Search Results (Searched for: stepper spindle)
27 Jun 2024 22:21
Replied by disneysw on topic Problem with a MESA 7i76
Problem with a MESA 7i76
Category: General LinuxCNC Questions
Sorry to dig up an old thread but I have fried a 7I76 board due to connecting the end stop plug into the spindle connector and shoving 24V where it was never supposed to go!
Mine is a rev C board and PTC4 is badly scorched but still seems to be working. CR17 went short circuit and was burnt to a crisp which in some ways may have been a saving grace.
The FPGA is working and the voltage rails look good but the stepper buffers seem to be damaged.
I know I need to order SSOP versions of the 74ACT541 and 74ACT540 but what values are the PPTC and CR17? What else may have gone?
Finally is the schematic for the 7i76 available?
Mine is a rev C board and PTC4 is badly scorched but still seems to be working. CR17 went short circuit and was burnt to a crisp which in some ways may have been a saving grace.
The FPGA is working and the voltage rails look good but the stepper buffers seem to be damaged.
I know I need to order SSOP versions of the 74ACT541 and 74ACT540 but what values are the PPTC and CR17? What else may have gone?
Finally is the schematic for the 7i76 available?
24 Jun 2024 12:11 - 24 Jun 2024 12:14
Replied by electrosteam on topic Mesa 7i96 Ethernet Socket Problems - LC2.9.2 on Raspberry Pi 4B
Mesa 7i96 Ethernet Socket Problems - LC2.9.2 on Raspberry Pi 4B
Category: Driver Boards
Using the official download image without any modifications.
I cannot find Network Manager on this release.
Used Terminal to launch "menu-config".
Get a dialog box with options to edit entries.
All wifi channels deactivated.
Only one one wired channel activated and edited per:
- Device: eth0 ( ::::: ) as reported by "ip a",
- IPv4 config: Auto,
- Address: 10.10.10.11/8,
- Gateway" 10.10.10.1,
- IPv6: Ignore,
- Automatically connect: [x],
- Available all users: [x].
All workshop equipment and ancillaries de-energized.
Steppers powered off.
VFD in adjacent cubicle powered on, but not operating spindle.
Operation as reported earlier with lost packets.
John.
I cannot find Network Manager on this release.
Used Terminal to launch "menu-config".
Get a dialog box with options to edit entries.
All wifi channels deactivated.
Only one one wired channel activated and edited per:
- Device: eth0 ( ::::: ) as reported by "ip a",
- IPv4 config: Auto,
- Address: 10.10.10.11/8,
- Gateway" 10.10.10.1,
- IPv6: Ignore,
- Automatically connect: [x],
- Available all users: [x].
All workshop equipment and ancillaries de-energized.
Steppers powered off.
VFD in adjacent cubicle powered on, but not operating spindle.
Operation as reported earlier with lost packets.
John.
21 Jun 2024 15:55
Replied by jimmyrig on topic DM542 stepper motor driver power stage light on red
DM542 stepper motor driver power stage light on red
Category: CNC Machines
Your enable pins for spindle and steppers probably go through your estop button. Make sure it is no longer pressed or jammed. Buttons can break if you hit them too hard.
The situation you describe is a lost enable wire. Trace it from your power supply, through to your drives and check for continuity.
The situation you describe is a lost enable wire. Trace it from your power supply, through to your drives and check for continuity.
21 Jun 2024 07:19
DM542 stepper motor driver power stage light on red was created by Mabel
DM542 stepper motor driver power stage light on red
Category: CNC Machines
Hello everyone.
I'm currently building a CNC milling machine. The milling machine is controlled via a raspberry pi 3 b+ and a Smoothieboard v1.1 with DM 542 stepper motor drivers( www.oyostepper.de/goods-1249...rittmotor.html ) and 1.8° 2A motors.
X-axis 1.8° 3 A runs via a stepper motor driver as the smoothie board can only control 2A. I controlled the two Y-axes and the Z-axis three times 2A via the smoothie board.
Unfortunately that didn't work. I had to buy two new drivers and connect them separately to Y1 and Y2 - they run in parallel. It worked until I ran the CNC and it
went too far to the left for me. I had to press the killbatten. I unplugged the entire system and turned it back on. When the control had power again, the lights suddenly lit up
The red lights on the power amplifiers. It took a while for me to figure out why. As soon as I removed the Enable + (+5V) cables from the power amplifiers, the power amplifier lights turned green again and the machine is running. When I try to plug the cable back in, the lights turn red again and nothing works anymore. Can someone tell me why this can be like that?
And I have a 1.5 KW spindle with a Huanyang inverter controlled via the rs485 breakout board. The software is CNCjs. Now I have the problem that the spindle does not run with the M3 command or only sometimes and when it runs I cannot stop the spindle with the M5 command. Sometimes it works and then it doesn't work again. Can someone please help me with this? I'm happy about every suggestion and comment.
I'm currently building a CNC milling machine. The milling machine is controlled via a raspberry pi 3 b+ and a Smoothieboard v1.1 with DM 542 stepper motor drivers( www.oyostepper.de/goods-1249...rittmotor.html ) and 1.8° 2A motors.
X-axis 1.8° 3 A runs via a stepper motor driver as the smoothie board can only control 2A. I controlled the two Y-axes and the Z-axis three times 2A via the smoothie board.
Unfortunately that didn't work. I had to buy two new drivers and connect them separately to Y1 and Y2 - they run in parallel. It worked until I ran the CNC and it
went too far to the left for me. I had to press the killbatten. I unplugged the entire system and turned it back on. When the control had power again, the lights suddenly lit up
The red lights on the power amplifiers. It took a while for me to figure out why. As soon as I removed the Enable + (+5V) cables from the power amplifiers, the power amplifier lights turned green again and the machine is running. When I try to plug the cable back in, the lights turn red again and nothing works anymore. Can someone tell me why this can be like that?
And I have a 1.5 KW spindle with a Huanyang inverter controlled via the rs485 breakout board. The software is CNCjs. Now I have the problem that the spindle does not run with the M3 command or only sometimes and when it runs I cannot stop the spindle with the M5 command. Sometimes it works and then it doesn't work again. Can someone please help me with this? I'm happy about every suggestion and comment.
21 Jun 2024 06:07
If you dont mind me asking what kind of setup for a machine are you running a one of these T6's with? And which motor do you have? Is it the 1kw motor? Im planning on posibly running mine as a spindle for a mill of mine that has a sketchy motor and if ever goes bad I need the T6 with 1Kw motor as a backup
Replied by Dave2024 on topic StepperOnline T6 servo drive
StepperOnline T6 servo drive
Category: PnCConf Wizard
I've got the exact same setup and had the exact same problem. If memory serves it needed to be enabled, I think I just connected a pin to 24+, a wire for 24+ and a gnd wire.
