MESA 5i23 7i44 7i49 7i37 8i20

kenny
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06 Oct 2015 22:03 #63499 by kenny

Replied by kenny on topic MESA 5i23 7i44 7i49 7i37 8i20

Unfortunately, motor still generate tiny noise but no any movement...

#net amp-enable pid.0.enable
setp pid.0.Pgain [AXIS_0]PGAIN
setp pid.0.Igain [AXIS_0]IGAIN
setp pid.0.Dgain [AXIS_0]DGAIN
setp pid.0.bias [AXIS_0]BIAS
setp pid.0.FF0 [AXIS_0]FF0
setp pid.0.FF1 [AXIS_0]FF1
setp pid.0.FF2 [AXIS_0]FF2
setp pid.0.deadband [AXIS_0]DEADBAND
setp pid.0.maxoutput [AXIS_0]MAXOUTPUT

setp bldc.0.scale -8777216
setp bldc.0.poles 10
setp bldc.0.lead-angle 0
setp bldc.0.encoder-offset 200000

I was switch off PID (REM 1st line) and how to setting setp bldc parameters?
how is value scale and lead-angle ?

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andypugh
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06 Oct 2015 22:21 #63501 by andypugh

Replied by andypugh on topic MESA 5i23 7i44 7i49 7i37 8i20

kenny wrote:
Unfortunately, motor still generate tiny noise but no any movement..

That's not that unusual :-)

To run the 8i20 at a fixed current and to experiment with things, run the following from the terminal with Linuxcnc started.
Don't do this when the motors are connected to the machine!

halcmd -kf
unlinkp hm2_5i23.0.8i20.0.1.current
setp hm2_5i23.0.8i20.0.1.current 0.2

That sets the 8i20 to a small test current that should be enough to run the motor when the bldc config it right.
Then try altering parameters.

setp bldc.0.scale 8777216

This might be enough, all by itself.

Another thing to try

setp hm2_5i23.0.8i20.0.1.current 0
setp hm2_5i23.0.resolver.00.reset 1
show pin hm2_5i23.0.counts
{Now rotate the motor by exactly 1 turn, by hand}
show pin hm2_5i23.0.counts

This checks that you don't have a multi-turn resolver. Some go through more than one cycle per motor shaft resolution.

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kenny
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06 Oct 2015 23:07 #63506 by kenny

Replied by kenny on topic MESA 5i23 7i44 7i49 7i37 8i20

I dont have pin: "hm2_5i23.0.counts" in show pin...

halcmd: show pin hm2_5i23.0.counts
Component Pins:
Owner   Type  Dir         Value  Name

halcmd:

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kenny
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07 Oct 2015 00:27 #63509 by kenny

Replied by kenny on topic MESA 5i23 7i44 7i49 7i37 8i20

after rotate the rotor 1 turn (by hand):

halcmd: show pin hm2_5i23.0.resolver.00.count
Component Pins:
Owner   Type  Dir         Value  Name
    11  s32   OUT             0  hm2_5i23.0.resolver.00.count

Changed only rawcounts and angle:

halcmd: show pin hm2_5i23.0.resolver.00.angle
Component Pins:
Owner   Type  Dir         Value  Name
    11  float OUT     0.4718406  hm2_5i23.0.resolver.00.angle

halcmd: show pin hm2_5i23.0.resolver.00.angle
Component Pins:
Owner   Type  Dir         Value  Name
    11  float OUT     0.4725081  hm2_5i23.0.resolver.00.angle

halcmd: show pin hm2_5i23.0.resolver.00.rawcounts
Component Pins:
Owner   Type  Dir         Value  Name
    11  s32   OUT     -25616045  hm2_5i23.0.resolver.00.rawcounts ==> res-x-cnts

halcmd: show pin hm2_5i23.0.resolver.00.rawcounts
Component Pins:
Owner   Type  Dir         Value  Name
    11  s32   OUT     -42416594  hm2_5i23.0.resolver.00.rawcounts ==> res-x-cnts

halcmd:

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andypugh
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07 Oct 2015 04:05 #63517 by andypugh

Replied by andypugh on topic MESA 5i23 7i44 7i49 7i37 8i20

Sorry, you probably have to set "reset" back to 0 again, or the counts will stay at zero

The angle number is interesting, it looks like the bldc.scale is out by a factor of 2.

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andypugh
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07 Oct 2015 17:50 #63535 by andypugh

Replied by andypugh on topic MESA 5i23 7i44 7i49 7i37 8i20

I have had more thoughts about this, and I think it is probably OK.
What we are probably seeing is the angle changing through zero and then back to nearly the same place.

Open a HALMeter to see, you can even do this from the Axis GUI menu or from the command line.
You can even consider adding the halmeters to the HAL file

loadusr halmeter pin bldc.0.angle

You should see that change between 0 and 1 as you rotate the motor shaft.

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kenny
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07 Oct 2015 22:05 #63546 by kenny

Replied by kenny on topic MESA 5i23 7i44 7i49 7i37 8i20

Hal oscilloscope is beatiful tool.

variable: hm2_5i23.0.resolver.00.angle is changed value between 0 an 1 every change mag. pole of motor (10 per rev.)
variable: hm2_5i23.0.8i20.0.0.angle is changed value between 0 and 1 every one turn shaft of motor

I dont have pin bldc.0.angle
I have only bldc.0.lead-angle bldc.0.phase-angle and bldc.0.rotor-angle

Is possible via this measurement setting bldc servo?

Thank you

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andypugh
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07 Oct 2015 22:42 #63548 by andypugh

Replied by andypugh on topic MESA 5i23 7i44 7i49 7i37 8i20

kenny wrote:
variable: hm2_5i23.0.resolver.00.angle is changed value between 0 an 1 every change mag. pole of motor (10 per rev.)
variable: hm2_5i23.0.8i20.0.0.angle is changed value between 0 and 1 every one turn shaft of motor

That means that the resolver is a multi-pole one to match the motor.
You need to change the bldc component calibration to suit. The simplest way is probably to set the bldc.poles to 2.

I dont have pin bldc.0.angle

You probably don't have a bldc.poles either. I am typing this from memory, so you might have to use some imagination.
You want 8i20.0.rotor-angle to vary between 0 and 1 as every motor pole goes by.

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kenny
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07 Oct 2015 23:07 #63550 by kenny

Replied by kenny on topic MESA 5i23 7i44 7i49 7i37 8i20

Variable "bldc.0.rotor-angle" is changed value between 0 and 1 per one mag pole

Where is: "set the bldc.poles to 2." ?
Is this: "setp bldc.0.poles 10" ? I changed value from 10 to 2 and no effect...

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andypugh
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08 Oct 2015 07:39 #63558 by andypugh

Replied by andypugh on topic MESA 5i23 7i44 7i49 7i37 8i20

kenny wrote:
Variable "bldc.0.rotor-angle" is changed value between 0 and 1 per one mag pole

Where is: "set the bldc.poles to 2." ?
Is this: "setp bldc.0.poles 10" ? I changed value from 10 to 2 and no effect...

It should affect the output of the bldc angle output pins. It won't change the resolver pins.

Also, note that as this is a multi-turn resolver you have to consider that in the axis scaling, when you get there.

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