0-10v Servo Control with 7i76E

PCW
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3 years 6 months ago #268909 by PCW

Replied by PCW on topic 0-10v Servo Control with 7i76E

TXen is not needed unless connected to the driver chip
Did your bitfile meet timing?

You can start/stop SSLBP with simple register operations (using mesaflash's WPO function for example)

Basically setup the DDR/AltSource registers then issue a startall/stopall
command to the SSLBP command register

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besriworld
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3 years 6 months ago - 3 years 6 months ago #268917 by besriworld

Replied by besriworld on topic 0-10v Servo Control with 7i76E

PWM works well. I'm uploading a "readhmid "

Warning: Spoiler!

moriseiki@debian:~$ mesaflash --device 7i98 --addr 10.10.10.10 --readhmid
Configuration Name: HOSTMOT2

General configuration information:

BoardName : MESA7I98
FPGA Size: 9 KGates
FPGA Pins: 144
Number of IO Ports: 3
Width of one I/O port: 17
Clock Low frequency: 100.0000 MHz
Clock High frequency: 200.0000 MHz
IDROM Type: 3
Instance Stride 0: 4
Instance Stride 1: 64
Register Stride 0: 256
Register Stride 1: 256

Modules in configuration:

Module: DPLL
There are 1 of DPLL in configuration
Version: 0
Registers: 7
BaseAddress: 7000
ClockFrequency: 100.000 MHz
Register Stride: 256 bytes
Instance Stride: 4 bytes

Module: WatchDog
There are 1 of WatchDog in configuration
Version: 0
Registers: 3
BaseAddress: 0C00
ClockFrequency: 100.000 MHz
Register Stride: 256 bytes
Instance Stride: 4 bytes

Module: IOPort
There are 3 of IOPort in configuration
Version: 0
Registers: 5
BaseAddress: 1000
ClockFrequency: 100.000 MHz
Register Stride: 256 bytes
Instance Stride: 4 bytes

Module: QCount
There are 5 of QCount in configuration
Version: 2
Registers: 5
BaseAddress: 3000
ClockFrequency: 100.000 MHz
Register Stride: 256 bytes
Instance Stride: 4 bytes

Module: StepGen
There are 4 of StepGen in configuration
Version: 2
Registers: 10
BaseAddress: 2000
ClockFrequency: 100.000 MHz
Register Stride: 256 bytes
Instance Stride: 4 bytes

Module: PWM
There are 1 of PWM in configuration
Version: 0
Registers: 5
BaseAddress: 4100
ClockFrequency: 200.000 MHz
Register Stride: 256 bytes
Instance Stride: 4 bytes

Module: SSerial
There are 1 of SSerial in configuration
Version: 0
Registers: 6
BaseAddress: 5B00
ClockFrequency: 100.000 MHz
Register Stride: 256 bytes
Instance Stride: 64 bytes

Module: InMux
There are 1 of InMux in configuration
Version: 0
Registers: 5
BaseAddress: 8000
ClockFrequency: 100.000 MHz
Register Stride: 256 bytes
Instance Stride: 4 bytes

Module: LED
There are 1 of LED in configuration
Version: 0
Registers: 1
BaseAddress: 0200
ClockFrequency: 100.000 MHz
Register Stride: 256 bytes
Instance Stride: 4 bytes

Configuration pin-out:

IO Connections for P1
Pin# I/O Pri. func Sec. func Chan Pin func Pin Dir

1 0 IOPort QCount 3 Quad-A (In)
14 1 IOPort QCount 3 Quad-IDX (In)
2 2 IOPort QCount 3 Quad-B (In)
15 3 IOPort QCount 4 Quad-IDX (In)
3 4 IOPort SSerial 0 RXData0 (In)
16 5 IOPort QCount 4 Quad-B (In)
4 6 IOPort SSerial 0 TXData0 (Out)
17 7 IOPort QCount 4 Quad-A (In)
5 8 IOPort QCount 2 Quad-A (In)
6 9 IOPort QCount 2 Quad-B (In)
7 10 IOPort QCount 2 Quad-IDX (In)
8 11 IOPort QCount 1 Quad-IDX (In)
9 12 IOPort QCount 1 Quad-B (In)
10 13 IOPort QCount 1 Quad-A (In)
11 14 IOPort QCount 0 Quad-IDX (In)
12 15 IOPort QCount 0 Quad-B (In)
13 16 IOPort QCount 0 Quad-A (In)

IO Connections for P2
Pin# I/O Pri. func Sec. func Chan Pin func Pin Dir

1 17 IOPort PWM 0 PWM (Out)
14 18 IOPort PWM 0 Dir (Out)
2 19 IOPort StepGen 0 Step/Table1 (Out)
15 20 IOPort StepGen 0 Dir/Table2 (Out)
3 21 IOPort StepGen 1 Step/Table1 (Out)
16 22 IOPort StepGen 1 Dir/Table2 (Out)
4 23 IOPort StepGen 2 Step/Table1 (Out)
17 24 IOPort StepGen 2 Dir/Table2 (Out)
5 25 IOPort StepGen 3 Step/Table1 (Out)
6 26 IOPort StepGen 3 Dir/Table2 (Out)
7 27 IOPort InMux 0 Addr0 (Out)
8 28 IOPort InMux 0 Addr1 (Out)
9 29 IOPort InMux 0 Addr2 (Out)
10 30 IOPort InMux 0 Addr3 (Out)
11 31 IOPort InMux 0 Addr4 (Out)
12 32 IOPort InMux 0 Data0 (In)
13 33 IOPort None

IO Connections for P3
Pin# I/O Pri. func Sec. func Chan Pin func Pin Dir

1 34 IOPort None
14 35 IOPort None
2 36 IOPort None
15 37 IOPort None
3 38 IOPort None
16 39 IOPort None
4 40 IOPort None
17 41 IOPort None
5 42 IOPort None
6 43 IOPort None
7 44 IOPort None
8 45 IOPort None
9 46 IOPort None
10 47 IOPort None
11 48 IOPort None
12 49 IOPort None
13 50 IOPort None

moriseiki@debian:~$

Can you upload a link ... I'm just very new to the linuxcnc world

PS:
I upload this firmware. 7i98_7i77_7i74d.bit
I am trying to read it with command $ sudo mesaflash --device 7i98 --addr 10.10.10.10 --sserial
There is no change, only one impulse comes (when I look with the oscilloscope).

