Starthilfe Retrofit ISEL CPM4030 MESA7i95T+7i83

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Chris91
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08 Aug 2025 21:49 #333071 by Chris91

Starthilfe Retrofit ISEL CPM4030 MESA7i95T+7i83 was created by Chris91

Hallo,
ich benötige mal etwas Input...
Ich versuche einen Servocontroler mit +/-10V anzusteuern über die 7i95T+7i83.
Ich habe mir jetzt 4 PWMgen per Bitfile erstellt, verstehe jetzt aber noch nicht, wie ich die Verbindung

pid.x
hm2_7i95.0.pwmgen.00
hm2_7i95.0.7i83.0.0.analogout

hinbekommen soll?
Kann mich wer in die richtige Richtung weisen?

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PCW
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08 Aug 2025 22:10 #333072 by PCW

Replied by PCW on topic Starthilfe Retrofit ISEL CPM4030 MESA7i95T+7i83

You don't need any PWMgens,

The PID output would be connected to the hm2_7i95.0.7i83.0.0.analogout-NN
pin in hal

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Chris91
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10 Aug 2025 18:59 - 10 Aug 2025 19:00 #333180 by Chris91

Replied by Chris91 on topic Starthilfe Retrofit ISEL CPM4030 MESA7i95T+7i83

So that's how it is?

# Axis: X Joint: 0 Output: 0
# PID Setup
setp pid.x.Pgain [JOINT_0](P)
setp pid.x.Igain [JOINT_0](I)
setp pid.x.Dgain [JOINT_0](D)
setp pid.x.bias [JOINT_0](BIAS)
setp pid.x.FF0 [JOINT_0](FF0)
setp pid.x.FF1 [JOINT_0](FF1)
setp pid.x.FF2 [JOINT_0](FF2)
setp pid.x.deadband [JOINT_0](DEADBAND)
setp pid.x.maxoutput [JOINT_0](MAX_OUTPUT)
setp pid.x.error-previous-target True
# limit stepgen velocity corrections caused by position feedback jitter
setp pid.x.maxerror [JOINT_0](MAX_ERROR)

# joint-0 enable chain
net joint-0-index-enable <=> pid.x.index-enable
net joint-0-index-enable <=> joint.0.index-enable

net joint-0-enable <= joint.0.amp-enable-out
net joint-0-enable => pid.x.enable

# Enable Stepgen
net joint-0-enable => hm2_7i95.0.7i83.0.0.analogena0

# Joint 0 Step Generator Settings
setp hm2_[MESA](BOARD).0.stepgen.00.dirsetup [JOINT_0](DIRSETUP)
setp hm2_[MESA](BOARD).0.stepgen.00.dirhold [JOINT_0](DIRHOLD)
setp hm2_[MESA](BOARD).0.stepgen.00.steplen [JOINT_0](STEPLEN)
setp hm2_[MESA](BOARD).0.stepgen.00.stepspace [JOINT_0](STEPSPACE)
setp hm2_[MESA](BOARD).0.stepgen.00.position-scale [JOINT_0](SCALE)
setp hm2_[MESA](BOARD).0.stepgen.00.maxvel [JOINT_0](STEPGEN_MAX_VEL)
setp hm2_[MESA](BOARD).0.stepgen.00.maxaccel [JOINT_0](STEPGEN_MAX_ACC)
setp hm2_[MESA](BOARD).0.stepgen.00.step_type 0
setp hm2_[MESA](BOARD).0.stepgen.00.control-type 1


# position command and feedback
net joint-0-pos-cmd <= joint.0.motor-pos-cmd
net joint-0-pos-cmd => pid.x.command

net joint-0-pos-fb <= hm2_[MESA](BOARD).0.stepgen.00.position-fb
net joint-0-pos-fb => joint.0.motor-pos-fb
net joint-0-pos-fb => pid.x.feedback

# PID Output
net joint.0.output <= pid.x.output
net joint.0.output => hm2_[MESA](BOARD).0.stepgen.00.velocity-cmd
# net joint.0.output => hm2_7i95.0.7i83.0.0.analogout0

Last edit: 10 Aug 2025 19:00 by Chris91.

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PCW
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10 Aug 2025 20:29 #333185 by PCW

Replied by PCW on topic Starthilfe Retrofit ISEL CPM4030 MESA7i95T+7i83

More like:

net joint-0-pos-fb <= hm2_[MESA](BOARD).0.encoder.00.position
net joint-0-pos-fb => joint.0.motor-pos-fb
net joint-0-pos-fb => pid.x.feedback

# PID Output
net joint.0.output <= pid.x.output
net joint.0.output => hm2_7i95.0.7i83.0.0.analogout0

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