
http://pastebin.ca/2291678
it seems to compile, install, and work fine on 12.04LTS.
I am including
However I got a report that on 10.04LTS comp --install gives an error:
55: error implicit declaration of function log()
any ideas?
Anders
> Do we have a utility that can plot all the paths & connects the drawn path
> with its signal name alongside the path line from logic block to logic
> block or I/O pin? A 'logic' block being like the pid module for instance,
> or encoder, pwngen etc. I looked at halitosis, but that isn't the out
> Notes:
> Latency time bins are in 1,2,5 sequence over 5 decades
> Y axis is displayed on log scale by default
>
An on-line histogram is great! But I feel the histogram could reveal more
if there were more bins.
For example my test a few days ago shows about three features: a main peak
at 0,
>
> For comps, which are very short pieces of code with limited functions, I
> think this is
> sensible. For major hardware drivers like ppmc or mesa-hostmot2 I'm not
> sure
> that still makes sense. These drivers have many functions and lots of
> I/O pins,
> and separate docs may be much more re
On Fri, Dec 7, 2012 at 8:23 PM, andy pugh wrote:
> On 7 December 2012 17:23, Anders Wallin
> wrote:
>
> > To make the documentation task manageable I think the HTML/PDF docs must
> be
> > autogenerated from comments in the source - just like man-pages for
> > co
>
> > All of those are written in C so a man page would have to be written by
> > hand. Only components written using Comp get auto generated man pages.
> > In any case I doubt a newbee can find a man page with both hands... much
> > less know to look for a man page.
> >
> Actually, what is in the
On Fri, Dec 7, 2012 at 6:00 PM, Kent A. Reed wrote:
> On 12/7/2012 6:49 AM, John Thornton wrote:
> > In any case I doubt a newbee can find a man page with both hands... much
> > less know to look for a man page.
>
> Now THAT'S dismissive :-)
> man abs - returns a description of the family of Linux
On Fri, Dec 7, 2012 at 1:58 PM, John Thornton wrote:
> Is the patch for 2.5 or master?
>
my patch is for v2.5_branch.
I also noticed the list of ca 110 components isn't complete. Would you want
further patches for v2.5_branch or for master?
>
> The html man pages are generated by magic somehow
I noticed there are 'new-style' HAL components/drivers for hardware such as
"hostmot2" and "pluto_servo", but then there are 'old-style'
components/drivers that start with hal_. I found these (there may be
others):
hal_parport
hal_ax5214h
hal_motenc
hal_ppmc
hal_stg
There does not seem to be manua
Looking at:
http://www.linuxcnc.org/docs/2.5/html/
why is there both a component "io.1" and a component "iocontrol.1" listed?
They seem to be identical?
Anders
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> Is the ±20us always happening during the startup? If so, we can
> probably work around this. If it is periodic, or happens much later,
> then it points to a real issue.
>
On my machine the few events at +/- 20us do not occur immediately on
startup, but rather randomly after a short while.
For
I was browsing this:
http://www.linuxcnc.org/docs/2.5/html/hal/components.html
and thought that listing all of the ca 110 components in one big list could
be improved.
Here's a patch, what do you think?
A similar organization into subsections of "Realtime components and kernel
modules" over here
On Thu, Dec 6, 2012 at 3:24 PM, Anders Wallin
wrote:
> Inspired by this, a few hacks to record latency numbers and plot a
> histogram with many bins:
> http://www.anderswallin.net/2012/12/latency-histogram/
>
just for fun, a comparison of latency numbers with posix-threads and
Inspired by this, a few hacks to record latency numbers and plot a
histogram with many bins:
http://www.anderswallin.net/2012/12/latency-histogram/
Something that populates and shows the histogram updating as we record
latency numbers is probably doable also. I may or may not have inspiration
to t
>
>
> > I am curious what else you have seen regarding Plan 9. You may not
> > know, but the Plan 9 files system protocol has been in the main kernel
> > tree for some time, and various other bits and bobs are being slowly
> > ported from Plan 9 to Linux. I will have to check into to if the user
> I'm trying to place your 30us latency number in context. What
> motherboard/bios/cpu?
