Use 0-10V + dir on 7i77 instead of +-10V out
24 Sep 2018 17:48 #117928
by xaxxes
Replied by xaxxes on topic Use 0-10V + dir on 7i77 instead of +-10V out
Hi.
I'm sorry that I dig up this old thread, but have exactly the same problem as the thread creator. I also own these Lichuan-B2 drivers.
Servo driver: Lichuan_B2 series
Board: Mesa 7i77
Now I want to solve the problem as suggested, using the ABS function (direction signal + 0-10V). Can someone help me please? Have never wrote some HAL-code.
Thank you.
I'm sorry that I dig up this old thread, but have exactly the same problem as the thread creator. I also own these Lichuan-B2 drivers.
Servo driver: Lichuan_B2 series
Board: Mesa 7i77
Now I want to solve the problem as suggested, using the ABS function (direction signal + 0-10V). Can someone help me please? Have never wrote some HAL-code.
Thank you.
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24 Sep 2018 23:57 #117943
by andypugh
Replied by andypugh on topic Use 0-10V + dir on 7i77 instead of +-10V out
Can you give us an example snippet of the HAL that connects one axis to the 7i77?
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25 Sep 2018 12:03 - 25 Sep 2018 12:04 #117954
by xaxxes
Replied by xaxxes on topic Use 0-10V + dir on 7i77 instead of +-10V out
Thanks for your reply.
Here is the code for the Y-Axis, which was created with Pncconf:
I think i have to edit the section "PWM Generator signals/setup" but don't know how.
Many thanks.
Here is the code for the Y-Axis, which was created with Pncconf:
#*******************
# AXIS Y
#*******************
setp pid.y.Pgain [AXIS_1]P
setp pid.y.Igain [AXIS_1]I
setp pid.y.Dgain [AXIS_1]D
setp pid.y.bias [AXIS_1]BIAS
setp pid.y.FF0 [AXIS_1]FF0
setp pid.y.FF1 [AXIS_1]FF1
setp pid.y.FF2 [AXIS_1]FF2
setp pid.y.deadband [AXIS_1]DEADBAND
setp pid.y.maxoutput [AXIS_1]MAX_OUTPUT
setp pid.y.error-previous-target true
net y-index-enable <=> pid.y.index-enable
net y-enable => pid.y.enable
net y-pos-cmd => pid.y.command
net y-vel-cmd => pid.y.command-deriv
net y-pos-fb => pid.y.feedback
net y-output => pid.y.output
# ---PWM Generator signals/setup---
setp hm2_5i25.0.7i77.0.1.analogout1-scalemax [AXIS_1]OUTPUT_SCALE
setp hm2_5i25.0.7i77.0.1.analogout1-minlim [AXIS_1]OUTPUT_MIN_LIMIT
setp hm2_5i25.0.7i77.0.1.analogout1-maxlim [AXIS_1]OUTPUT_MAX_LIMIT
net y-output => hm2_5i25.0.7i77.0.1.analogout1
net y-pos-cmd axis.1.motor-pos-cmd
net y-enable axis.1.amp-enable-out
# ---Encoder feedback signals/setup---
setp hm2_5i25.0.encoder.01.counter-mode 0
setp hm2_5i25.0.encoder.01.filter 1
setp hm2_5i25.0.encoder.01.index-invert 0
setp hm2_5i25.0.encoder.01.index-mask 0
setp hm2_5i25.0.encoder.01.index-mask-invert 0
setp hm2_5i25.0.encoder.01.scale [AXIS_1]ENCODER_SCALE
net y-pos-fb <= hm2_5i25.0.encoder.01.position
net y-vel-fb <= hm2_5i25.0.encoder.01.velocity
net y-pos-fb => axis.1.motor-pos-fb
net y-index-enable axis.1.index-enable <=> hm2_5i25.0.encoder.01.index-enable
net y-pos-rawcounts <= hm2_5i25.0.encoder.01.rawcounts
# ---setup home / limit switch signals---
net home-y => axis.1.home-sw-in
net y-neg-limit => axis.1.neg-lim-sw-in
net y-pos-limit => axis.1.pos-lim-sw-inI think i have to edit the section "PWM Generator signals/setup" but don't know how.
Many thanks.
Last edit: 25 Sep 2018 12:04 by xaxxes.
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25 Sep 2018 14:54 - 25 Sep 2018 14:56 #117959
by andypugh
Change the above to
Docs: linuxcnc.org/docs/2.7/html/man/man9/abs.9.html
Replied by andypugh on topic Use 0-10V + dir on 7i77 instead of +-10V out
Thanks for your reply.
Here is the code for the Y-Axis, which was created with Pncconf:
net y-output => pid.y.output # ---PWM Generator signals/setup--- setp hm2_5i25.0.7i77.0.1.analogout1-scalemax [AXIS_1]OUTPUT_SCALE setp hm2_5i25.0.7i77.0.1.analogout1-minlim [AXIS_1]OUTPUT_MIN_LIMIT setp hm2_5i25.0.7i77.0.1.analogout1-maxlim [AXIS_1]OUTPUT_MAX_LIMIT net y-output => hm2_5i25.0.7i77.0.1.analogout1
Change the above to
#Near the top of the file
loadrt abs names = abs.x,abs.y,abs.z
addf abs.x servo-thread
addf abs.y servo-thread
addf abs.z servo-thread
#Then for each axis
# delete net y-output => hm2_5i25.0.7i77.0.1.analogout1
net y-output => abs.y.in
net y-abs abs.y.out => hm2_5i25.0.7i77.0.1.analogout1
# This is the direction output, use is-negative if required
# Choose a GPIO pin to suit.
net y-dir abs.y.is-positive => hm2_5i25.0.7i77.0.0.output-00Docs: linuxcnc.org/docs/2.7/html/man/man9/abs.9.html
Last edit: 25 Sep 2018 14:56 by andypugh.
The following user(s) said Thank You: xaxxes
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27 Sep 2018 18:56 #118071
by xaxxes
Replied by xaxxes on topic Use 0-10V + dir on 7i77 instead of +-10V out
Thank you.
I changed the code.
Now i have a other problem:
I've tried to tune the motor but i get an following error if i set PID P= 0,05, 1, 20, or 100 or something else. And when i set P=0,00005 or something like this, the motor hold the position, but vibrates extremely.
Can this issue came from the direction signal? I've connected the mesa output directly to the servo input and the input on the servo works. Maybe is the input of the servo too slow?
I changed the code.
Now i have a other problem:
I've tried to tune the motor but i get an following error if i set PID P= 0,05, 1, 20, or 100 or something else. And when i set P=0,00005 or something like this, the motor hold the position, but vibrates extremely.
Can this issue came from the direction signal? I've connected the mesa output directly to the servo input and the input on the servo works. Maybe is the input of the servo too slow?
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28 Sep 2018 12:19 #118103
by andypugh
Replied by andypugh on topic Use 0-10V + dir on 7i77 instead of +-10V out
If it holds but vibrates, try an even smaller number.
What is the value on the pid.L.error pins? If you need a very small P then this might indicate that the scaling on the feedback input is unusual.
Is there any chance that the spindle drive is configured or 4-20mA operation?
What is the value on the pid.L.error pins? If you need a very small P then this might indicate that the scaling on the feedback input is unusual.
Is there any chance that the spindle drive is configured or 4-20mA operation?
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