If you can't figure it out I'll open the panel and post a pic.
No need but thanks! I just figured it out on the led screen with the buttons I had to go into PA400 press the set button and change it from 3 to 38 then press the Set button one last time and unplug and replug the power restarting it and it then starts up in SVR-ON mode. Then im now able to use the step/dir signal port to control the motor. Awesome!
If you dont mind me asking what kind of setup for a machine are you running a one of these T6's with? And which motor do you have? Is it the 1kw motor? Im planning on posibly running mine as a spindle for a mill of mine that has a sketchy motor and if ever goes bad I need the T6 with 1Kw motor as a backup
20 Jun 2024 23:38
StepperOnline T6 servo drive was created by Dave2024
StepperOnline T6 servo drive
Category: PnCConf Wizard
Hi, is anyone familiar with the StepperOnline T6 servo drives? I had got one a few weeks ago as they are sold as a complete kit including motor and cables and are supposedly a ready to run kit. Well, I got mine and connected the step/dir wires to a mesa 7i96s then in the Pncconf wizard I go to test the axis and there’s no movement. When I connect to it using the diagnostics cable and Motion Studio configuration software it starts rite up and I’m able to jog it. Does anyone know if there’s some kind of special parameters settings needed on the drive to make it work?
I see in the manual it says something about how “frequency for both input mode signal is 500kHz(Differential), 300kHz(Single-ended).” Is Pncconf using the correct frequency or is that something I should be looking at? Thanks Or how can I set this up as a spindle using step/dir? Thanks
I see in the manual it says something about how “frequency for both input mode signal is 500kHz(Differential), 300kHz(Single-ended).” Is Pncconf using the correct frequency or is that something I should be looking at? Thanks Or how can I set this up as a spindle using step/dir? Thanks
19 Jun 2024 06:42
I have created a distributed motion-controller using this device. Limited to 128 axes but that can be increased if need be
However, I'm a closed-loop servo kinda guy. Can't understand why anyone would be using steppers for machining, etc.
Craig
Replied by Tinine on topic ESP32/S2/S3 LinuxCNC Controller (6 axis hardware step gen), USB plug-and-play
ESP32/S2/S3 LinuxCNC Controller (6 axis hardware step gen), USB plug-and-play
Category: Computers and Hardware
Using the PIO state-machines of the RPi Pico, quad-decode/counting of multiple encoders is a piece of cake.
Idea was inspired by this one.
I have created a distributed motion-controller using this device. Limited to 128 axes but that can be increased if need be
However, I'm a closed-loop servo kinda guy. Can't understand why anyone would be using steppers for machining, etc.
Craig
09 Jun 2024 23:11
Replied by jg00163206 on topic mesa outputs
mesa outputs
Category: General LinuxCNC Questions
loadrt [KINS]KINEMATICS
loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS
loadrt hostmot2
loadrt hm2_eth board_ip="10.10.10.10" config="num_encoders=1 num_pwmgens=1 num_stepgens=5 sserial_port_0=0xxxxxxx"