>
This is a new Intel DH61AG mini-ITX motheboard with an Intel Core i3 2120T
2.6 GHz LGA1155 CPU. It has 4G of ram and a 60G SSD disk.
With HyperThreading turned off from the BIOS, and specifying isolcpus=1 in
> FWIW I would consider this rtos work more important for a linuxcnc 2.6
> > release than the redis work that just seems to break the build and cause
> > problems on 12.04/12.10.
>
> I think that comparison is as concludent as saying: 'sunlight is more
> important than a full wine cellar';) one ha
With some help from Michael I have now got this installed & running.
If anyone else is interested, here is a steb-by-step description of what I
did, roughly:
Download ubuntu-12.04.1-desktop-i386.iso and write to USB-stick. Note that
the 64-bit version causes problems later, and the default
startup
On Fri, Nov 2, 2012 at 5:18 PM, Michael Haberler wrote:
> I have now integrated the RT-PREEMPT branch as provided by Charles, added
> the now-working Xenomai-userland thread style, and massaged configure to
> deal with all of this. The Xenomai-kernel branch I reported about yesterday
> is fully i
> Turning is done in stages, you need to change tools. Technical drawings
> detail the dimensions. It is easier to piece together the final detail
> of subroutines rather than enter the coordinates of several points.
> In programming, a subroutine can use 5 different tools, changing it once
> in th
> I've ordered a Pi (Farnell re-directs to a local distributor), but the
> > delivery-time seems to be 3 weeks right now(?)
>
> Good luck with that! Some six months ago I ordered an original (256MB)
> Series-B RPi from Allied Electronics here in the USA. It went
> out-of-stock there even as I was p
On 11/20/2012 8:47 AM, Michael Haberler wrote:
> > I just verified this combination works, for the standard Raspberry
> > Raspbian kernel 3.2.27+ with Posix threads (aka 'simulator'), and
> > with Xenomai 3.2.21 for somewhat better performance
>
> Very cool!
>
> What sort of latency numbers are you
Good news!
I've ordered a Pi (Farnell re-directs to a local distributor), but the
delivery-time seems to be 3 weeks right now(?)
It seems that the SPI interface will be most useful for high-speed IO. If I
understood correctly the Pi supports only two separate chips on the
SPI-bus, but on IRC PCW m
These are the errors I get on quantal with gcc4.7.2
http://pastebin.ca/2252369
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the number of warnings probably depends on the gcc version. On ubuntu
quantal I see those and many more. I have
$ gcc --version
gcc (Ubuntu/Linaro 4.7.2-2ubuntu1) 4.7.2
none of the warnings look that critical though.. they'll get fixed more
urgently if/when linuxcnc moves to an RT os with a newer
thankfully v2.5_branch seems to work better. I find that the attached
trivial change of linking-order is required to build on Quantal.
Anders
v2.5_branch_quantal_link.patch
Description: Binary data
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> - after this when I e.g. reboot then do ". ./scripts/rip-environment" and
> "./scripts/linuxcnc" I do not get linuxcnc running. linuxcnc_debug.txt and
> linuxcnc_print.txt are copy/pasted below.
>
FWIW dmesg looks like this: (two attempts to start linuxcnc)
[ 7082.429052] axis[9656]: segfault at
Kuzminsky wrote:
> On 11/04/2012 02:15 AM, Anders Wallin wrote:
> > I tried a simulator build on Ubuntu 12.10 and found that these #defines
> for
> > NULL are required.
>
> Thanks for the bug report, Anders.
>
> I just pushed a different patch to 2.5 and master that ma
I tried a simulator build on Ubuntu 12.10 and found that these #defines for
NULL are required.
Not sure why, but I did see some new warnings/errors with my own projects
also, so it seems gcc4.7.2 is a bit more strict than previous versions. For
the testing/standards-freaks out there it might be a
> Hi all,
> The recent redis addition has broken the build for me on 64-bit
> 12.04LTS.
Hmm, it now strangely seems that these problems have disappeared.. not sure why.
However I need this trivial fix on my laptop 12.04LTS (it seems on my
desktop 12.04LTS I don't need it??):
$ git diff 8db111
dif
Hi all,
The recent redis addition has broken the build for me on 64-bit
12.04LTS. However Michael reported he could not reproduce on a fresh
12.04.(1?) install..
