MB2HAL Vacon vfd
31 Oct 2019 11:31 - 31 Oct 2019 11:37 #149278
by stes
MB2HAL Vacon vfd was created by stes
I have Vacon vfd connected to serial RS-485 to RS-232 converter. How to connect signals in Hal file, so that the Linux cnc can read the spindle speed and send run and speed commands to the vfd?
This is the INI file I have made
This is the INI file I have made
[MB2HAL_INIT]
INIT_DEBUG=3
HAL_MODULE_NAME=mb2hal
SLOWDOWN=0.0
TOTAL_TRANSACTIONS=3
[TRANSACTION_00]
LINK_TYPE=serial
SERIAL_PORT=/dev/ttyS0
SERIAL_BAUD=9600
SERIAL_BITS=8
SERIAL_PARITY=none
SERIAL_STOP=1
SERIAL_DELAY_MS=10
MB_SLAVE_ID=1
FIRST_ELEMENT=8453
NELEMENTS=16
MB_TX_CODE=fnct_03_read_holding_registers
MB_RESPONSE_TIMEOUT_MS=500
MB_BYTE_TIMEOUT_MS=500
HAL_TX_NAME=info
MAX_UPDATE_RATE=0.0
DEBUG=1
[TRANSACTION_01]
FIRST_ELEMENT=8193
NELEMENTS=16
MB_TX_CODE=fnct_06_write_single_register
MB_RESPONSE_TIMEOUT_MS=500
MB_BYTE_TIMEOUT_MS=500
HAL_TX_NAME=runmode
MAX_UPDATE_RATE=0.0
DEBUG=1
[TRANSACTION_02]
FIRST_ELEMENT=8195
NELEMENTS=16
MB_TX_CODE=fnct_06_write_single_register
MB_RESPONSE_TIMEOUT_MS=500
MB_BYTE_TIMEOUT_MS=500
HAL_TX_NAME=rpm
MAX_UPDATE_RATE=0.0
DEBUG=1
Last edit: 31 Oct 2019 11:37 by stes.
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01 Nov 2019 07:56 #149337
by pl7i92
Replied by pl7i92 on topic MB2HAL Vacon vfd
Thank you for your WORK
good advice is only to get one SPACE line in the INI
it may tweek your interpreter to break away if there is to many space
good advice is only to get one SPACE line in the INI
it may tweek your interpreter to break away if there is to many space
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01 Nov 2019 13:04 #149351
by stes
Replied by stes on topic MB2HAL Vacon vfd
It's not actually my work but I edited the MB2HAL to suit my Vacon vfd.
But I have no idea how I can make Linux cnc to communicate with the vfd I'm using.
But I have no idea how I can make Linux cnc to communicate with the vfd I'm using.
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- Todd Zuercher
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01 Nov 2019 14:07 #149363
by Todd Zuercher
Replied by Todd Zuercher on topic MB2HAL Vacon vfd
Do you have a machine configuration that runs your machine?
You have to save your MB2HAL ini file you posed into your config directory. Then add the appropriate hal commands to the hal file(s) for your machines configuration.
MB2HAL will then create hal pins defined in your MB2HAL ini file. This isn't the same ini file as your Linuxcnc machine's configuration ini, that is a separate file in the same directory.
If you have your VFD and MB2HAL properly configured, when you start Linuxcnc, the VFD should start to communicate with Linuxcnc. You should then be able to send commands to the VFD by changing the values of the hal input pins created by MB2HAL and read info from the output pins.
You can check the status of and set values to the hal pins while Linuxcnc is running by using Halshow (Show Hal Configuration in the Axis, Machine menu). Or by using the Halcmd prompt from a terminal window (open this using the command "halcmd -kf").
Once you've confirmed that MB2HAL is working with your VFD, you will need to edit your hal files for your configuration to make the right hal pin connections to control your VFD.
