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Help needed to get my 7i76E + 7i85S + 7i73 on my mill going.

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8 years 2 months ago #116878 by tecno
Replied by tecno on topic Help needed to get my 7i76E + 7i85S + 7i73 on my mill going.
OK so now time for HAL

loadrt GB_2speed
loadrt message
loadrt bitslice


addf GB_2speed.0 servo-thread
addf message.0 servo-thread
addf bitslice.0 servo-thread

# gearbox signals
# gearbox Hi/Lo
net high-gear-signal => GB_2speed.0.gear-high <= hm2_7i76e.0.7i76.0.0.input-14

# Motor High
setp motor-high-signal <= GB_2speed.0.motor-high
net motor-high-signal => hm2_7i76e.0.7i76.0.0.output-10

# gearbox A - B - C - D - E
net input-a-signal => GB_2speed.0.gear-A <= hm2_7i76e.0.7i76.0.0.input-09
net input-b-signal => GB_2speed.0.gear-B <= hm2_7i76e.0.7i76.0.0.input-10
net input-c-signal => GB_2speed.0.gear-C <= hm2_7i76e.0.7i76.0.0.input-11
net input-d-signal => GB_2speed.0.gear-D <= hm2_7i76e.0.7i76.0.0.input-12


Is above somewhat OK?

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8 years 2 months ago - 8 years 2 months ago #116883 by tecno
Replied by tecno on topic Help needed to get my 7i76E + 7i85S + 7i73 on my mill going.
Code:
#******************* # SPINDLE S #******************* setp pid.s.Pgain [SPINDLE_9]P setp pid.s.Igain [SPINDLE_9]I setp pid.s.Dgain [SPINDLE_9]D setp pid.s.bias [SPINDLE_9]BIAS setp pid.s.FF0 [SPINDLE_9]FF0 setp pid.s.FF1 [SPINDLE_9]FF1 setp pid.s.FF2 [SPINDLE_9]FF2 setp pid.s.deadband [SPINDLE_9]DEADBAND setp pid.s.maxoutput [SPINDLE_9]MAX_OUTPUT setp pid.s.error-previous-target true net spindle-index-enable <=> pid.s.index-enable net spindle-enable => pid.s.enable net spindle-vel-cmd-rpm => pid.s.command net spindle-vel-fb-rpm => pid.s.feedback net spindle-output <= pid.s.output # ---Encoder feedback signals/setup--- setp hm2_7i76e.0.encoder.04.counter-mode 0 setp hm2_7i76e.0.encoder.04.filter 1 setp hm2_7i76e.0.encoder.04.index-invert 0 setp hm2_7i76e.0.encoder.04.index-mask 0 setp hm2_7i76e.0.encoder.04.index-mask-invert 0 # setp hm2_7i76e.0.encoder.00.scale [SPINDLE_9]ENCODER_SCALE net spindle-revs <= hm2_7i76e.0.encoder.04.position net spindle-vel-fb-rps <= hm2_7i76e.0.encoder.04.velocity net spindle-index-enable <=> hm2_7i76e.0.encoder.04.index-enable # ---setup spindle control signals--- net spindle-vel-cmd-rps <= motion.spindle-speed-out-rps net spindle-vel-cmd-rps-abs <= motion.spindle-speed-out-rps-abs net spindle-vel-cmd-rpm <= motion.spindle-speed-out net spindle-vel-cmd-rpm-abs <= motion.spindle-speed-out-abs net spindle-enable <= motion.spindle-on net spindle-cw <= motion.spindle-forward net spindle-ccw <= motion.spindle-reverse net spindle-brake <= motion.spindle-brake net spindle-revs => motion.spindle-revs net spindle-at-speed => motion.spindle-at-speed net spindle-vel-fb-rps => motion.spindle-speed-in net spindle-index-enable <=> motion.spindle-index-enable # ---Setup spindle at speed signals--- # sets spindle-at-speed true # setp hm2_7i76e.0.7i76.0.0.spinout-scalemax 2400 # setp hm2_7i76e.0.7i76.0.0.spinout-maxlim 2500 # net spindle-enable hm2_7i76e.0.7i76.0.0.spinena # net spindle-vel-cmd-rpm-abs hm2_7i76e.0.7i76.0.0.spinout # net spindle-ccw hm2_7i76e.0.7i76.0.0.spindir # ---Setup spindle at speed signals via GB_2speed.comp--- sets spindle-at-speed true setp hm2_7i76e.0.7i76.0.0.spinout-scalemax 2400 setp hm2_7i76e.0.7i76.0.0.spinout-maxlim 2500 net spindle-enable => GB_2speed.0.spindle-enable-in net spinenable => GB_2speed.0.spindle-enable-out => hm2_7i76e.0.7i76.0.0.spinena net spindle-vel-cmd-rpm-abs => GB_2speed.0.motor-speed-in net spindlespeed <= GB_2speed.0.motor-speed-out => hm2_7i76e.0.7i76.0.0.spinout net spindle-ccw hm2_7i76e.0.7i76.0.0.spindir

File Attachment:

File Name: GB_2speed.comp
File Size:1.29 KB

File Attachment:

File Name: GB_2speed.hal
File Size:18.05 KB
Last edit: 8 years 2 months ago by tecno. Reason: added data

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8 years 2 months ago #116895 by andypugh
Replied by andypugh on topic Help needed to get my 7i76E + 7i85S + 7i73 on my mill going.

tecno wrote: net high-gear-signal => GB_2speed.0.gear-high <= hm2_7i76e.0.7i76.0.0.input-14

# Motor High
setp motor-high-signal <= GB_2speed.0.motor-high
net motor-high-signal => hm2_7i76e.0.7i76.0.0.output-10
Is above somewhat OK?


About right, but my comp has the motor speed as an input pin (to say which way you have set the relay) rather than setting the relay itself.

It's only a small change to make it drive an output, but I am cautious about doing it because switching the relay with the VFD active is probably a rather bad idea.

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8 years 2 months ago #116902 by tecno
Replied by tecno on topic Help needed to get my 7i76E + 7i85S + 7i73 on my mill going.
Andy as you know I am not a programmer so I am having problems to understand all this but I am trying to learn.

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8 years 2 months ago #116905 by tecno
Replied by tecno on topic Help needed to get my 7i76E + 7i85S + 7i73 on my mill going.
Added hex and dec to my gears table

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8 years 1 month ago #116970 by tecno
Replied by tecno on topic Help needed to get my 7i76E + 7i85S + 7i73 on my mill going.
Is this way to setup SETP OK?
Code:
setp GB_2speed.0.min1 80 setp GB_2speed.0.max1 125 setp GB_2speed.0.min33 126 setp GB_2speed.0.max33 160 setp GB_2speed.0.min2 161 setp GB_2speed.0.max2 215 setp GB_2speed.0.min34 216 setp GB_2speed.0.max34 270 setp GB_2speed.0.min4 271 setp GB_2speed.0.max4 360 setp GB_2speed.0.min36 361 setp GB_2speed.0.max36 450 setp GB_2speed.0.min8 451 setp GB_2speed.0.max8 595 setp GB_2speed.0.min40 596 setp GB_2speed.0.max40 750 setp GB_2speed.0.min16 751 setp GB_2speed.0.max16 1000 setp GB_2speed.0.min72 1001 setp GB_2speed.0.max72 1190 setp GB_2speed.0.min104 1191 setp GB_2speed.0.max104 1500 setp GB_2speed.0.min80 1501 setp GB_2speed.0.max80 2000 setp GB_2speed.0.min112 2001 setp GB_2speed.0.max112 2500

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