See below for the error. Is anyone else seeing this?
I tried looking at the (sub)makefiles but they are not exactly
reader-friendly. Fwiw
>> The spectrum is so full of noise all the way up and beyond the range
>> of the chart, that it has to be measured on some kind of machine.
>> Jon
> I found the source of this pictures:
> http://www.mmrc.iss.ac.cn/~xgao/papernc/jounce2022.pdf
> And I am not sure what was measured. From this mo
One should prefer numbers, experiments, and real data over speculation!
Here's a picture that illustrates these ideas:
http://www.anderswallin.net/sandbox/trajectory.jpg
Note how the jerk-limited trajectory is slower than the
acceleration-limited one. The jounce-limited ("double jerk") is slower
s
> 2) How portable is the real-time code (ie: can it be compiled for Arm
> or PowerPC)?
LinuxCNC uses the RTAI kernel/API. There are a number of architectures
listed here https://www.rtai.org/
I don't know if anyone has made LinuxCNC work on other than x86 and x86_64
> 3a) Is there any existing su
> but we were always constrained to a 'tangential contour' ,meaning each
> path element could not be blended.
> 1) do 'tangential' contours like this get blended anyway?
> 2) would contours like this benefit from the effort?
> ( I'd guess CADCAM could increase velocity by removing detail,
> and CA
>> Trajectory control and lookahead seems to come up as a feature-request
>> periodically..
>
> The first page looks good...
>
> That does 'S' curve (Cubic) profiles which would improve accuracy for a given
> acceleration limit. S curves will reduce that last untunable following error
> spike at th
Trajectory control and lookahead seems to come up as a feature-request
periodically..
I just found this recent paper which after a quick read-through looks
at least half-decent:
http://www.springerlink.com/content/k8613l2812153p65/
If you don't have access drop me an email and I can send the PDF.
+1 on this.
When the wikipedia-police wanted to take down the emc2 wikipedia entry
I spent an afternoon digging up as many emc2-references as I could
find. They are listed here:
http://en.wikipedia.org/wiki/Enhanced_Machine_Controller
In addition to historical references I would think there is ro
my recollection from a few years back is that the rigorous exact-stop mode is
G61.1
this stops at the end of *every* move.
G61 improves slightly on this by "blending" moves where the
end-tangent of the previous move matches the start-tangent of the next
move.
So with G61 there would be no stop wit
>> line 924 of src/emc/rs274ngc/gcodemodule.cc reads:
>> double d[9] = {0, 0, 0, n[4]-o[4], n[5]-o[5], n[6]-o[6], n[7]-o[7],
>> n[8]-o[8]};
>
> Did anything come of this?
> I was reminded of it by this forum query
> http://www.linuxcnc.org/component/option,com_kunena/Itemid,20/func,view/catid,38
Hi all,
For cutting-simulation I am looking at using rs274 for parsing G-code
into canon-lines, and further to OpenGL or other simple primitives
(line-segments, and eventually sampled points along those line
segments)
line 924 of src/emc/rs274ngc/gcodemodule.cc reads:
double d[9] = {0, 0, 0, n[
I have now added this to the wiki:
http://wiki.linuxcnc.org/cgi-bin/emcinfo.pl?Simple_Tp_Notes
if there are issues with the figure, the triangles, or the math,
please feel free to update and make the wiki page better.
Anders
On Fri, May 20, 2011 at 8:41 AM, Alexey Starikovskiy wrote:
> Hi And
are you ready? hold on to your hat, here we go:
http://www.anderswallin.net/2011/05/emc2-tpruncycle-revisited/
if this looks approximately right to someone other than me then
please, please document this at least on the wiki or maybe even start
a section of the manual with the simple_tp material f
> There are a few other people working on the problem of modeling material
> removal. Unfortunately it seems that our approaches are different enough
> that merging the projects would be difficult.
hi all,
I've done a bit of work modeling the stock as a signed-distance field.
