stmbl servo drive setup with smart serial.

skunkworks
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02 Mar 2019 22:36 #127555 by skunkworks

stmbl servo drive setup with smart serial. was created by skunkworks

I want to use one of my stmbl drives to power my bldc spindle motor. It is a 155v 750w motor. After a few false starts I figured out the CUI amt102 encoders are not great for position control. (not accurate and hunt around) Anyway - I put a normal optical encoder with index and it seems to work good. (just using the servoterm to 'jog' the servo around)

I have it working with closed loop within the stmbl drive - you can see it here...

Now - I setup a 7i92+7i76 to see if I could communicate with smart serial. I have it finding the stmbl amp - but I am not getting the pins expected.

halcmd: show pin hm2_7i92.0.stbl.0.1.
Component Pins:
Owner   Type  Dir         Value  Name
    14  float OUT             0  hm2_7i92.0.stbl.0.1.current
    14  bit   IN          FALSE  hm2_7i92.0.stbl.0.1.enable
    14  bit   OUT         FALSE  hm2_7i92.0.stbl.0.1.fault
    14  bit   OUT         FALSE  hm2_7i92.0.stbl.0.1.fault-not
    14  bit   OUT         FALSE  hm2_7i92.0.stbl.0.1.in-00
    14  bit   OUT         FALSE  hm2_7i92.0.stbl.0.1.in-00-not
    14  bit   OUT         FALSE  hm2_7i92.0.stbl.0.1.in-01
    14  bit   OUT         FALSE  hm2_7i92.0.stbl.0.1.in-01-not
    14  bit   OUT         FALSE  hm2_7i92.0.stbl.0.1.in-02
    14  bit   OUT         FALSE  hm2_7i92.0.stbl.0.1.in-02-not
    14  bit   OUT         FALSE  hm2_7i92.0.stbl.0.1.in-03
    14  bit   OUT         FALSE  hm2_7i92.0.stbl.0.1.in-03-not
    14  bit   I/O         FALSE  hm2_7i92.0.stbl.0.1.index_enable
    14  bit   I/O         FALSE  hm2_7i92.0.stbl.0.1.index_enable-not
    14  bit   IN          FALSE  hm2_7i92.0.stbl.0.1.out-00
    14  bit   IN          FALSE  hm2_7i92.0.stbl.0.1.out-01
    14  bit   IN          FALSE  hm2_7i92.0.stbl.0.1.out-02
    14  bit   IN          FALSE  hm2_7i92.0.stbl.0.1.out-03

This is my current stmbl config

link pid
link pmsm
link enc_fb0
link jog_cmd
link misc
conf0.r = .3
conf0.l = 0.0001
conf0.j = 0.0004
conf0.polecount = 2
conf0.mot_fb_rev = 1
io0.out0 = fault0.mot_brake
conf0.max_ac_cur = 20
conf0.max_force = 4
conf0.mot_fb_res = 20000
conf0.mot_fb_offset = -.65
conf0.phase_cur = 5
link sserial

I am swimming around a bit..

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skunkworks
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03 Mar 2019 01:01 #127560 by skunkworks

Replied by skunkworks on topic stmbl servo drive setup with smart serial.

Rene just let me know that I need to use 2.8 currently. 2.7 doesn't have floating point over smart serial. So I am going to try that

Thanks!

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skunkworks
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08 Mar 2019 03:27 #128059 by skunkworks

Replied by skunkworks on topic stmbl servo drive setup with smart serial.

So - I think the main problem is that the stmbl drive had old firmware in it. I managed to get the drive into a odd state. Flashing the latest firmware fixed the issues I was having..

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silopolis
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30 Mar 2019 18:47 #129987 by silopolis

Replied by silopolis on topic stmbl servo drive setup with smart serial.

Hi,

What kind of power supply do you use to feed the 155VDC?

Thanks in advance

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tommylight
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30 Mar 2019 21:53 #129997 by tommylight

Replied by tommylight on topic stmbl servo drive setup with smart serial.

Usually big transformers with rectifiers and some capacitors to smooth the output voltage.

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silopolis
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01 Apr 2019 11:31 #130089 by silopolis

Replied by silopolis on topic stmbl servo drive setup with smart serial.

Do you design and build your own circuits or use off the shelf modules/PCBs ?

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cmorley
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02 Apr 2019 03:29 #130126 by cmorley

Replied by cmorley on topic stmbl servo drive setup with smart serial.

github.com/rene-dev/stmbl/blob/master/do...tting%20Started.adoc

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skunkworks
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02 Apr 2019 03:43 #130127 by skunkworks

Replied by skunkworks on topic stmbl servo drive setup with smart serial.

Some tinkering

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andypugh
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03 Apr 2019 16:01 #130206 by andypugh

Replied by andypugh on topic stmbl servo drive setup with smart serial.

silopolis wrote:
What kind of power supply do you use to feed the 155VDC?

In most applications you can use just a fuse, inrush current limiter [1] and bridge rectifier and rely on the internal caps in the STMBL. You only need external filter caps in high power applications.

[1]That's just an example, you might want to read the data sheets to choose the most suitable.

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silopolis
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04 Apr 2019 13:06 - 04 Apr 2019 13:08 #130281 by silopolis

Replied by silopolis on topic stmbl servo drive setup with smart serial.

andypugh wrote:
In most applications you can use just a fuse, inrush current limiter [1] and bridge rectifier and rely on the internal caps in the STMBL. You only need external filter caps in high power applications.

ok, so, seems like I should have bookmarked those DIN modules where it seemed you could just plug those thermistors in !?... Couldn't find ICL boards (if that makes sense), but nevertheless, found "proper" ICL DIN modules.

I know that can get toroidal transformer with the secondary outputs I want. But I'm having much harder times finding rectifying circuit modules in for the high voltages the motors I've seen around ask for (220V, 310V).

In the end, I've found professional PSUs for servo motors, but afraid the bill would be discouraging, and a little too far of what I'm looking for as the ideal option would be an Open Hardware circuit.

Finally, opinions seem controversial about switching power supplies for servo applications (as they are in audiophile ones BTW) so they remain a suspended option to me...

Last edit: 04 Apr 2019 13:08 by silopolis.

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