I've done this once before, but it was a long time ago. I have posted my configuration for that machine on the forum before as an example. Here is a link to it.
forum.linuxcnc.org/media/kunena/attachments/3190/Digital6.zip
It is for a gang router that has 8 VFDs for 8 router spindles. The config also uses a small Classicladder program for modifying and reading some of the hal pin values that the VFDs use when communicating with MB2HAL. So for all of its complications maybe it is or isn't a good example config.
You have to save your MB2HAL ini file you posed into your config directory. Then add the appropriate hal commands to the hal file(s) for your machines configuration.
MB2HAL will then create hal pins defined in your MB2HAL ini file. This isn't the same ini file as your Linuxcnc machine's configuration ini, that is a separate file in the same directory.
If you have your VFD and MB2HAL properly configured, when you start Linuxcnc, the VFD should start to communicate with Linuxcnc. You should then be able to send commands to the VFD by changing the values of the hal input pins created by MB2HAL and read info from the output pins.
You can check the status of and set values to the hal pins while Linuxcnc is running by using Halshow (Show Hal Configuration in the Axis, Machine menu). Or by using the Halcmd prompt from a terminal window (open this using the command "halcmd -kf").
Once you've confirmed that MB2HAL is working with your VFD, you will need to edit your hal files for your configuration to make the right hal pin connections to control your VFD.
I've done this once before, but it was a long time ago. I have posted my configuration for that machine on the forum before as an example. Here is a link to it.
forum.linuxcnc.org/media/kunena/attachments/3190/Digital6.zip
It is for a gang router that has 8 VFDs for 8 router spindles. The config also uses a small Classicladder program for modifying and reading some of the hal pin values that the VFDs use when communicating with MB2HAL. So for all of its complications maybe it is or isn't a good example config.
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01 Nov 2019 15:05 #149368
by stes
Replied by stes on topic MB2HAL Vacon vfd
Yes, the machine is working otherwise.
I don't know how to connect the pins in hal file. 3 first bits control the VFD, or example 1 0 1 would mean run clockwise. right? But what I should write in the hal file, so when I click run spindle in Linux cnc the 1 0 1 control word will be sent to the VFD?
I don't know how to connect the pins in hal file. 3 first bits control the VFD, or example 1 0 1 would mean run clockwise. right? But what I should write in the hal file, so when I click run spindle in Linux cnc the 1 0 1 control word will be sent to the VFD?
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- Todd Zuercher
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01 Nov 2019 17:11 #149375
by Todd Zuercher
Replied by Todd Zuercher on topic MB2HAL Vacon vfd
I think I see a number of problems in your MB2HAL ini file and that is making it hard for me to pickout what you are asking for.
for example your first transaction defined is going to create 16 floating point hal output pins that would display the contents of 16 registers read from your VFD starting at the one found at 8453. Those pins will be called "mb2hal.info.00" - "mb2hal.info.15".
Your next two transactions don't even use the correct MB_TX_CODEs. As far as I know "fnct_06_write_single_register" may not even be a valid option in MB2HAL.
To set bits you would need to use "fnct_15_write_multiple_coils". If you changed the 2nd transaction to this, MB2HAL would create 16 hal input single bit pins called "mb2hal.runmode.00" - "mb2hal.runmode.15"
If those1st 3 registers would be the registers you are talking about needing to change to 1 0 1. Then you would need to connect them to the appropriate outputs in your hal file to get the responce you want, Probably pins such as motion.spindle-forward, motion.spindle-reverse, or motion.spindle-on.
If "fnct_06_write_single_register" will work, it would only work on a single register, so I think you will need to change the number of elements to 1.
All of this is kind of guessing from fuzzy memories of what I tried to do a number of years ago. May just need to run it and see what hal pins are made available and what they do.
Another option for you might be trying to use the modbus capabilities of ClassicLadder.
for example your first transaction defined is going to create 16 floating point hal output pins that would display the contents of 16 registers read from your VFD starting at the one found at 8453. Those pins will be called "mb2hal.info.00" - "mb2hal.info.15".
Your next two transactions don't even use the correct MB_TX_CODEs. As far as I know "fnct_06_write_single_register" may not even be a valid option in MB2HAL.