setp [HMOT](CARD0).pwmgen.pwm_frequency 20000
setp [HMOT](CARD0).pwmgen.pdm_frequency 6000000
setp [HMOT](CARD0).watchdog.timeout_ns 5000000
loadrt pid names=pid.x,pid.y,pid.z,pid.s
addf [HMOT](CARD0).read servo-thread
addf motion-command-handler servo-thread
addf motion-controller servo-thread
addf pid.x.do-pid-calcs servo-thread
addf pid.y.do-pid-calcs servo-thread
addf pid.z.do-pid-calcs servo-thread
addf pid.s.do-pid-calcs servo-thread
addf [HMOT](CARD0).write servo-thread
setp [HMOT](CARD0).dpll.01.timer-us -50
setp [HMOT](CARD0).stepgen.timer-number 1
# external output signals
# --- SPINDLE-BRAKE ---
net spindle-brake => [HMOT](CARD0).outm.00.out-04
# --- SPINDLE-ENABLE ---
net spindle-enable => [HMOT](CARD0).outm.00.out-05
# external input signals
# --- HOME-X ---
net home-x <= [HMOT](CARD0).gpio.001.in_not
# --- HOME-Y ---
net home-y <= [HMOT](CARD0).gpio.002.in_not
# --- HOME-Z ---
net home-z <= [HMOT](CARD0).gpio.003.in_not
# --- PROBE-IN ---
net probe-in <= [HMOT](CARD0).gpio.004.in
# --- ESTOP-EXT ---
net estop-ext <= [HMOT](CARD0).gpio.005.in_not
#*******************
# AXIS X JOINT 0
#*******************
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
# This setting is to limit bogus stepgen
# velocity corrections caused by position
# feedback sample time jitter.
setp pid.x.maxerror 0.000500
net x-index-enable => pid.x.index-enable
net x-enable => pid.x.enable
net x-pos-cmd => pid.x.command
net x-pos-fb => pid.x.feedback
net x-output <= pid.x.output
# Step Gen signals/setup
setp [HMOT](CARD0).stepgen.01.dirsetup [JOINT_0]DIRSETUP
setp [HMOT](CARD0).stepgen.01.dirhold [JOINT_0]DIRHOLD
setp [HMOT](CARD0).stepgen.01.steplen [JOINT_0]STEPLEN
setp [HMOT](CARD0).stepgen.01.stepspace [JOINT_0]STEPSPACE
setp [HMOT](CARD0).stepgen.01.position-scale [JOINT_0]STEP_SCALE
setp [HMOT](CARD0).stepgen.01.step_type 0
setp [HMOT](CARD0).stepgen.01.control-type 1
setp [HMOT](CARD0).stepgen.01.maxaccel [JOINT_0]STEPGEN_MAXACCEL
setp [HMOT](CARD0).stepgen.01.maxvel [JOINT_0]STEPGEN_MAXVEL
# ---closedloop stepper signals---
net x-pos-cmd <= joint.0.motor-pos-cmd
net x-vel-cmd <= joint.0.vel-cmd
net x-output => [HMOT](CARD0).stepgen.01.velocity-cmd
net x-pos-fb <= [HMOT](CARD0).stepgen.01.position-fb
net x-pos-fb => joint.0.motor-pos-fb
net x-enable <= joint.0.amp-enable-out
net x-enable => [HMOT](CARD0).stepgen.01.enable
# ---setup home / limit switch signals---
net home-x => joint.0.home-sw-in
net x-neg-limit => joint.0.neg-lim-sw-in
net x-pos-limit => joint.0.pos-lim-sw-in
#*******************
# AXIS Y JOINT 1
#*******************
setp pid.y.Pgain [JOINT_1]P
setp pid.y.Igain [JOINT_1]I
setp pid.y.Dgain [JOINT_1]D
setp pid.y.bias [JOINT_1]BIAS
setp pid.y.FF0 [JOINT_1]FF0
setp pid.y.FF1 [JOINT_1]FF1
setp pid.y.FF2 [JOINT_1]FF2
setp pid.y.deadband [JOINT_1]DEADBAND
setp pid.y.maxoutput [JOINT_1]MAX_OUTPUT
setp pid.y.error-previous-target true
# This setting is to limit bogus stepgen
# velocity corrections caused by position
# feedback sample time jitter.
setp pid.y.maxerror 0.000500
net y-index-enable => pid.y.index-enable
net y-enable => pid.y.enable
net y-pos-cmd => pid.y.command
net y-pos-fb => pid.y.feedback
net y-output <= pid.y.output
# Step Gen signals/setup
setp [HMOT](CARD0).stepgen.00.dirsetup [JOINT_1]DIRSETUP
setp [HMOT](CARD0).stepgen.00.dirhold [JOINT_1]DIRHOLD
setp [HMOT](CARD0).stepgen.00.steplen [JOINT_1]STEPLEN
setp [HMOT](CARD0).stepgen.00.stepspace [JOINT_1]STEPSPACE
setp [HMOT](CARD0).stepgen.00.position-scale [JOINT_1]STEP_SCALE
setp [HMOT](CARD0).stepgen.00.step_type 0
setp [HMOT](CARD0).stepgen.00.control-type 1
setp [HMOT](CARD0).stepgen.00.maxaccel [JOINT_1]STEPGEN_MAXACCEL
setp [HMOT](CARD0).stepgen.00.maxvel [JOINT_1]STEPGEN_MAXVEL
# ---closedloop stepper signals---
net y-pos-cmd <= joint.1.motor-pos-cmd
net y-vel-cmd <= joint.1.vel-cmd
net y-output => [HMOT](CARD0).stepgen.00.velocity-cmd
net y-pos-fb <= [HMOT](CARD0).stepgen.00.position-fb
net y-pos-fb => joint.1.motor-pos-fb
net y-enable <= joint.1.amp-enable-out
net y-enable => [HMOT](CARD0).stepgen.00.enable
# ---setup home / limit switch signals---
net home-y => joint.1.home-sw-in
net y-neg-limit => joint.1.neg-lim-sw-in
net y-pos-limit => joint.1.pos-lim-sw-in
#*******************
# AXIS Z JOINT 2
#*******************
setp pid.z.Pgain [JOINT_2]P
setp pid.z.Igain [JOINT_2]I
setp pid.z.Dgain [JOINT_2]D
setp pid.z.bias [JOINT_2]BIAS
setp pid.z.FF0 [JOINT_2]FF0
setp pid.z.FF1 [JOINT_2]FF1
setp pid.z.FF2 [JOINT_2]FF2
setp pid.z.deadband [JOINT_2]DEADBAND
setp pid.z.maxoutput [JOINT_2]MAX_OUTPUT
setp pid.z.error-previous-target true
# This setting is to limit bogus stepgen
# velocity corrections caused by position
# feedback sample time jitter.
setp pid.z.maxerror 0.000500
net z-index-enable => pid.z.index-enable
net z-enable => pid.z.enable
net z-pos-cmd => pid.z.command
net z-pos-fb => pid.z.feedback
net z-output <= pid.z.output
