Mesa 5i25 and 7i76 and encoder
11 Sep 2016 10:37 #80329
by finemeca
Mesa 5i25 and 7i76 and encoder was created by finemeca
Hello
With a mesa 5i25 and 7i76 where connect the Z+ and Z- Phase?
In the doc is indicated for the TB3:
7 ENCA+ --> phase A+
8 ENCA- --> phase A-
9 GND
10 ENCB+ --> phase B+
11 ENCB- --> phase B-
12 +5VP
Index Z+ ??????????
Index Z- ??????????
Best regards,
Pierre
With a mesa 5i25 and 7i76 where connect the Z+ and Z- Phase?
In the doc is indicated for the TB3:
7 ENCA+ --> phase A+
8 ENCA- --> phase A-
9 GND
10 ENCB+ --> phase B+
11 ENCB- --> phase B-
12 +5VP
Index Z+ ??????????
Index Z- ??????????
Best regards,
Pierre
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11 Sep 2016 10:55 #80330
by jtc
so it will be on the idx pins.
João
Replied by jtc on topic Mesa 5i25 and 7i76 and encoder
7I76 OPERATION
ENCODER INTERFACE
The 7I76 provide a one channel encoder interface with index.
This is intended as a spindle encoder but can be used for other purposes. The encoder input can beprogrammed for differential or single ended encoders.
The encoder interface also provides short circuit protected 5V power to the encoder. When used with single ended encoders, the ENCA+, ENCB+ and IDX+ signals are wired to the encoder and the ENCA-,ENCB-, and IDX- terminal left unconnected.
so it will be on the idx pins.
João
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11 Sep 2016 11:12 #80331
by finemeca
Replied by finemeca on topic Mesa 5i25 and 7i76 and encoder
OK thanks.
And in the hal file
What should I add to the mesa cards?
With a parallel port I put:
loadrt encoder num_chan=1
addf encoder.update-counters base-thread
addf encoder.capture-position servo-thread
setp encoder.0.position-scale 100
setp encoder.0.counter-mode 1
net spindle-position encoder.0.position => motion.spindle-revs
net spindle-velocity encoder.0.velocity => motion.spindle-speed-in
net spindle-index-enable encoder.0.index-enable <=> motion.spindle-index-enable
net spindle-phase-a encoder.0.phase-A
net spindle-phase-b encoder.0.phase-B
net spindle-index encoder.0.phase-Z
net spindle-phase-a <= parport.0.pin-10-in
net spindle-index <= parport.0.pin-11-in
And in the hal file
What should I add to the mesa cards?
With a parallel port I put:
loadrt encoder num_chan=1
addf encoder.update-counters base-thread
addf encoder.capture-position servo-thread
setp encoder.0.position-scale 100
setp encoder.0.counter-mode 1
net spindle-position encoder.0.position => motion.spindle-revs
net spindle-velocity encoder.0.velocity => motion.spindle-speed-in
net spindle-index-enable encoder.0.index-enable <=> motion.spindle-index-enable
net spindle-phase-a encoder.0.phase-A
net spindle-phase-b encoder.0.phase-B
net spindle-index encoder.0.phase-Z
net spindle-phase-a <= parport.0.pin-10-in
net spindle-index <= parport.0.pin-11-in
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11 Sep 2016 12:06 #80333
by jtc
Replied by jtc on topic Mesa 5i25 and 7i76 and encoder
open "show hal configuration" and search for the 7i76 encoder pins. you should have position and velocity output pins.