To set bits you would need to use "fnct_15_write_multiple_coils". If you changed the 2nd transaction to this, MB2HAL would create 16 hal input single bit pins called "mb2hal.runmode.00" - "mb2hal.runmode.15"
If those1st 3 registers would be the registers you are talking about needing to change to 1 0 1. Then you would need to connect them to the appropriate outputs in your hal file to get the responce you want, Probably pins such as motion.spindle-forward, motion.spindle-reverse, or motion.spindle-on.
If "fnct_06_write_single_register" will work, it would only work on a single register, so I think you will need to change the number of elements to 1.
All of this is kind of guessing from fuzzy memories of what I tried to do a number of years ago. May just need to run it and see what hal pins are made available and what they do.
Another option for you might be trying to use the modbus capabilities of ClassicLadder.
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15 Nov 2019 10:18 #150412
by stes
Replied by stes on topic MB2HAL Vacon vfd
I think function code 06 is valid because
someone is using it.
Did you check the pdf I linked in the first post? My VFD doesn't support function code 15. Only codes 03, 04, 06 and 16 are supported.
If i have understood correctly, there are no coils to write. But I have to send a control word, and the first 3 bits of that control word will control the spindle.
Did you check the pdf I linked in the first post? My VFD doesn't support function code 15. Only codes 03, 04, 06 and 16 are supported.
If i have understood correctly, there are no coils to write. But I have to send a control word, and the first 3 bits of that control word will control the spindle.
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15 Nov 2019 14:41 - 15 Nov 2019 14:43 #150428
by Todd Zuercher
Replied by Todd Zuercher on topic MB2HAL Vacon vfd
I meant that I don't think Mb2hal supports mode 06, because it isn't mentioned in the Mb2hal documentation. I think it can still work but it will make setting up your hal file a bit more difficult. Just use mode 16 instead of 06. This will be for registers that you are writing to (not reading). You will need to use a weighted_sum component to convert your bit inputs into an S32 integer, then convert that S32 into a float using conv_s32_float, then connect the output of the s32 conversion to the nessisary input of Mb2hal.
Perhaps it might be simpler for you to do all of this including the Modbus communication within Classicladder. (it can do Modbus as well.)
linuxcnc.org/docs/2.6/html/ladder/classic_ladder.html#_modbus
I believe it does support 06.
I would have used it in my configuration except that I needed to do more transactions than it could handle (limit is 16 I think and I needed 32.) I did use Classic ladder's modbus for my initial testing with just a couple VFDs. It was much simpler to configure and get working than Mb2hal.
Perhaps it might be simpler for you to do all of this including the Modbus communication within Classicladder. (it can do Modbus as well.)
linuxcnc.org/docs/2.6/html/ladder/classic_ladder.html#_modbus
I believe it does support 06.
I would have used it in my configuration except that I needed to do more transactions than it could handle (limit is 16 I think and I needed 32.) I did use Classic ladder's modbus for my initial testing with just a couple VFDs. It was much simpler to configure and get working than Mb2hal.
Last edit: 15 Nov 2019 14:43 by Todd Zuercher.
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16 May 2020 12:15 - 16 May 2020 12:18 #167960
by stes
Replied by stes on topic MB2HAL Vacon vfd
It's working now, except when spindle is reversed the pyVCP bar shows the rpm wrong, it's 60 000 instead of 5000. Guess it's because the rpm scale from vfd is +/-. Is the some way to convert it to get the correct rpm reading?
I didn't try Classicladder because not familiar with it.
I leave the code here, maybe it's useful for someone else. And if you use Vacon remember to subtract 1 from the address number.
I didn't try Classicladder because not familiar with it.
I leave the code here, maybe it's useful for someone else. And if you use Vacon remember to subtract 1 from the address number.
