mesa_modbus vs Omron Q2A VFD struggling

Dear All,

I've set up Mea 7i95 + mesa_modbus with Omron Q2A VFD. Wiring is OK, communication works at physical layer, but I'm in stuck, because:

Omron Q2A VFD expects the following Modbus commands:

CW run: Func code: 0x10, address 0x0001, value 1 (last bit)
CCW run: Func code: 0x10, addres 0x0001, value 2 (last two bit)
STOP: Func code: 0x10, addres 0x0001, value 0
Freq: Func code 0x10, address 0x0044

But spindle.0.forward and spindle.0.reverse are binary outputs, how can I link them to Modbus?
I mean modbus would write "1" when spindle.forwad=true, and "2" when spindle.reverse=true at address 0x0001
This was easy with vfd_modbus, but how to do with mesa_modbus? I couldn't figure it out.
+ cw and ccw and stop register address is the same. It seems it is not supported if I link two hal_pins to the same address in mesa_modbus conf file.
+ func code 0x10 is not supported ... ? btw it seems it works with 0x06, however based on the official manual 0x10 is expected.

Would be great to get rid of vfd_modbus due to lack of rs485 ports in my new industrial PC.
Thank you for your ideas!
Tamas
 

You can use the weighted_sum component
to combine individual bits to create an integer
command

Thank you, but it seems Q2A does not accept Modbus function code 0x06, I always get modbus error 134.
Is there possible somehow to send 0x10 function code?
Thank you.

So I tried vfd_mod (github.com/aekhv/vfdmod) and Q2A works with func code 0x06, debug output:

vfdmod: setting command speed value to 500 (0x01F4)...
[01][06][00][02][01][F4][28][1D]
Waiting for a confirmation...
<01><06><00><02><01><F4><28><1D>

My mesa_modbus setup as follows:

7i95 with pktUart support:

hm2_eth: loading Mesa AnyIO HostMot2 ethernet driver version 0.2
hm2_eth: 192.168.1.121: INFO: Hardware address (MAC): 00:60:1b:15:01:17
hm2_eth: discovered 7I95
hm2/hm2_7i95.0: Low Level init 0.15
hm2/hm2_7i95.0: created PktUART Interface function hm2_7i95.0.pktuart.0.
hm2/hm2_7i95.0: Smart Serial Firmware Version 43
....
hm2/hm2_7i95.0: IO Pin 015 (TB4-20/TB4-21): PktUART Receive Channel #0, pin RX Data (Input)
hm2/hm2_7i95.0: IO Pin 016 (TB4-22/TB4-23): PktUART Transmit Channel #0, pin TX Data (Output)
hm2/hm2_7i95.0: IO Pin 017 (TB4-22/TB4-23): PktUART Transmit Channel #0, pin Drv Enable (Output)
.....

wired Rx+(tb4/20) to Tx+(tb4/22), 560R to GND
wired Rx-(tb4/21) to Tx-(tb4/23), 560R to +5V
connected to Q2A
Q2A detects the Modbus connection when Linuxcnc starts, "CALL serial connection error" disappears

vfd.mod:

#define MAX_MSG_LEN 32 // may be increased if necessary to max 251
//#define DEBUG
static const hm2_modbus_chan_descriptor_t channels = {
/* {TYPE, FUNC, ADDR, COUNT, pin_name} */
{HAL_FLOAT, 6, 0x0001, 1, "spindle_control"},
{HAL_FLOAT, 6, 0x0044, 1, "spindle_freq"},
};


HAL:

loadrt vfd ports=hm2_7i95.0.pktuart.0
addf vfd.00 servo-thread

setp vfd.00.address 0x01
setp vfd.00.baudrate 9600
setp vfd.00.txdelay 20
setp vfd.00.parity 2
setp vfd.00.update-hz 2

I see spindle_control and spindle_freq pins in halshow, but I can't "do anything" by sending some values manually.

If I change HAL_FLOAT type to HAL_S32 or HAL_U32 I always get "DnE drive disabled comm error" message on Q2A, return code 128 and have to reset the drive.
Otherwise I always get error 134.

Any clue please?
Thx a lot!
Tamas

Is there a way somehow to debug/display modbus messages which are sent out?