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11 Sep 2016 18:25 - 11 Sep 2016 18:26 #80340
by finemeca
Replied by finemeca on topic Mesa 5i25 and 7i76 and encoder
With open "show hal configuration", i have good phase A, phase B and phase Z
A gcode with :
G96 D1700 S80 M3
G95 F0.2
G1 z-100
I have no movement with :
G1 z-100
I think that something is missing in my Hal file:
A gcode with :
G96 D1700 S80 M3
G95 F0.2
G1 z-100
I have no movement with :
G1 z-100
I think that something is missing in my Hal file:
loadrt trivkins
loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[TRAJ]AXES num_dio=20
loadrt hostmot2
loadrt hm2_pci config=" num_encoders=1 num_pwmgens=0 num_stepgens=2 sserial_port_0=00xxxx"
setp hm2_5i25.0.watchdog.timeout_ns 5000000
loadrt pid names=pid.x,pid.z,pid.s
loadrt abs names=abs.spindle
loadrt lowpass names=lowpass.spindle
loadrt mux16 names=soincr
# load a near component and attach it to a thread
loadrt near
addf near.0 servo-thread
addf hm2_5i25.0.read servo-thread
addf motion-command-handler servo-thread
addf motion-controller servo-thread
addf pid.x.do-pid-calcs servo-thread
addf pid.z.do-pid-calcs servo-thread
addf pid.s.do-pid-calcs servo-thread
addf abs.spindle servo-thread
addf lowpass.spindle servo-thread
addf hm2_5i25.0.write servo-thread
addf soincr servo-thread
loadrt classicladder_rt numPhysInputs=15 numPhysOutputs=15 numS32in=10 numS32out=10 numFloatIn=10 numFloatOut=10 numBits=50 numWords=50
loadusr classicladder --nogui custom.clp
addf classicladder.0.refresh servo-thread
# external output signals
# --- COOLANT-FLOOD ---
net coolant-flood hm2_5i25.0.7i76.0.0.output-03
# --- COOLANT-MIST ---
net coolant-mist hm2_5i25.0.7i76.0.0.output-04
# --- SPINDLE-CW ---
net spindle-cw hm2_5i25.0.7i76.0.0.output-06
# --- SPINDLE-CCW ---
net spindle-ccw hm2_5i25.0.7i76.0.0.output-05
# --- MACHINE-IS-ENABLED ---
net machine-is-enabled hm2_5i25.0.7i76.0.0.output-07
# external input signals
# --- HOME-X ---
net max-home-x <= hm2_5i25.0.7i76.0.0.input-00
# --- MIN-X ---
net min-x <= hm2_5i25.0.7i76.0.0.input-01
# --- HOME-Z ---
net max-home-z <= hm2_5i25.0.7i76.0.0.input-02
#*******************
# AXIS X
#*******************
setp pid.x.Pgain [AXIS_0]P
setp pid.x.Igain [AXIS_0]I
setp pid.x.Dgain [AXIS_0]D
setp pid.x.bias [AXIS_0]BIAS
setp pid.x.FF0 [AXIS_0]FF0
setp pid.x.FF1 [AXIS_0]FF1
setp pid.x.FF2 [AXIS_0]FF2
setp pid.x.deadband [AXIS_0]DEADBAND
setp pid.x.maxoutput [AXIS_0]MAX_OUTPUT
setp pid.x.error-previous-target true
setp pid.x.maxerror .0005
net x-index-enable <=> pid.x.index-enable
net x-enable => pid.x.enable
net x-pos-cmd => pid.x.command
net x-vel-cmd => pid.x.command-deriv
net x-pos-fb => pid.x.feedback
net x-output => pid.x.output
# Step Gen signals/setup
setp hm2_5i25.0.stepgen.00.dirsetup [AXIS_0]DIRSETUP
setp hm2_5i25.0.stepgen.00.dirhold [AXIS_0]DIRHOLD
setp hm2_5i25.0.stepgen.00.steplen [AXIS_0]STEPLEN
setp hm2_5i25.0.stepgen.00.stepspace [AXIS_0]STEPSPACE
setp hm2_5i25.0.stepgen.00.position-scale [AXIS_0]STEP_SCALE
setp hm2_5i25.0.stepgen.00.step_type 0
setp hm2_5i25.0.stepgen.00.control-type 1
setp hm2_5i25.0.stepgen.00.maxaccel [AXIS_0]STEPGEN_MAXACCEL
setp hm2_5i25.0.stepgen.00.maxvel [AXIS_0]STEPGEN_MAXVEL
# ---closedloop stepper signals---
net x-pos-cmd <= axis.0.motor-pos-cmd
net x-vel-cmd <= axis.0.joint-vel-cmd
net x-output <= hm2_5i25.0.stepgen.00.velocity-cmd
net x-pos-fb <= hm2_5i25.0.stepgen.00.position-fb
net x-pos-fb => axis.0.motor-pos-fb
net x-enable <= axis.0.amp-enable-out