# Step Gen signals/setup
setp [HMOT](CARD0).stepgen.03.dirsetup [JOINT_2]DIRSETUP
setp [HMOT](CARD0).stepgen.03.dirhold [JOINT_2]DIRHOLD
setp [HMOT](CARD0).stepgen.03.steplen [JOINT_2]STEPLEN
setp [HMOT](CARD0).stepgen.03.stepspace [JOINT_2]STEPSPACE
setp [HMOT](CARD0).stepgen.03.position-scale [JOINT_2]STEP_SCALE
setp [HMOT](CARD0).stepgen.03.step_type 0
setp [HMOT](CARD0).stepgen.03.control-type 1
setp [HMOT](CARD0).stepgen.03.maxaccel [JOINT_2]STEPGEN_MAXACCEL
setp [HMOT](CARD0).stepgen.03.maxvel [JOINT_2]STEPGEN_MAXVEL
# ---closedloop stepper signals---
net z-pos-cmd <= joint.2.motor-pos-cmd
net z-vel-cmd <= joint.2.vel-cmd
net z-output => [HMOT](CARD0).stepgen.03.velocity-cmd
net z-pos-fb <= [HMOT](CARD0).stepgen.03.position-fb
net z-pos-fb => joint.2.motor-pos-fb
net z-enable <= joint.2.amp-enable-out
net z-enable => [HMOT](CARD0).stepgen.03.enable
# ---setup home / limit switch signals---
net home-z => joint.2.home-sw-in
net z-neg-limit => joint.2.neg-lim-sw-in
net z-pos-limit => joint.2.pos-lim-sw-in
#*******************
# SPINDLE
#*******************
setp pid.s.Pgain [SPINDLE_0]P
setp pid.s.Igain [SPINDLE_0]I
setp pid.s.Dgain [SPINDLE_0]D
setp pid.s.bias [SPINDLE_0]BIAS
setp pid.s.FF0 [SPINDLE_0]FF0
setp pid.s.FF1 [SPINDLE_0]FF1
setp pid.s.FF2 [SPINDLE_0]FF2
setp pid.s.deadband [SPINDLE_0]DEADBAND
setp pid.s.maxoutput [SPINDLE_0]MAX_OUTPUT
setp pid.s.error-previous-target true
# This setting is to limit bogus stepgen
# velocity corrections caused by position
# feedback sample time jitter.
setp pid.s.maxerror 0.000500
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
# Step Gen signals/setup
setp [HMOT](CARD0).stepgen.04.dirsetup [SPINDLE_0]DIRSETUP
setp [HMOT](CARD0).stepgen.04.dirhold [SPINDLE_0]DIRHOLD
setp [HMOT](CARD0).stepgen.04.steplen [SPINDLE_0]STEPLEN
setp [HMOT](CARD0).stepgen.04.stepspace [SPINDLE_0]STEPSPACE
setp [HMOT](CARD0).stepgen.04.position-scale [SPINDLE_0]STEP_SCALE
setp [HMOT](CARD0).stepgen.04.step_type 0
setp [HMOT](CARD0).stepgen.04.control-type 1
setp [HMOT](CARD0).stepgen.04.maxaccel [SPINDLE_0]STEPGEN_MAXACCEL
setp [HMOT](CARD0).stepgen.04.maxvel [SPINDLE_0]STEPGEN_MAXVEL
net machine-is-on => [HMOT](CARD0).stepgen.04.enable
net spindle-vel-cmd-rps => [HMOT](CARD0).stepgen.04.velocity-cmd
net spindle-vel-fb-rps <= [HMOT](CARD0).stepgen.04.velocity-fb
# ---setup spindle control signals---
net spindle-vel-cmd-rps <= spindle.0.speed-out-rps
net spindle-vel-cmd-rps-abs <= spindle.0.speed-out-rps-abs
net spindle-vel-cmd-rpm <= spindle.0.speed-out
net spindle-vel-cmd-rpm-abs <= spindle.0.speed-out-abs
net spindle-enable <= spindle.0.on
net spindle-cw <= spindle.0.forward
net spindle-ccw <= spindle.0.reverse
net spindle-brake <= spindle.0.brake
net spindle-revs => spindle.0.revs
net spindle-at-speed => spindle.0.at-speed
net spindle-vel-fb-rps => spindle.0.speed-in
net spindle-index-enable <=> spindle.0.index-enable
# ---Setup spindle at speed signals---
sets spindle-at-speed true
#******************************
# connect miscellaneous signals
#******************************
# ---HALUI signals---
net axis-select-x halui.axis.x.select
net jog-x-pos halui.axis.x.plus
net jog-x-neg halui.axis.x.minus
net jog-x-analog halui.axis.x.analog
net x-is-homed halui.joint.0.is-homed
net axis-select-y halui.axis.y.select
net jog-y-pos halui.axis.y.plus
net jog-y-neg halui.axis.y.minus
net jog-y-analog halui.axis.y.analog
net y-is-homed halui.joint.1.is-homed
net axis-select-z halui.axis.z.select
net jog-z-pos halui.axis.z.plus
net jog-z-neg halui.axis.z.minus
net jog-z-analog halui.axis.z.analog
net z-is-homed halui.joint.2.is-homed
net jog-selected-pos halui.axis.selected.plus
net jog-selected-neg halui.axis.selected.minus
net spindle-manual-cw halui.spindle.0.forward
net spindle-manual-ccw halui.spindle.0.reverse
net spindle-manual-stop halui.spindle.0.stop
net machine-is-on halui.machine.is-on
net jog-speed halui.axis.jog-speed
net MDI-mode halui.mode.is-mdi
# ---coolant signals---
net coolant-mist <= iocontrol.0.coolant-mist
net coolant-flood <= iocontrol.0.coolant-flood
# ---probe signal---
net probe-in => motion.probe-input
# ---motion control signals---
net in-position <= motion.in-position
net machine-is-enabled <= motion.motion-enabled
# ---digital in / out signals---
# ---estop signals---
net estop-out <= iocontrol.0.user-enable-out
net estop-ext => iocontrol.0.emc-enable-in
# ---toolchange signals for custom tool changer---
net tool-number <= iocontrol.0.tool-prep-number
net tool-change-request <= iocontrol.0.tool-change
net tool-change-confirmed => iocontrol.0.tool-changed
net tool-prepare-request <= iocontrol.0.tool-prepare
net tool-prepare-confirmed => iocontrol.0.tool-prepared
heres the hal file.
loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS
loadrt hostmot2
loadrt hm2_eth board_ip="10.10.10.10" config="num_encoders=1 num_pwmgens=1 num_stepgens=5 sserial_port_0=0xxxxxxx"
