Delta ASDA-A2 servo drive via ModbusRTU

OK, thank you very much. I will change to step/dir then.

OK, if I haven't missed something in the manual the ASDA-A2 can only be controlled via step/dir in Positioning mode. So for speed mode I have to stick to the analogue signal.

You can keep the A2 set to PT mode and configure the StegGen in LinuxCNC for velocity mode.

(bit input) control-type
Switches between position control mode (0) and velocity control mode (1). Defaults to position control (0).

setp   hm2_7i95.0.stepgen.04.dirsetup        [SPINDLE_0]DIRSETUP
setp   hm2_7i95.0.stepgen.04.dirhold         [SPINDLE_0]DIRHOLD
setp   hm2_7i95.0.stepgen.04.steplen         [SPINDLE_0]STEPLEN
setp   hm2_7i95.0.stepgen.04.stepspace       [SPINDLE_0]STEPSPACE
setp   hm2_7i95.0.stepgen.04.position-scale  [SPINDLE_0]STEP_SCALE
setp   hm2_7i95.0.stepgen.04.step_type        0
setp   hm2_7i95.0.stepgen.04.control-type     1
setp   hm2_7i95.0.stepgen.04.maxaccel         [SPINDLE_0]STEPGEN_MAXACCEL
setp   hm2_7i95.0.stepgen.04.maxvel           [SPINDLE_0]STEPGEN_MAXVEL

You can use PncconfWizard to configure a "test machine" and use one of your StepGen as a "Spindle StepGen". Then copy the spindle configuration to your actual machine configuration. 

It works like a charm and so much mor precise than 0-5V. Thank you alot.
I just have one problem now.
If I run the spindle I get this error message:
hm2/hm2_7i96s.0: stepgen.04.maxvel is too big
for current step timings &
position-scale, clipping to max possible

The funny thing is, that the spindle is working without any problem up to 10000 rpm (Servo runs up to 5000rpm with a 1:2 belt to the spindle)
I have wired the High Speed input of the servo drive.
Here are my .ini values:
#==================
# SPINDLE
#==================
[SPINDLE_0]
MAX_VELOCITY = 10000.0000
MAX_ACCELERATION = 30.0
# Die folgenden Werte sollten 25% größer sein als MAX_VELOCITY und MAX_ACCELERATION
# Bei Verwendung der UMKEHRSPIEL-Kompensation sollte STEPGEN_MAXACCEL um 100% größer sein.
STEPGEN_MAXVEL = 12500.0
STEPGEN_MAXACCEL = 37.500
P = 0.0
I = 0.0
D = 0.0
FF0 = 1.0
FF1 = 0.0
FF2 = 0.0
BIAS = 0.0
DEADBAND = 0.0
MAX_OUTPUT = 10000.0
OUTPUT_MIN_LIMIT = -10000
OUTPUT_MAX_LIMIT = 10000
# diese sind in Nanosekunden
DIRSETUP = 250
DIRHOLD = 250
STEPLEN = 150
STEPSPACE = 150
STEP_SCALE = 5000.0
ENCODER_SCALE = -5000

STEPGEN_MAXVEL should be in RPS Rev per Sec. So just divide your setting by 60.

Instead of 12500 change it to 208,3333

0x2102 wrote:

You can keep the A2 set to PT mode and configure the StegGen in LinuxCNC for velocity mode.

 

How is that supposed to work? I'd like to do exactly this with a Delta B3 drive, but the manual of the A2 and B3 both mention that speed mode only works with 0-10V or via registers, which is probably way to slow for CNC. Pulse input can only be used in position mode.

So how do you combine pulse input with speed mode?