net x-enable => hm2_5i25.0.stepgen.00.enable
# ---setup home / limit switch signals---
net max-home-x => axis.0.home-sw-in
net min-x => axis.0.neg-lim-sw-in
net x-pos-limit => axis.0.pos-lim-sw-in
#*******************
# AXIS Z
#*******************
setp pid.z.Pgain [AXIS_2]P
setp pid.z.Igain [AXIS_2]I
setp pid.z.Dgain [AXIS_2]D
setp pid.z.bias [AXIS_2]BIAS
setp pid.z.FF0 [AXIS_2]FF0
setp pid.z.FF1 [AXIS_2]FF1
setp pid.z.FF2 [AXIS_2]FF2
setp pid.z.deadband [AXIS_2]DEADBAND
setp pid.z.maxoutput [AXIS_2]MAX_OUTPUT
setp pid.z.error-previous-target true
setp pid.z.maxerror .0005
net z-index-enable <=> pid.z.index-enable
net z-enable => pid.z.enable
net z-pos-cmd => pid.z.command
net z-vel-cmd => pid.z.command-deriv
net z-pos-fb => pid.z.feedback
net z-output => pid.z.output
# Step Gen signals/setup
setp hm2_5i25.0.stepgen.01.dirsetup [AXIS_2]DIRSETUP
setp hm2_5i25.0.stepgen.01.dirhold [AXIS_2]DIRHOLD
setp hm2_5i25.0.stepgen.01.steplen [AXIS_2]STEPLEN
setp hm2_5i25.0.stepgen.01.stepspace [AXIS_2]STEPSPACE
setp hm2_5i25.0.stepgen.01.position-scale [AXIS_2]STEP_SCALE
setp hm2_5i25.0.stepgen.01.step_type 0
setp hm2_5i25.0.stepgen.01.control-type 1
setp hm2_5i25.0.stepgen.01.maxaccel [AXIS_2]STEPGEN_MAXACCEL
setp hm2_5i25.0.stepgen.01.maxvel [AXIS_2]STEPGEN_MAXVEL
setp hm2_5i25.0.gpio.002.invert_output true #modification sens
# ---closedloop stepper signals---
net z-pos-cmd <= axis.2.motor-pos-cmd
net z-vel-cmd <= axis.2.joint-vel-cmd
net z-output <= hm2_5i25.0.stepgen.01.velocity-cmd
net z-pos-fb <= hm2_5i25.0.stepgen.01.position-fb
net z-pos-fb => axis.2.motor-pos-fb
net z-enable <= axis.2.amp-enable-out
net z-enable => hm2_5i25.0.stepgen.01.enable
# ---setup home / limit switch signals---
net max-home-z => axis.2.home-sw-in
net max-home-z => axis.2.pos-lim-sw-in
#*******************
# SPINDLE S
#*******************
setp pid.s.Pgain [SPINDLE_9]P
setp pid.s.Igain [SPINDLE_9]I
setp pid.s.Dgain [SPINDLE_9]D
setp pid.s.bias [SPINDLE_9]BIAS
setp pid.s.FF0 [SPINDLE_9]FF0
setp pid.s.FF1 [SPINDLE_9]FF1
setp pid.s.FF2 [SPINDLE_9]FF2
setp pid.s.deadband [SPINDLE_9]DEADBAND
setp pid.s.maxoutput [SPINDLE_9]MAX_OUTPUT
setp pid.s.error-previous-target true
net spindle-index-enable <=> pid.s.index-enable
net spindle-enable => pid.s.enable
net spindle-vel-cmd-rpm-abs => pid.s.command
net spindle-vel-fb-rpm-abs => pid.s.feedback
net spindle-output <= pid.s.output
# ---digital potentionmeter output signals/setup---
setp hm2_5i25.0.7i76.0.0.spinout-minlim [SPINDLE_9]OUTPUT_MIN_LIMIT
setp hm2_5i25.0.7i76.0.0.spinout-maxlim [SPINDLE_9]OUTPUT_MAX_LIMIT
setp hm2_5i25.0.7i76.0.0.spinout-scalemax [SPINDLE_9]OUTPUT_SCALE
net spindle-vel-cmd-rpm-abs => hm2_5i25.0.7i76.0.0.spinout
net spindle-enable => hm2_5i25.0.7i76.0.0.spinena
net spindle-ccw => hm2_5i25.0.7i76.0.0.spindir
# ---setup spindle control signals---
net spindle-vel-cmd-rps <= motion.spindle-speed-out-rps
net spindle-vel-cmd-rps-abs <= motion.spindle-speed-out-rps-abs
net spindle-vel-cmd-rpm <= motion.spindle-speed-out
net spindle-vel-cmd-rpm-abs <= motion.spindle-speed-out-abs
net spindle-enable <= motion.spindle-on
net spindle-cw <= motion.spindle-forward
net spindle-ccw <= motion.spindle-reverse
#net spindle-brake <= motion.spindle-brake
net spindle-revs => motion.spindle-revs
net spindle-at-speed => motion.spindle-at-speed
net spindle-vel-fb-rps => motion.spindle-speed-in
net spindle-index-enable <=> motion.spindle-index-enable
# ---Setup spindle at speed signals---
#sets spindle-at-speed true
