8i20

I'm trying to get my 7i95 (already have serial FW to support sserials) to drive the 8i20 but am struggling with the driver flow -
Can't find any examples  - Don't need stepgen or PWM. Where can I find a setup for the 8i20 ?

Thanks.
 

Here is the basic setup for one joint.

This assumes quadrature incremental encoder feedback so needs to do a "Thump"
magnetic alignment to get the initial angle. (man bldc)

Note that you need to get at least three things right for this to work:
Poles, encoder count direction/scaling and initial offset
(dependent on UVW connections)

#bldc setup

loadrt bldc cfg=q (quadrature mode)

setp bldc.0.initvalue .5 (1/2 full scale current during alignment)
setp bldc.0.scale -4000 (-4000 counts per turn)
setp bldc.0.poles 4

# position command signals

net emcmot.00.pos-cmd joint.0.motor-pos-cmd => pid.0.command
net motor.00.command pid.0.output => bldc.0.value
net motor.00.current bldc.0.out => hm2_[HOSTMOT2](BOARD).0.8i20.0.0.current


# commutation angle signals
net motor.00.rawcounts hm2_[HOSTMOT2](BOARD).0.encoder.00.rawcounts => bldc.0.rawcounts
#net motor.00.index-enable hm2_[HOSTMOT2](BOARD).0.encoder.00.index-enable => bldc.0.index-enable
net motor.00.angle bldc.0.rotor-angle => hm2_[HOSTMOT2](BOARD).0.8i20.0.0.angle

I get
parameter or pin 'bldc.0.initvalue' not found

and I don't see it in the show param -
42 float RW 0 bldc.0.drive-offset
42 s32 RW 0 bldc.0.encoder-offset
42 s32 RO 2 bldc.0.in-type
42 s32 RO 0 bldc.0.out-type
42 s32 RW 8 bldc.0.poles
42 s32 RW 8192 bldc.0.scale
42 s32 RW 44960 bldc.0.tmax
42 bit RO FALSE bldc.0.tmax-increased

Its a pin: (LinuxCNC 2.8.2)

Component Pins:
Owner Type Dir Value Name
42 float OUT 0 bldc.0.A-value
42 float OUT 0 bldc.0.B-value
42 float OUT 0 bldc.0.C-value
42 bit IN FALSE bldc.0.init
42 bit OUT FALSE bldc.0.init-done
42 float IN 0.2 bldc.0.initvalue <<<<<<<<<<<<<<<<<<<<<<<<<<
42 float IN 90 bldc.0.lead-angle
42 float OUT 0 bldc.0.out
42 float OUT 0 bldc.0.out-abs
42 bit OUT FALSE bldc.0.out-dir
42 float OUT 0 bldc.0.phase-angle
42 s32 IN 0 bldc.0.rawcounts
42 bit IN FALSE bldc.0.rev
42 float OUT 0 bldc.0.rotor-angle
42 s32 OUT 0 bldc.0.time
42 float IN 0 bldc.0.value

LinuxCNC 2.9 - doesn't seem to be there.

42 float OUT -0.1096591 bldc.0.A-value
42 float OUT 0.0875005 bldc.0.B-value
42 float OUT 0.02215855 bldc.0.C-value
42 float IN 45 bldc.0.lead-angle
42 float OUT -0.1159668 bldc.0.out ==> motor.00.current
42 float OUT 0.1159668 bldc.0.out-abs
42 bit OUT TRUE bldc.0.out-dir
42 float OUT 0.4472656 bldc.0.phase-angle ==> x-meas-angle
42 s32 IN 2924 bldc.0.rawcounts <== motor.00.rawcounts
42 bit IN FALSE bldc.0.rev
42 float OUT 0.5722656 bldc.0.rotor-angle ==> motor.00.angle
42 s32 OUT 3700 bldc.0.time
42 float IN -0.1159668 bldc.0.value <== motor.00.command

Did you load bldc with cfg=q ?

sheez - so picky! (that was it.)

Here's the reason I'm after that -

Every time I init, the drive faults no matter how low I set the current-maxlim
If I Disconnect two leads to the motor, of course it doesn't.
How can I troubleshoot this? am I understanding the current limits?
Thanks!

36 float RW 1 hm2_7i95.0.8i20.0.0.angle-maxlim
36 float RW 0 hm2_7i95.0.8i20.0.0.angle-minlim
36 float RW 1 hm2_7i95.0.8i20.0.0.angle-scalemax
36 float RW 655.35 hm2_7i95.0.8i20.0.0.bus-voltage-scalemax
36 float RW 65535 hm2_7i95.0.8i20.0.0.card-temp-scalemax
36 float RW 1.5 hm2_7i95.0.8i20.0.0.current-maxlim
36 float RW -1.5 hm2_7i95.0.8i20.0.0.current-minlim
36 float RW 7.5 hm2_7i95.0.8i20.0.0.current-scalemax
36 u32 RW 0x000088B8 hm2_7i95.0.8i20.0.0.nvbrakeoffv
36 u32 RW 0x00009088 hm2_7i95.0.8i20.0.0.nvbrakeonv
36 u32 RW 0x00009664 hm2_7i95.0.8i20.0.0.nvbusoverv
36 u32 RW 0x00001194 hm2_7i95.0.8i20.0.0.nvbusundervmax
36 u32 RW 0x00000DAC hm2_7i95.0.8i20.0.0.nvbusundervmin
36 u32 RW 0x00000000 hm2_7i95.0.8i20.0.0.nvkdihi
36 u32 RW 0x00007D00 hm2_7i95.0.8i20.0.0.nvkdil
36 u32 RW 0x0000C350 hm2_7i95.0.8i20.0.0.nvkdilo
36 u32 RW 0x00000032 hm2_7i95.0.8i20.0.0.nvkdp
36 u32 RW 0x00000000 hm2_7i95.0.8i20.0.0.nvkqihi
36 u32 RW 0x00007D00 hm2_7i95.0.8i20.0.0.nvkqil
36 u32 RW 0x0000C350 hm2_7i95.0.8i20.0.0.nvkqilo
36 u32 RW 0x00000032 hm2_7i95.0.8i20.0.0.nvkqp
36 u32 RW 0x000002EE hm2_7i95.0.8i20.0.0.nvmaxcurrent
36 u32 RW 0x00000009 hm2_7i95.0.8i20.0.0.nvrembaudrate
36 u32 RO 0x0000008B hm2_7i95.0.8i20.0.0.swrevision
36 u32 RO 0x0A00010B hm2_7i95.0.8i20.0.0.unitnumber