$ sudo mesaflash --device 7i98 --addr 10.10.10.10 --sserial
SSLBP port 0:
SSLBP Version: 1.43
SSLBP Channels: 1
SSLBP Baud Rate: 2500000

PS It's working fine now

Last edit: 3 years 6 months ago by besriworld.

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besriworld
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3 years 2 months ago #276792 by besriworld

Replied by besriworld on topic 0-10v Servo Control with 7i76E

I have a problem with the setup. I am uploading the configuration.I have a servo spindle on a lathe. I want to close the feedback in linuxcnc. When changing P 0.1, the motor increases speed. Seems pid, doesn't follow feedback.
Board 7i98

File Attachment:

File Name: my_LinuxCN...hine.ini
File Size:238 B

File Attachment:

File Name: my_LinuxCN...hine.hal
File Size:2.31 KB

Code:

#*******************
#  SPINDLE
#*******************

setp   pid.s.Pgain     [SPINDLE_0]P
setp   pid.s.Igain     [SPINDLE_0]I
setp   pid.s.Dgain     [SPINDLE_0]D
setp   pid.s.bias      [SPINDLE_0]BIAS
setp   pid.s.FF0       [SPINDLE_0]FF0
setp   pid.s.FF1       [SPINDLE_0]FF1
setp   pid.s.FF2       [SPINDLE_0]FF2
setp   pid.s.deadband  [SPINDLE_0]DEADBAND
setp   pid.s.maxoutput [SPINDLE_0]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     => pid.s.command
net spindle-vel-fb-rpm-abs     => pid.s.feedback
net spindle-output        <=  pid.s.output

# ---PWM Generator signals/setup---

setp   hm2_7i98.0.pwmgen.00.output-type 1
setp   hm2_7i98.0.pwmgen.00.scale  [SPINDLE_0]OUTPUT_SCALE


net spindle-output     => hm2_7i98.0.pwmgen.00.value
net spindle-enable      => hm2_7i98.0.pwmgen.00.enable

   

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

setp    hm2_7i98.0.encoder.02.counter-mode 0
setp    hm2_7i98.0.encoder.02.filter 1
setp    hm2_7i98.0.encoder.02.index-invert 0
setp    hm2_7i98.0.encoder.02.index-mask 0
setp    hm2_7i98.0.encoder.02.index-mask-invert 0
setp    hm2_7i98.0.encoder.02.scale  [SPINDLE_0]ENCODER_SCALE

net spindle-revs             <=   hm2_7i98.0.encoder.02.position
net spindle-vel-fb-rps-abs       <=   hm2_7i98.0.encoder.02.velocity
net spindle-vel-fb-rpm-abs       <=   hm2_7i98.0.encoder.02.velocity-rpm
net spindle-index-enable     <=>  hm2_7i98.0.encoder.02.index-enable

# ---setup spindle control signals---

net spindle-vel-cmd-rps        <=  spindle.0.speed-out-rps
net spindle-vel-cmd-rps-abs    <=  spindle.0.speed-out-rps-abs
net spindle-vel-cmd-rpm        <=  spindle.0.speed-out
net spindle-vel-cmd-rpm-abs    <=  spindle.0.speed-out-abs
net spindle-enable             <=  spindle.0.on
net spindle-cw                 <=  spindle.0.forward
net spindle-ccw                <=  spindle.0.reverse
net spindle-brake              <=  spindle.0.brake
net spindle-revs               =>  spindle.0.revs
net spindle-at-speed           =>  spindle.0.at-speed
net spindle-vel-fb-rps         =>  spindle.0.speed-in
net spindle-index-enable      <=>  spindle.0.index-enable

# ---Setup spindle at speed signals---

sets spindle-at-speed true

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PCW
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3 years 2 months ago #276793 by PCW

Replied by PCW on topic 0-10v Servo Control with 7i76E

if you set P to 0 and command say 1000 RPM, what
are the values of

spindle-vel-cmd-rpm
and
spindle-vel-fb-rpm-abs

?

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besriworld
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3 years 2 months ago - 3 years 2 months ago #276828 by besriworld

Replied by besriworld on topic 0-10v Servo Control with 7i76E

Hi, stupid mistake. I had to change the sign/direction of the feedback. But there seems to be a problem with my board. There is noise in the analog signal. And with 1000 revolutions per minute and without a pid regulator I get spindle-vel-fb-rpm-abs 1005-1010rpm

should I filter the analog signal?

Screenshot_2023-08-03-11-36-48-916_com.adobe.reader-edit.jpg

What do you think of the scheme? I can also upload a simulation ?
In simulation it's good, but in real life it's not good

Maybe I should add a capacitor in parallel with the resistor R28 ?

Last edit: 3 years 2 months ago by besriworld.

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PCW
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3 years 2 months ago #276834 by PCW

Replied by PCW on topic 0-10v Servo Control with 7i76E

I think the filter is not needed, also feedback is likely not needed either
as speed variations of a few % will have no significant effect on machining
or spindle synchronized motions as long as your encoder resolution is greater
than say100 PPR.

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0-10v Servo Control with 7i76E

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