# ---Setup spindle at speed signals---
net spindle-vel-cmd-rps => near.0.in1
net spindle-vel-fb => near.0.in2
net spindle-at-speed <= near.0.out
setp near.0.scale 1.000000
setp near.0.difference 3.333333
# Spindle encoder
# ----------------
# ---Encoder feedback signals/setup---
setp hm2_5i25.0.encoder.00.counter-mode 1
setp hm2_5i25.0.encoder.00.filter 1
setp hm2_5i25.0.encoder.00.index-invert 0
setp hm2_5i25.0.encoder.00.index-mask 0
setp hm2_5i25.0.encoder.00.index-mask-invert 0
setp hm2_5i25.0.encoder.00.scale 100
net spindle-revs <= hm2_5i25.0.encoder.00.position
net spindle-vel-fb <= hm2_5i25.0.encoder.00.velocity
net spindle-index-enable <=> hm2_5i25.0.encoder.00.index-enable
#******************************
# connect miscellaneous signals
#******************************
# ---HALUI signals---
net joint-select-a halui.joint.0.select
net x-is-homed halui.joint.0.is-homed
net jog-x-pos halui.jog.0.plus
net jog-x-neg halui.jog.0.minus
net jog-x-analog halui.jog.0.analog
net joint-select-c halui.joint.2.select
net z-is-homed halui.joint.2.is-homed
net jog-z-pos halui.jog.2.plus
net jog-z-neg halui.jog.2.minus
net jog-z-analog halui.jog.2.analog
net jog-selected-pos halui.jog.selected.plus
net jog-selected-neg halui.jog.selected.minus
net spindle-manual-cw halui.spindle.forward
net spindle-manual-ccw halui.spindle.reverse
net spindle-manual-stop halui.spindle.stop
net machine-is-on halui.machine.is-on
net jog-speed halui.jog-speed
net MDI-mode halui.mode.is-mdi
# ---coolant signals---
net coolant-mist <= iocontrol.0.coolant-mist
net coolant-flood <= iocontrol.0.coolant-flood
# ---probe signal---
net probe-in => motion.probe-input
# ---motion control signals---
net in-position <= motion.in-position
net machine-is-enabled <= motion.motion-enabled
Last edit: 11 Sep 2016 18:26 by finemeca.
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11 Sep 2016 19:07 #80342
by PCW
Replied by PCW on topic Mesa 5i25 and 7i76 and encoder
is motion.spindle-at-speed true?
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11 Sep 2016 19:13 #80343
by finemeca
Replied by finemeca on topic Mesa 5i25 and 7i76 and encoder
I'll look tomorrow with the Hal meter if the variable is set to true
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11 Sep 2016 19:59 #80344
by jtc
Replied by jtc on topic Mesa 5i25 and 7i76 and encoder
what are you trying to do in first place? the encoder is to to spindle or to the Z axis? why you need to use index ?
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11 Sep 2016 20:05 - 11 Sep 2016 20:06 #80345
by finemeca
Replied by finemeca on topic Mesa 5i25 and 7i76 and encoder
Yes the encoder is on the spindle.
It is a lathe.
Phase Z+ is that of the encoder with Z-, A+, A-, B+, B-
The phase Z is idx pins
It is a lathe.
Phase Z+ is that of the encoder with Z-, A+, A-, B+, B-
The phase Z is idx pins
Last edit: 11 Sep 2016 20:06 by finemeca.
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11 Sep 2016 20:09 #80346
by jtc
to use constant surface speed, like PCW said you need motion.spindle-at-speed true when the spindle rpm's match the requested rpm's.
Replied by jtc on topic Mesa 5i25 and 7i76 and encoder
Yes the encoder is on the spindle.
It is a lathe.
Phase Z+ is that of the encoder with Z-, A+, A-, B+, B-
The phase Z is idx pins
to use constant surface speed, like PCW said you need motion.spindle-at-speed true when the spindle rpm's match the requested rpm's.
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