setp [HMOT](CARD0).pwmgen.pwm_frequency 20000
setp [HMOT](CARD0).pwmgen.pdm_frequency 6000000
setp [HMOT](CARD0).watchdog.timeout_ns 5000000
loadrt pid names=pid.x,pid.y,pid.z,pid.s
addf [HMOT](CARD0).read servo-thread
addf motion-command-handler servo-thread
addf motion-controller servo-thread
addf pid.x.do-pid-calcs servo-thread
addf pid.y.do-pid-calcs servo-thread
addf pid.z.do-pid-calcs servo-thread
addf pid.s.do-pid-calcs servo-thread
addf [HMOT](CARD0).write servo-thread
setp [HMOT](CARD0).dpll.01.timer-us -50
setp [HMOT](CARD0).stepgen.timer-number 1
# external output signals
# --- SPINDLE-BRAKE ---
net spindle-brake => [HMOT](CARD0).outm.00.out-04
# --- SPINDLE-ENABLE ---
net spindle-enable => [HMOT](CARD0).outm.00.out-05
# external input signals
# --- HOME-X ---
net home-x <= [HMOT](CARD0).gpio.001.in_not
# --- HOME-Y ---
net home-y <= [HMOT](CARD0).gpio.002.in_not
# --- HOME-Z ---
net home-z <= [HMOT](CARD0).gpio.003.in_not
# --- PROBE-IN ---
net probe-in <= [HMOT](CARD0).gpio.004.in
# --- ESTOP-EXT ---
net estop-ext <= [HMOT](CARD0).gpio.005.in_not
#*******************
# AXIS X JOINT 0
#*******************
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
# This setting is to limit bogus stepgen
# velocity corrections caused by position
# feedback sample time jitter.
setp pid.x.maxerror 0.000500
net x-index-enable => pid.x.index-enable
net x-enable => pid.x.enable
net x-pos-cmd => pid.x.command
net x-pos-fb => pid.x.feedback
net x-output <= pid.x.output
# Step Gen signals/setup
setp [HMOT](CARD0).stepgen.01.dirsetup [JOINT_0]DIRSETUP
setp [HMOT](CARD0).stepgen.01.dirhold [JOINT_0]DIRHOLD
setp [HMOT](CARD0).stepgen.01.steplen [JOINT_0]STEPLEN
setp [HMOT](CARD0).stepgen.01.stepspace [JOINT_0]STEPSPACE
setp [HMOT](CARD0).stepgen.01.position-scale [JOINT_0]STEP_SCALE
setp [HMOT](CARD0).stepgen.01.step_type 0
setp [HMOT](CARD0).stepgen.01.control-type 1
setp [HMOT](CARD0).stepgen.01.maxaccel [JOINT_0]STEPGEN_MAXACCEL
setp [HMOT](CARD0).stepgen.01.maxvel [JOINT_0]STEPGEN_MAXVEL
# ---closedloop stepper signals---
net x-pos-cmd <= joint.0.motor-pos-cmd
net x-vel-cmd <= joint.0.vel-cmd
net x-output => [HMOT](CARD0).stepgen.01.velocity-cmd
net x-pos-fb <= [HMOT](CARD0).stepgen.01.position-fb
net x-pos-fb => joint.0.motor-pos-fb
net x-enable <= joint.0.amp-enable-out
net x-enable => [HMOT](CARD0).stepgen.01.enable
# ---setup home / limit switch signals---
net home-x => joint.0.home-sw-in
net x-neg-limit => joint.0.neg-lim-sw-in
net x-pos-limit => joint.0.pos-lim-sw-in
#*******************
# AXIS Y JOINT 1
#*******************
setp pid.y.Pgain [JOINT_1]P
setp pid.y.Igain [JOINT_1]I
setp pid.y.Dgain [JOINT_1]D
setp pid.y.bias [JOINT_1]BIAS
setp pid.y.FF0 [JOINT_1]FF0
setp pid.y.FF1 [JOINT_1]FF1
setp pid.y.FF2 [JOINT_1]FF2
setp pid.y.deadband [JOINT_1]DEADBAND
setp pid.y.maxoutput [JOINT_1]MAX_OUTPUT
setp pid.y.error-previous-target true
# This setting is to limit bogus stepgen
# velocity corrections caused by position
# feedback sample time jitter.
setp pid.y.maxerror 0.000500
net y-index-enable => pid.y.index-enable
net y-enable => pid.y.enable
net y-pos-cmd => pid.y.command
net y-pos-fb => pid.y.feedback
net y-output <= pid.y.output
# Step Gen signals/setup
setp [HMOT](CARD0).stepgen.00.dirsetup [JOINT_1]DIRSETUP
setp [HMOT](CARD0).stepgen.00.dirhold [JOINT_1]DIRHOLD
setp [HMOT](CARD0).stepgen.00.steplen [JOINT_1]STEPLEN
setp [HMOT](CARD0).stepgen.00.stepspace [JOINT_1]STEPSPACE
setp [HMOT](CARD0).stepgen.00.position-scale [JOINT_1]STEP_SCALE
setp [HMOT](CARD0).stepgen.00.step_type 0
setp [HMOT](CARD0).stepgen.00.control-type 1
setp [HMOT](CARD0).stepgen.00.maxaccel [JOINT_1]STEPGEN_MAXACCEL
setp [HMOT](CARD0).stepgen.00.maxvel [JOINT_1]STEPGEN_MAXVEL
# ---closedloop stepper signals---
net y-pos-cmd <= joint.1.motor-pos-cmd
net y-vel-cmd <= joint.1.vel-cmd
net y-output => [HMOT](CARD0).stepgen.00.velocity-cmd
net y-pos-fb <= [HMOT](CARD0).stepgen.00.position-fb
net y-pos-fb => joint.1.motor-pos-fb
net y-enable <= joint.1.amp-enable-out
net y-enable => [HMOT](CARD0).stepgen.00.enable
# ---setup home / limit switch signals---
net home-y => joint.1.home-sw-in
net y-neg-limit => joint.1.neg-lim-sw-in
net y-pos-limit => joint.1.pos-lim-sw-in
#*******************
# AXIS Z JOINT 2
#*******************
setp pid.z.Pgain [JOINT_2]P
setp pid.z.Igain [JOINT_2]I
setp pid.z.Dgain [JOINT_2]D
setp pid.z.bias [JOINT_2]BIAS
setp pid.z.FF0 [JOINT_2]FF0
setp pid.z.FF1 [JOINT_2]FF1
setp pid.z.FF2 [JOINT_2]FF2
setp pid.z.deadband [JOINT_2]DEADBAND
setp pid.z.maxoutput [JOINT_2]MAX_OUTPUT
setp pid.z.error-previous-target true
# This setting is to limit bogus stepgen
# velocity corrections caused by position
# feedback sample time jitter.
setp pid.z.maxerror 0.000500
net z-index-enable => pid.z.index-enable
net z-enable => pid.z.enable
net z-pos-cmd => pid.z.command
net z-pos-fb => pid.z.feedback
net z-output <= pid.z.output
# Step Gen signals/setup
setp [HMOT](CARD0).stepgen.03.dirsetup [JOINT_2]DIRSETUP
setp [HMOT](CARD0).stepgen.03.dirhold [JOINT_2]DIRHOLD
setp [HMOT](CARD0).stepgen.03.steplen [JOINT_2]STEPLEN
setp [HMOT](CARD0).stepgen.03.stepspace [JOINT_2]STEPSPACE
setp [HMOT](CARD0).stepgen.03.position-scale [JOINT_2]STEP_SCALE
setp [HMOT](CARD0).stepgen.03.step_type 0
setp [HMOT](CARD0).stepgen.03.control-type 1
setp [HMOT](CARD0).stepgen.03.maxaccel [JOINT_2]STEPGEN_MAXACCEL
setp [HMOT](CARD0).stepgen.03.maxvel [JOINT_2]STEPGEN_MAXVEL
# ---closedloop stepper signals---
net z-pos-cmd <= joint.2.motor-pos-cmd
net z-vel-cmd <= joint.2.vel-cmd
net z-output => [HMOT](CARD0).stepgen.03.velocity-cmd
net z-pos-fb <= [HMOT](CARD0).stepgen.03.position-fb
net z-pos-fb => joint.2.motor-pos-fb
net z-enable <= joint.2.amp-enable-out
net z-enable => [HMOT](CARD0).stepgen.03.enable
# ---setup home / limit switch signals---
net home-z => joint.2.home-sw-in
net z-neg-limit => joint.2.neg-lim-sw-in
net z-pos-limit => joint.2.pos-lim-sw-in
#*******************
# SPINDLE
#*******************
setp pid.s.Pgain [SPINDLE_0]P
setp pid.s.Igain [SPINDLE_0]I
setp pid.s.Dgain [SPINDLE_0]D
setp pid.s.bias [SPINDLE_0]BIAS
setp pid.s.FF0 [SPINDLE_0]FF0
setp pid.s.FF1 [SPINDLE_0]FF1
setp pid.s.FF2 [SPINDLE_0]FF2
setp pid.s.deadband [SPINDLE_0]DEADBAND
setp pid.s.maxoutput [SPINDLE_0]MAX_OUTPUT
setp pid.s.error-previous-target true
# This setting is to limit bogus stepgen
# velocity corrections caused by position
# feedback sample time jitter.
setp pid.s.maxerror 0.000500
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
# Step Gen signals/setup
setp [HMOT](CARD0).stepgen.04.dirsetup [SPINDLE_0]DIRSETUP
setp [HMOT](CARD0).stepgen.04.dirhold [SPINDLE_0]DIRHOLD
setp [HMOT](CARD0).stepgen.04.steplen [SPINDLE_0]STEPLEN
setp [HMOT](CARD0).stepgen.04.stepspace [SPINDLE_0]STEPSPACE
setp [HMOT](CARD0).stepgen.04.position-scale [SPINDLE_0]STEP_SCALE
setp [HMOT](CARD0).stepgen.04.step_type 0