I'm using the classi
> Here's what one user has done:
> http://www.anderswallin.net/2008/04/idb-inverse-deadband-component-for-emc2/
With brush DC-servos and Jon's PWM amps for DC-servos I recall that
this worked very well. I will have to test with brushless when I get
my amps+motors.
Anders
-
> * hal_m5i20
> - clear better replacement (hostmot2) which is available since emc2.2
> - removal will reduce package size a bit
> - we could consider moving hal_m5i20 firmware to a separate package in
> 2.3 as for hostmot2
I'm using hal_m5i20 with a bit-file that allows a 50 kHz PWM
hello John, the pinout tables were probably added by yours truly to the
manual maybe 2 years ago.
The question marks simply mean that I was not able to verify that these
onboard LEDs actually work as advertised.
They probably do, but there are a lot of things that are only visible or
adjustab
> I'll still ask if someone knows of some research papers on the
> subject, or pointers to the correct function in the EMC code.
What kind of trajectories do you want to generate?
The ideas/math for 'exact stop' trajectories are not that hard, i.e. you
plan a trajectory that starts with zero velo
There is a new paper on particle swarm optimization for drilling path
optimization out just two days ago:
http://dx.doi.org/10.1080/00207540601042480
If anyone in our little CAM-research group has access to it I'd be
interested!
regards,
Anders W
Baher: Analog&Digital signal processing is a pretty understandable book
(depending on math background ofcourse)
Matlab has a utility called 'fdatool' which lets you design and
visualize filters very easily. There might be an open-sour equivalent
somewhere.
I would agree with the delay concern
> So, if I understand correctly the way UIs control everything in EMC is
> through NML commands. How hard would it be to have pyVCP widgets receive
> and send NML commands ? Is this a good idea ?
the consensus on IRC yesterday was that there are currently no NML
commands to the interpreter that
Hi developers,
> If you have ever setup and run a machine in a production setting using all
> the work offsets you would know that having to use MDI and G10 to do
> something as simple as bump a work offset a few 0.0001,s is not
> reasonable.
> Similar pages could be made for viewing and c
Like someone said here before, the bandwidth of USB is certainly enough
for (open loop) motor control of as many axes as one can imagine, but
the latency might not be good enough for real time feedback loops (1kHz
loop rate is what most people use I think).
One 'device-on-a-rope' at least I wo
Mario. wrote:
> Maybe the problem is there is no RTFM manual, as the whole system in
> HEAD is developed on-the-go and what works today tomorrow may not. The
> HEAD is one quick-boiling part.
I've had no problems compiling HEAD during the past few days. Have you
started with installing a RELEASED
> As a member of the board, I am 100% in favor of PyVCP becoming part of
> EMC2.
> (Yeah, I know this is late, you've already committed it. I was away
> for several days.)
> As the original author of VCP (the C version) I'm also very happy to
> see PyVCP. It looks like you have already taken PyVC
John Prentice wrote:
> (a) There are occasions when the UI benefits from being bi-directional.
Yes. But I don't know how to program a bidirectional slider or other
widget yet. Maybe someone else can help ?
> (b) It would a useful generality to be able to display (and as above set)
> parameters
Hi all,
I've played around with some Python code to generate Tkinter widgets
that either control or indicate the status of a HAL pin:
http://wiki.linuxcnc.org/cgi-bin/emcinfo.pl?PyVCP
On IRC jepler/cradek indicated that this could perhaps be a way to
extend AXIS to include user configurable di
ns are correct. Ditto for extra
DACs and encoders in the 8-axis config.
I'll try to work on these things whenever I have time.
regards,
Anders Wallin
[EMAIL PROTECTED]
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> (a) Has anyone done any paper or "keyboard" designing along these lines?
> If so does Flash feel a sensible or lunatic path?
you've described what in EMC lingo is called VCP, or a Visual (virtual?)
Control Panel.
It's all in development right now, but the idea is that using a simple
ascii fi
> But the FEED OVERRIDE problem still remained. Jumping the slider left
> and right resulted in time between calls to motion controller of
> 0.957ms, 1ms, 1ms, 1ms, 1ms and last one 1.053ms.
1 ms sounds like traj_period. Try changing traj_period in the ini file
and see what happens to the dela
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