Linuxcnc with Mesa 7i76e and Delta ASDA-B2 Servo Drives

Unlogic wrote:

What in LinuxCNC/HAL did you map the SRDY (servo is powered on, no alarm) signal to?

linuxcnc.org/docs/stable/html/man/man9/motion.9.html
joint.N.amp-fault-in IN BIT -Should be driven TRUE if an external fault is detected with the amplifier for this joint

This looks like a good choice, though it might need to be inverted in HAL.

Thanks for your reply Andy.

The Delta B3 servo drives have both a servo ready signal and an alarm signal. I'm trying to figure out how to best use the two them.

I figured the joint.N.amp-fault-in would be best used with alarm signal.

But for the ready signal I haven't been able to find a matching hal input. Maybe it would be best to write a short hal code snippet that AND checks the ready signal from all drives and prevents the enabling of the machine if not all drives are ready.

I'm rookie when it comes this stuff so any feedback is very welcome.

You could AND them all together and link to motion.enable.

The "logic" and "LUT5" components can be used as a more-than-two input AND. Or, depending on the output type of the drives you may be able to wire them together to create a single input.

Chaining them together is a great idea, why didn't I think of that. Big thanks Andy!

I did a quick test with some temporary wiring and the SRDY signal goes high as soon as the e-stop is lifted if there are no fault codes which should be exactly what's needed for the motion.enable input.



As the drives use DO+/DO- style outputs chaining the outputs should be very straight forward.

Ohh and sorry for hijacking your thread decor82, I'll start my own build thread shortly image missing /media/kunena/emoticons/smile.png