setp [HMOT](CARD0).stepgen.04.control-type 1
setp [HMOT](CARD0).stepgen.04.maxaccel [SPINDLE_0]STEPGEN_MAXACCEL
setp [HMOT](CARD0).stepgen.04.maxvel [SPINDLE_0]STEPGEN_MAXVEL
net machine-is-on => [HMOT](CARD0).stepgen.04.enable
net spindle-vel-cmd-rps => [HMOT](CARD0).stepgen.04.velocity-cmd
net spindle-vel-fb-rps <= [HMOT](CARD0).stepgen.04.velocity-fb
# ---setup spindle control signals---
net spindle-vel-cmd-rps <= spindle.0.speed-out-rps
net spindle-vel-cmd-rps-abs <= spindle.0.speed-out-rps-abs
net spindle-vel-cmd-rpm <= spindle.0.speed-out
net spindle-vel-cmd-rpm-abs <= spindle.0.speed-out-abs
net spindle-enable <= spindle.0.on
net spindle-cw <= spindle.0.forward
net spindle-ccw <= spindle.0.reverse
net spindle-brake <= spindle.0.brake
net spindle-revs => spindle.0.revs
net spindle-at-speed => spindle.0.at-speed
net spindle-vel-fb-rps => spindle.0.speed-in
net spindle-index-enable <=> spindle.0.index-enable
# ---Setup spindle at speed signals---
sets spindle-at-speed true
#******************************
# connect miscellaneous signals
#******************************
# ---HALUI signals---
net axis-select-x halui.axis.x.select
net jog-x-pos halui.axis.x.plus
net jog-x-neg halui.axis.x.minus
net jog-x-analog halui.axis.x.analog
net x-is-homed halui.joint.0.is-homed
net axis-select-y halui.axis.y.select
net jog-y-pos halui.axis.y.plus
net jog-y-neg halui.axis.y.minus
net jog-y-analog halui.axis.y.analog
net y-is-homed halui.joint.1.is-homed
net axis-select-z halui.axis.z.select
net jog-z-pos halui.axis.z.plus
net jog-z-neg halui.axis.z.minus
net jog-z-analog halui.axis.z.analog
net z-is-homed halui.joint.2.is-homed
net jog-selected-pos halui.axis.selected.plus
net jog-selected-neg halui.axis.selected.minus
net spindle-manual-cw halui.spindle.0.forward
net spindle-manual-ccw halui.spindle.0.reverse
net spindle-manual-stop halui.spindle.0.stop
net machine-is-on halui.machine.is-on
net jog-speed halui.axis.jog-speed
net MDI-mode halui.mode.is-mdi
# ---coolant signals---
net coolant-mist <= iocontrol.0.coolant-mist
net coolant-flood <= iocontrol.0.coolant-flood
# ---probe signal---
net probe-in => motion.probe-input
# ---motion control signals---
net in-position <= motion.in-position
net machine-is-enabled <= motion.motion-enabled
# ---digital in / out signals---
# ---estop signals---
net estop-out <= iocontrol.0.user-enable-out
net estop-ext => iocontrol.0.emc-enable-in
# ---toolchange signals for custom tool changer---
net tool-number <= iocontrol.0.tool-prep-number
net tool-change-request <= iocontrol.0.tool-change
net tool-change-confirmed => iocontrol.0.tool-changed
net tool-prepare-request <= iocontrol.0.tool-prepare
net tool-prepare-confirmed => iocontrol.0.tool-prepared
heres the hal file.
07 Jun 2024 10:48 - 07 Jun 2024 13:08
Replied by cornholio on topic 7i92 configuration with two daughter card
7i92 configuration with two daughter card
Category: Basic Configuration
You will need new firmware for your 7i92. I'm not to sure whether the 7i92 can support 9 stepgens, 2 Spindle encoders with index and 2 smart serial ports. I might be wrong about this, but I think I've heard Pete mention that there is some limitations with the 7i92. This bit struck out in red is incorrect see Pete's post below for correction.
Something that configures the 7i92 that has a 7i76 on one port and a config that matches the 7i78. (possible a Bob type config)
The 7i78 is just a card that conditions the electrical signals from the 7i92, it has no "smarts" it is passive. The FPGA on the port it is connected to provides all the signals.
The 7i76 has 1 encoder with index that is suitable for a spindle and 2 encoders that are suitable for a low speed encoder, eg a MPG. These are enabled by setting the smart serial to mode 2.
It can be a little confusing.
The 7i76 stepper connections and encoder with index & analog spindle controller are controlled directly by the FPGA on the 7i92. The other functions 48 bits of I\O, low speed MPG inputs and analog in are controlled via a MCU on the 7i76 that connects via a smart serial interface that is routed on the PCB. It also has a second smart serial port that is exposed via the connectors.
The 7i78 stepper connections and encoder with index & analog spindle controller are controlled directly by the FPGA on the 7i92. Similar to the 7i76.
And of course the 7i84 is connected via the smart serial interface and has a MCU on the board that controls the I\O.
It took me a while to figure this out and it really kicked in when I started playing with the FPGA firmwares.
Something that configures the 7i92 that has a 7i76 on one port and a config that matches the 7i78. (possible a Bob type config)
The 7i78 is just a card that conditions the electrical signals from the 7i92, it has no "smarts" it is passive. The FPGA on the port it is connected to provides all the signals.
The 7i76 has 1 encoder with index that is suitable for a spindle and 2 encoders that are suitable for a low speed encoder, eg a MPG. These are enabled by setting the smart serial to mode 2.
It can be a little confusing.
The 7i76 stepper connections and encoder with index & analog spindle controller are controlled directly by the FPGA on the 7i92. The other functions 48 bits of I\O, low speed MPG inputs and analog in are controlled via a MCU on the 7i76 that connects via a smart serial interface that is routed on the PCB. It also has a second smart serial port that is exposed via the connectors.
The 7i78 stepper connections and encoder with index & analog spindle controller are controlled directly by the FPGA on the 7i92. Similar to the 7i76.
And of course the 7i84 is connected via the smart serial interface and has a MCU on the board that controls the I\O.
It took me a while to figure this out and it really kicked in when I started playing with the FPGA firmwares.
07 Jun 2024 07:59
Help me setting up My LinuxCNC was created by amanker
Help me setting up My LinuxCNC
Category: Basic Configuration
I am using MKS Octopus Pro Board STM32F429 with Remora SPI and Raspberry PI4.
I wanted to use RPI5 but SPI is not working in LinuxCNC for rpi5. I am also using MPG Pendant (commonly available on eBay with MPG encoder with axis and scale selector and eStop.)
I am able to move steppers but I want to properly setup LinuxCNC with Kinamatics.
Whats Working.
1. Steppers moves
2. Limit/Home switches
3. PWM spindle
4. eStop
5. Touch Probe
I have made my machine to have two configurations. XYZAB(A Rotary on Table & B Rotating Spindle) and XYZAC (Its a common trinunion table)
My Problems.
1. I want to enable or disable my machine with Pendant (eStop Switch) not with GUI.
2. Stepper moves but on higher feed its slows down in middle of movement. Up 1000mm/sec its working. 1000-2200 not moving as expected slows down in middle. above 2200 joint follow error.
