Mori MV 35/40 retrofit

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06 Jul 2011 17:29 #11191 by andypugh
Replied by andypugh on topic Re:Mori MV 35/40 retrofit
schmidtmotorworks wrote:

andypugh wrote:

I'm clueless about the last point about drawback about "base-thread", could you please explain that a little more, I don't understand what it means.


A typical EMC2 system runs two real-time threads. One which contains a set of functions that run every 30uS or thereabouts (the base thread) and one that runs every 1000uS (or 1mS, if you prefer) normally called the servo thread.
The base thread is used for the motion control calcualations.
The base thread functions can only do integer mathematics, and that thread is normally used to generate stepper steps, pwm signals, and to read encoders.
Typically all those functions on a system using Mesa cards are offloaded to the Mesa FPGA card, and only the servo thread is used.
There is an option to run the Mesa GPIO reads and writes in the base thread, though I think that would be unusual in practice.
The Smart Serial interface used by the 7i64 can only run in the servo thread, which means that it will typically take 1mS for the system to notice a change in state of an input. In practice this is plenty quick enough for anything that you are likely to be hooking up to the system. Also, the proposed hardware list leaves 24 GPIO pins free on the 5i23 which could be used if you did need super-fast IO.

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06 Jul 2011 18:52 #11193 by schmidtmotorworks
Thanks a lot, great explanation, I think that hardware plan is good to go then.

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07 Jul 2011 02:56 #11204 by clkeck1
Replied by clkeck1 on topic Re:Mori MV 35/40 retrofit
Thanks for all the help I'm going to get some parts ordered soon.
I haven't got a chance to get a hold of Chris on the resolver issue yet but ill work with that when i get that far.

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23 Aug 2011 23:17 #12700 by clkeck1
Replied by clkeck1 on topic Re:Mori MV 35/40 retrofit
I may have run into a snag...

I was laying out a the wiring and I seen that the cpcr-mr**k drives use a 4-50v input reference. Any ideas on how to make that work with standard cards?


check out page 6
www.yaskawa.com/site/dmservo.nsf/link2/T...ile/TSE-C717-13E.pdf

Thanks
Cory

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23 Aug 2011 23:32 #12704 by PCW
Replied by PCW on topic Re:Mori MV 35/40 retrofit
Adjust for +-10 = full speed and it will work with any +-10V analog interface

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17 Sep 2011 21:50 #13235 by clkeck1
Replied by clkeck1 on topic Re:Mori MV 35/40 retrofit
Hi guys

I've been beating my head off a wall all day long. I'm using the same components as Jon is in the MVJR build except for 3 7i64s and only 4 axis.

I'm using the 5i23svss6_8.bit file and the sample Hal and ini files with emc 2.5.

I cannot get the 7i64 pins to be recognized.

here is a copy of my pin file.

Does anyone have any ideas?

Thanks
Cory

File Attachment:

File Name: pins-8c62e...8a43.txt
File Size:46 KB
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17 Sep 2011 21:51 #13236 by clkeck1
Replied by clkeck1 on topic Re:Mori MV 35/40 retrofit
and bootmsg

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File Name: bootmsg-bd...cbc1.txt
File Size:7 KB
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17 Sep 2011 21:52 #13237 by clkeck1
Replied by clkeck1 on topic Re:Mori MV 35/40 retrofit
ini file

File Attachment:

File Name: 5i23ss.ini
File Size:6 KB
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17 Sep 2011 21:53 #13238 by clkeck1
Replied by clkeck1 on topic Re:Mori MV 35/40 retrofit
hal file

mostly commented out at the moment

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File Name: hm2_servoss.hal
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18 Sep 2011 00:12 #13239 by cmorley
Replied by cmorley on topic Re:Mori MV 35/40 retrofit
I'm betting you don't have the jumpers set right on the 7i64. By default they are set up for USB connection and USB powered.

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