What actual fault are you getting?

It looks like there are no communications because the bus voltage
and temperature are wrong/crazy

Its the hm2_7i95.0.8i20.0.0.fault.overcurrent
I'm able to see 0 serial faults.
It still reports position and realtime pin on show hal configuration.

It recovers upon linuxcnc restart.
It "tings" the motor when it happens.

I'm able to put a 1ohm 100watt resistor on one leg (which quickly gets hot!) but it sings - indicating some kind of AC modulation.

Open voltage on the motor leg power is nominally within range of input voltage (77 volts)

exchanged 8i20 modules does same thing.

loadrt [KINS]KINEMATICS
loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS
loadrt hostmot2
loadrt hm2_eth board_ip="10.10.10.10"
loadrt pid names=pid.x,pid.y,pid.z,pid.s
loadrt bldc cfg=q,q,q

addf [HMOT](CARD0).0.read servo-thread
addf motion-command-handler servo-thread
addf motion-controller servo-thread
addf pid.x.do-pid-calcs servo-thread
addf pid.y.do-pid-calcs servo-thread
addf pid.z.do-pid-calcs servo-thread
addf pid.s.do-pid-calcs servo-thread
addf bldc.0 servo-thread
addf bldc.1 servo-thread
addf bldc.2 servo-thread
addf [HMOT](CARD0).0.write servo-thread

# external output signals

# external input signals

#*******************
# AXIS X JOINT 0
#*******************
setp [HMOT](CARD0).0.8i20.0.0.current-maxlim 0.020
setp [HMOT](CARD0).0.8i20.0.0.current-minlim -0.020

newsig emcmot.0.enable bit
sets emcmot.0.enable FALSE
net emcmot.0.enable => [HMOT](CARD0).0.8i20.0.0.fault.no-enable-not
net emcmot.0.enable <= pid.x.enable

# -- BLDC setup --
setp bldc.0.initvalue 0.2
setp bldc.0.drive-offset 0
setp bldc.0.rev 0
setp bldc.0.lead-angle 45
#setp bldc.0.encoder-offset 0
setp bldc.0.poles 8
setp bldc.0.scale -8192

setp pid.x.Pgain [JOINT_0]P
setp pid.x.Igain [JOINT_0]I
setp pid.x.Dgain [JOINT_0]D
setp pid.x.bias [JOINT_0]BIAS
setp pid.x.FF0 [JOINT_0]FF0
setp pid.x.FF1 [JOINT_0]FF1
setp pid.x.FF2 [JOINT_0]FF2
setp pid.x.deadband [JOINT_0]DEADBAND
setp pid.x.maxoutput [JOINT_0]MAX_OUTPUT
setp pid.x.error-previous-target true

#net x-pos-rawcounts bldc.0.rawcounts
#net x-bldc-current bldc.0.out
net x-meas-angle bldc.0.phase-angle
#net x-output bldc.0.value
net x-index-enable <=> pid.x.index-enable
#net x-enable => pid.x.enable
#net x-pos-cmd => pid.x.command
net x-pos-fb => pid.x.feedback
#net x-output <= pid.x.output

# position command signals

net emcmot.00.pos-cmd joint.0.motor-pos-cmd => pid.x.command
net motor.00.command pid.x.output => bldc.0.value
net motor.00.current bldc.0.out => [HMOT](CARD0).0.8i20.0.0.current


# commutation angle signals
net motor.00.rawcounts [HMOT](CARD0).0.encoder.00.rawcounts => bldc.0.rawcounts
#net motor.00.index-enable [HMOT](CARD0).0.encoder.00.index-enable => bldc.0.index-enable
net motor.00.angle bldc.0.rotor-angle => [HMOT](CARD0).0.8i20.0.0.angle

# ---Encoder feedback signals/setup---

setp [HMOT](CARD0).0.encoder.00.counter-mode 0
setp [HMOT](CARD0).0.encoder.00.filter 1
setp [HMOT](CARD0).0.encoder.00.index-invert 0
setp [HMOT](CARD0).0.encoder.00.index-mask 0
setp [HMOT](CARD0).0.encoder.00.index-mask-invert 0
setp [HMOT](CARD0).0.encoder.00.scale [JOINT_0]ENCODER_SCALE

net x-pos-fb <= [HMOT](CARD0).0.encoder.00.position
net x-vel-fb <= [HMOT](CARD0).0.encoder.00.velocity
net x-pos-fb => joint.0.motor-pos-fb

#net x-pos-rawcounts <= [HMOT](CARD0).0.encoder.00.rawcounts



# ---setup home / limit switch signals---

net x-home-sw => joint.0.home-sw-in
net x-neg-limit => joint.0.neg-lim-sw-in
net x-pos-limit => joint.0.pos-lim-sw-in

#*******************