3. I want to implement both Kinamatics. XYZAC is available on linuxcnc forum but My type XYZAB config is not available(I googled a lot)
Here are my configuration files
ini file
Hal FIle
mpg.hal
qt_dragon_hd_postgui hal
I wanted to use RPI5 but SPI is not working in LinuxCNC for rpi5. I am also using MPG Pendant (commonly available on eBay with MPG encoder with axis and scale selector and eStop.)
I am able to move steppers but I want to properly setup LinuxCNC with Kinamatics.
Whats Working.
1. Steppers moves
2. Limit/Home switches
3. PWM spindle
4. eStop
5. Touch Probe
I have made my machine to have two configurations. XYZAB(A Rotary on Table & B Rotating Spindle) and XYZAC (Its a common trinunion table)
My Problems.
1. I want to enable or disable my machine with Pendant (eStop Switch) not with GUI.
2. Stepper moves but on higher feed its slows down in middle of movement. Up 1000mm/sec its working. 1000-2200 not moving as expected slows down in middle. above 2200 joint follow error.
3. I want to implement both Kinamatics. XYZAC is available on linuxcnc forum but My type XYZAB config is not available(I googled a lot)
Here are my configuration files
ini file
# Basic LinuxCNC config for testing of Remora firmware
[EMC]
MACHINE = Remora-XY
DEBUG = 5
VERSION = 1.1
[DISPLAY]
DISPLAY = qtvcp qtdragon_hd
#USER_COMMAND_FILE = usercommand_regularmac_800.py
EDITOR = gedit
POSITION_OFFSET = RELATIVE
POSITION_FEEDBACK = ACTUAL
ARCDIVISION = 64
GRIDS = 10mm 20mm 50mm 100mm
MAX_FEED_OVERRIDE = 1.2
MIN_SPINDLE_0_OVERRIDE = 0.5
MAX_SPINDLE_0_OVERRIDE = 1.5
DEFAULT_SPINDLE_0_SPEED = 1200
SPINDLE_INCREMENT = 200
MIN_SPINDLE_0_SPEED = 200
MAX_SPINDLE_0_SPEED = 1200
MAX_SPINDLE_POWER = 500
DEFAULT_LINEAR_VELOCITY = 15.00
MIN_LINEAR_VELOCITY = 0
MAX_LINEAR_VELOCITY = 40.00
DEFAULT_ANGULAR_VELOCITY = 25.00
MIN_ANGULAR_VELOCITY = 0
MAX_ANGULAR_VELOCITY = 50.00
INTRO_GRAPHIC = linuxcnc.gif
INTRO_TIME = 5
PROGRAM_PREFIX = ~/linuxcnc/nc_files
INCREMENTS = Continuous, 50mm, 10mm, 5mm, 1mm, .5mm, .1mm, .05mm, .01mm
#ANGULAR_INCREMENTS = 1,5,10,30,45,90
NGCGUI_SUBFILE_PATH = ~/linuxcnc/nc_files/examples/ngcgui_lib
# pre selected programs tabs
# specify filenames only, files must be in the NGCGUI_SUBFILE_PATH
NGCGUI_SUBFILE = slot.ngc
NGCGUI_SUBFILE = qpocket.ngc
#EMBED_TAB_NAME = Vismach 5 Axis
#EMBED_TAB_COMMAND = qtvcp vismach_5axis_gantry
#EMBED_TAB_LOCATION = tabWidget_utilities
[KINS]
JOINTS = 5
#KINEMATICS =trivkins coordinates=XYZ kinstype=BOTH
KINEMATICS =trivkins coordinates=XYZAC
[FILTER]
PROGRAM_EXTENSION = .py Python Script
py = python
[TASK]
TASK = milltask
CYCLE_TIME = 0.010
[RS274NGC]
PARAMETER_FILE = linuxcnc.var
SUBROUTINE_PATH = :~/linuxcnc/nc_files/examples/ngcgui_lib:~/linuxcnc/nc_files/examples/ngcgui_lib/utilitysubs; \
~/linuxcnc/nc_files/examples/probe/basic_probe/macros:~/linuxcnc/nc_files/examples/remap-subroutines: \
~/linuxcnc/nc_files/examples/ngcgui_lib/remap_lib
ON_ABORT_COMMAND=O <on_abort> call
RS274NGC_STARTUP_CODE = G17 G21 G40 G43H0 G54 G64P0.0005 G80 G90 G94 G97 M5 M9
[MDI_COMMAND_LIST]
# for macro buttons
MDI_COMMAND = G0 Z25;X0 Y0;Z0, Goto\nUser\nZero
MDI_COMMAND = G53 G0 Z0;G53 G0 X0 Y0,Goto\nMachn\nZero
[PROBE]
#USE_PROBE = versaprobe
USE_PROBE = basicprobe
[EMCMOT]
EMCMOT = motmod
COMM_TIMEOUT = 1.0
COMM_WAIT = 0.010
BASE_PERIOD = 0
SERVO_PERIOD = 1000000
[HAL]
HALFILE = remora-xyz.hal
HALFILE = mpg.hal
POSTGUI_HALFILE = qtdragon_hd_postgui.hal
#POSTGUI_HALFILE = postgui_call_list.hal
HALUI = halui
[HALUI]
[TRAJ]
COORDINATES = X Y Z A C
LINEAR_UNITS = mm
ANGULAR_UNITS = degree
CYCLE_TIME = 0.010
DEFAULT_LINEAR_VELOCITY = 15.00
MAX_LINEAR_VELOCITY = 40.00
NO_FORCE_HOMING = 1
[EMCIO]
EMCIO = io
CYCLE_TIME = 0.100
TOOL_TABLE = tool.tbl
[AXIS_X]
MAX_VELOCITY = 40.00
MAX_ACCELERATION = 500.0
MIN_LIMIT = 0.0
MAX_LIMIT = 300.0
[JOINT_0]
TYPE = LINEAR
HOME = 0.0
MIN_LIMIT = 0.0
MAX_LIMIT = 300.0
MAX_VELOCITY = 40.0
MAX_ACCELERATION = 500.0
STEPGEN_MAXACCEL = 500.0
SCALE = 1600
FERROR = 2
MIN_FERROR = 2.0
HOME_OFFSET = 0.0
HOME_SEARCH_VEL = 0
HOME_LATCH_VEL = 0
HOME_SEQUENCE = 0
[AXIS_Y]
MAX_VELOCITY = 40.0
MAX_ACCELERATION = 20.0
MIN_LIMIT = 0.0
MAX_LIMIT = 200.0
[JOINT_1]
TYPE = LINEAR
HOME = 0.0
MIN_LIMIT = 0.0
MAX_LIMIT = 200.0
MAX_VELOCITY = 40.0
MAX_ACCELERATION = 20.0
STEPGEN_MAXACCEL = 2000.0
SCALE = 1600.00
FERROR = 9.0
MIN_FERROR = 5.0
HOME_OFFSET = 0.0
HOME_SEARCH_VEL = 0
HOME_LATCH_VEL = 0
HOME_SEQUENCE = 0
[AXIS_Z]