[MB2HAL_INIT]
INIT_DEBUG=0
SLOWDOWN=0.0
TOTAL_TRANSACTIONS=3
[TRANSACTION_00]
LINK_TYPE=serial
SERIAL_PORT=/dev/ttyUSB0
SERIAL_BAUD=9600
SERIAL_BITS=8
SERIAL_PARITY=none
SERIAL_STOP=1
SERIAL_DELAY_MS=150
MB_SLAVE_ID=1
FIRST_ELEMENT=2104
NELEMENTS=1
MB_TX_CODE=fnct_03_read_holding_registers
MB_RESPONSE_TIMEOUT_MS=500
MB_BYTE_TIMEOUT_MS=500
HAL_TX_NAME=rpm
MAX_UPDATE_RATE=0.0
[TRANSACTION_01]
FIRST_ELEMENT=2000
NELEMENTS=1
MB_TX_CODE=fnct_16_write_multiple_registers
HAL_TX_NAME=control
MAX_UPDATE_RATE=0.0
[TRANSACTION_02]
FIRST_ELEMENT=2002
NELEMENTS=1
MB_TX_CODE=fnct_16_write_multiple_registers
HAL_TX_NAME=speed
MAX_UPDATE_RATE=0.0# Include your customized HAL commands here
# This file will not be overwritten when you run stepconf again
loadusr -W mb2hal config=mb2hal.ini
loadrt mult2
loadrt mux4
loadrt and2 count=2
loadrt near
addf mult2.0 servo-thread
addf mux4.0 servo-thread
addf and2.0 servo-thread
addf and2.1 servo-thread
addf near.0 servo-thread
setp mult2.0.in0 31.25 #320 x 31.25 = 10 000
net spindle-cmd-rps-abs => mult2.0.in1
net speed.vfd mb2hal.speed.00 <= mult2.0.out
net spindle-cmd-rps-abs <= motion.spindle-speed-out-rps-abs
net S-on and2.0.in0 <= motion.spindle-on
net S-fwd and2.0.in1 <= motion.spindle-forward
net S-on and2.1.in0
net S-rev and2.1.in1 <= motion.spindle-reverse
net S-on-fwd mux4.0.sel0 <= and2.0.out
net S-on-rev mux4.0.sel1 <= and2.1.out
setp mux4.0.in0 4 #100stop
setp mux4.0.in1 5 #101forward
setp mux4.0.in2 7 #111reverse
setp mux4.0.in3 4 #100reset
net control mb2hal.control.00 <= mux4.0.out
net rpm-abs motion.spindle-speed-out-abs => near.0.in1 #spindle rpm command
net rpm.vfd => near.0.in2 #spindle rpm from vfd
net spindle-at-speed motion.spindle-at-speed <= near.0.out
setp near.0.scale 1.02# Include your customized HAL commands here
# The commands in this file are run after the AXIS GUI (including PyVCP panel) starts
net rpm.vfd mb2hal.rpm.00.float => pyvcp.spindle-speed
net spindle-at-speed => pyvcp.spindle-at-speed<?xml version="1.0" encoding="UTF-8"?>
<pyvcp>
<labelframe text="VFD">
<font>("Helvetica",10)</font>
<table>
<tablerow/>
<tablesticky sticky="w"/>
<label>
<text>"Spindle at speed:"</text>
</label>
<tablesticky sticky="e"/>
<led>
<halpin>"spindle-at-speed"</halpin>
<size>"10"</size>
<on_color>"green"</on_color>
<off_color>"red"</off_color>
</led>
<tablerow/>
<label>
<text>" "</text>
</label>
</table>
<table>
<tablesticky sticky="nsew"/>
<tablerow/>
<tablesticky sticky="nsew"/>
<label>
<text>"Spindle Speed (RPM)"</text>
<font>("Helvetica",10)</font>
</label>
<tablerow/>
<tablesticky sticky="nsew"/>
<label>
<text>" "</text>
<font>("Helvetica",2)</font>
</label>
<tablerow/>
<tablesticky sticky="nsew"/>
<bar>
<halpin>"spindle-speed"</halpin>
<min_>5000</min_>
<max_>19200</max_>
</bar>
</table>
</labelframe>
</pyvcp>
Last edit: 16 May 2020 12:18 by stes.
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