Mesa 7i39+5i20

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25 Oct 2010 16:41 #4843 by nikos.chalikias
Replied by nikos.chalikias on topic Re:Mesa 7i39+5i20
[git checkout master] does not help.

I used synaptic-package-manager and it updated *both*
emc and emc2-dev
to version 2.4.5 (from2.4.4)

I checked git branches at linuxcnc [git branch -r]
and there is no branch that contains the name "2.5"

Where is version 2.5 hiding?

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25 Oct 2010 17:38 #4845 by andypugh
Replied by andypugh on topic Re:Mesa 7i39+5i20
I asked on irc, but it looks like it could be git checkout origin/master.
I hesitate to experiment as I have uncommitted changes.

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25 Oct 2010 17:47 #4846 by andypugh
Replied by andypugh on topic Re:Mesa 7i39+5i20
IRC says:

[18:46] psha: git checkout master or if this fails git checkout -b master origin/master
[18:46] psha: it depends on how repo was cloned.
[18:46] psha: then git pull
[18:46] psha: for sure

As an alternative, git gui might help.

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25 Oct 2010 17:54 #4847 by nikos.chalikias
Replied by nikos.chalikias on topic Re:Mesa 7i39+5i20
After I tried a lot, I discovered that after the [git checkout master] you suggested, The VERSION file contained 2..5.0.~pre

Then checking to other emails with containing 2.5.0
I found that
$ . ../scripts/emc-environment (section 2.7)
should be
./scripts/emc-environment.

EMC 2.5.0.~pre now starts! :)

I have to do the 7i39 configuration work.
What should I use in the .ini and .hal files?

Thank you for help.

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25 Oct 2010 18:19 #4848 by nikos.chalikias
Replied by nikos.chalikias on topic Re:Mesa 7i39+5i20
in 5i20.ini (from hm2-servo)
Below part needs to change
[HOSTMOT2]
DRIVER=hm2_pci
BOARD=5i20
CONFIG="firmware=hm2/5i20/SVST8_4.BIT num_encoders=3 num_pwmgen=4 num_stepgens=0"
----
I believe as below:
CONFIG="firmware=hm2/5i20/SVST8_4.BIT num_encoders=4 num_3ppwmgen=4 num_stepgens=0"
I think below part of the hm2-servo.hal (from hm2-servo), has also to be changed, but I do not know what to do!

# motion controller, get name and thread periods from ini file
loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[TRAJ]AXES

# standard components
loadrt pid num_chan=3

# only the 7i43 needs this, but it doesnt hurt the others
loadrt probe_parport

loadrt hostmot2

# load low-level driver
loadrt [HOSTMOT2](DRIVER) config=[HOSTMOT2](CONFIG)

setp hm2_[HOSTMOT2](BOARD).0.pwmgen.pwm_frequency 40000

setp hm2_[HOSTMOT2](BOARD).0.watchdog.timeout_ns 10000000


# ################################################
# THREADS
# ################################################

addf hm2_[HOSTMOT2](BOARD).0.read servo-thread

addf motion-command-handler servo-thread
addf motion-controller servo-thread

addf pid.0.do-pid-calcs servo-thread
addf pid.1.do-pid-calcs servo-thread
addf pid.2.do-pid-calcs servo-thread

addf hm2_[HOSTMOT2](BOARD).0.write servo-thread
addf hm2_[HOSTMOT2](BOARD).0.pet_watchdog servo-thread

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25 Oct 2010 18:25 - 25 Oct 2010 18:57 #4849 by andypugh
Replied by andypugh on topic Re:Mesa 7i39+5i20
How do you want to run the motor?
Does it have Hall sensors?
Does it have an encoder?

A motor with an encoder will run more smoothly (pretty much silently) in sinusoidal mode, but has the drawback that it will jerk about (as much as half a turn) during the initialization stage. (unless it is an absolute encoder).

If you have Hall sensors then you can avoid the jerk, but have the fun of working out what Hall sensor pattern the motor has. (this is probably easiest to do in the Machine Show Hal Configuration window, where you can issue setp bldc-hall3.N.pattern 1 then 2 then so on...

I have attached basic hal file for sinusoidal commutation to this message (one axis only and will attach the Hall sensor one to a second message ) which I used to make the video I linked earlier. They should show how to link the components together.


File Attachment:

File Name: bldc_sine.hal
File Size:1 KB
Attachments:
Last edit: 25 Oct 2010 18:57 by BigJohnT.

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25 Oct 2010 18:29 - 25 Oct 2010 18:32 #4850 by andypugh
Replied by andypugh on topic Re:Mesa 7i39+5i20
This blasted forum drives me mad. It hides the message text at the least provocation Generally it is a wierd character but as far as I can see that message was clean in desperation I have removed all punctuation This is the hidden text. How do you want to run the motor Does it have Hall sensors Does it have an encoder A motor with an encoder will run more smoothly pretty much silently in sinusoidal mode, but has the drawback that it will jerk about as much as half a turn during the initialisation stage unless it is an absolute encoder If you have Hall sensors then you can avoid the jerk but have the fun of working out what Hall sensor pattern the motor has. this is probably easiest to do in the Machine Show Hal Cofiguration window, where you can issue setp bldc hall3 N pattern 1 then 2 then so on I have attached basic hal file for sinusoidal commutation to the earlier message one axis only and will attach the Hall sensor one to a second message which I used to make the video I linked earlier They should show how to link the components together
Last edit: 25 Oct 2010 18:32 by andypugh. Reason: The blasted forum ate the text

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25 Oct 2010 18:33 #4851 by andypugh
Replied by andypugh on topic Re:Mesa 7i39+5i20
And the Hall file, not that I expect you to be able to see this text.

File Attachment:

File Name: bldc_hall.hal
File Size:2 KB
Attachments:

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25 Oct 2010 18:58 #4853 by BigJohnT
Replied by BigJohnT on topic Re:Mesa 7i39+5i20
Andy,

It was the ellipse at the end of the third paragraph not being made up of three periods. Do you have an ellipse key?

John

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25 Oct 2010 19:14 #4854 by andypugh
Replied by andypugh on topic Re:Mesa 7i39+5i20
No, I typed three dots. My computer might be being over-clever though. I will avoid it in future.

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