OFFSET_AV_RATIO = 0.2
MAX_VELOCITY = 40.0
MAX_ACCELERATION = 20.0
MIN_LIMIT = 0
MAX_LIMIT = 200
[JOINT_2]
TYPE = LINEAR
HOME = 0.0
MIN_LIMIT = 0
MAX_LIMIT = 200
MAX_VELOCITY = 40.0
MAX_ACCELERATION = 20.0
STEPGEN_MAXACCEL = 300.0
SCALE = 1200.00
FERROR = 5
MIN_FERROR = 1.0
HOME_OFFSET = 0.0
HOME_SEARCH_VEL = 0
HOME_LATCH_VEL = 0
HOME_SEQUENCE = 0
[AXIS_A]
OFFSET_AV_RATIO = 0.2
MAX_VELOCITY = 50.0
MAX_ACCELERATION = 20.0
MIN_LIMIT = 0
MAX_LIMIT = 360
[JOINT_3]
TYPE = ANGULAR
HOME = 0.0
MIN_LIMIT = 0
MAX_LIMIT = 360
MAX_VELOCITY = 50.0
MAX_ACCELERATION = 20.0
STEPGEN_MAXACCEL = 300.0
SCALE = 71.111
FERROR = 5
MIN_FERROR = 1.0
HOME_OFFSET = 0.0
HOME_SEARCH_VEL = 0
HOME_LATCH_VEL = 0
HOME_SEQUENCE = 0
[AXIS_C]
OFFSET_AV_RATIO = 0.2
MAX_VELOCITY = 50.0
MAX_ACCELERATION = 20.0
MIN_LIMIT = 0
MAX_LIMIT = 180
[JOINT_4]
TYPE = ANGULAR
HOME = 0.0
MIN_LIMIT = 0
MAX_LIMIT = 180
MAX_VELOCITY = 50.0
MAX_ACCELERATION = 20.0
STEPGEN_MAXACCEL = 300.0
SCALE = 71.111
FERROR = 5
MIN_FERROR = 1.0
HOME_OFFSET = 0.0
HOME_SEARCH_VEL = 0
HOME_LATCH_VEL = 0
HOME_SEQUENCE = 0Hal FIle
# load the realtime components
loadrt [KINS]KINEMATICS
loadrt [EMCMOT]EMCMOT base_period_nsec=[EMCMOT]BASE_PERIOD servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS
#loadrt remora
loadrt remora chip_type=STM SPI_clk_div=32 PRU_base_freq=120000
#loadrt remora chip_type=LPC SPI_clk_div=64
# estop loopback, SPI comms enable and feedback
net user-enable-out <= iocontrol.0.user-enable-out => remora.SPI-enable
net user-request-enable <= iocontrol.0.user-request-enable => remora.SPI-reset
net remora-status remora.SPI-status => iocontrol.0.emc-enable-in
# add the remora and motion functions to threads
addf remora.read servo-thread
addf motion-command-handler servo-thread
addf motion-controller servo-thread
addf remora.update-freq servo-thread
addf remora.write servo-thread
# Joint 0 setup
setp remora.joint.0.scale [JOINT_0]SCALE
setp remora.joint.0.maxaccel [JOINT_0]STEPGEN_MAXACCEL
net xpos-cmd <= joint.0.motor-pos-cmd => remora.joint.0.pos-cmd
net j0pos-fb <= remora.joint.0.pos-fb => joint.0.motor-pos-fb
net j0enable <= joint.0.amp-enable-out => remora.joint.0.enable
# Joint 1 setup
setp remora.joint.1.scale [JOINT_1]SCALE
setp remora.joint.1.maxaccel [JOINT_1]STEPGEN_MAXACCEL
net j1pos-cmd <= joint.1.motor-pos-cmd => remora.joint.1.pos-cmd
net j1pos-fb <= remora.joint.1.pos-fb => joint.1.motor-pos-fb
net j1enable <= joint.1.amp-enable-out => remora.joint.1.enable
# Joint 2 setup
setp remora.joint.2.scale [JOINT_2]SCALE
setp remora.joint.2.maxaccel [JOINT_2]STEPGEN_MAXACCEL
net j2pos-cmd <= joint.2.motor-pos-cmd => remora.joint.2.pos-cmd
net j2pos-fb <= remora.joint.2.pos-fb => joint.2.motor-pos-fb
net j2enable <= joint.2.amp-enable-out => remora.joint.2.enable
# Joint 3 setup
setp remora.joint.3.scale [JOINT_3]SCALE
setp remora.joint.3.maxaccel [JOINT_3]STEPGEN_MAXACCEL
net j3pos-cmd <= joint.3.motor-pos-cmd => remora.joint.3.pos-cmd
net j3pos-fb <= remora.joint.3.pos-fb => joint.3.motor-pos-fb
net j3enable <= joint.3.amp-enable-out => remora.joint.3.enable
# Joint 4 setup
setp remora.joint.4.scale [JOINT_4]SCALE
setp remora.joint.4.maxaccel [JOINT_4]STEPGEN_MAXACCEL
net j4pos-cmd <= joint.4.motor-pos-cmd => remora.joint.4.pos-cmd
net j4pos-fb <= remora.joint.4.pos-fb => joint.4.motor-pos-fb
net j4enable <= joint.4.amp-enable-out => remora.joint.4.enable
# end-stops
net X-min remora.input.0 => joint.0.neg-lim-sw-in
# net X-max remora.input.1 => joint.0.home-sw-in joint.0.pos-lim-sw-in
net Y-min remora.input.2 => joint.1.neg-lim-sw-in
# net Y-max remora.input.3 => joint.1.home-sw-in joint.1.pos-lim-sw-in
net Z-min remora.input.4 => joint.2.neg-lim-sw-in
# net Z-max remora.input.5 => joint.2.home-sw-in joint.2.pos-lim-sw-in
# Probe
net probe-input motion.probe-input <= remora.input.6
# net probe-input => qtdragon.led-probe
# Spindle
loadrt pwmgen output_type=0
addf pwmgen.update servo-thread
addf pwmgen.make-pulses servo-thread
net spindle-speed-cmd spindle.0.speed-out => pwmgen.0.value
net spindle-on spindle.0.on => pwmgen.0.enable
net spindle-pwm pwmgen.0.pwm => remora.output.0
# Set the spindle's top speed in RPM
setp pwmgen.0.scale 12000
# net spindle-speed-feedback spindle.0.speed-out-rps => spindle.0.speed-in
mpg.hal
# Jog Pendant
loadrt PRUencoder names=encoder.0
addf PRUencoder.capture-position servo-thread
setp encoder.0.position-scale 400.0
# connect the hal encoder to linuxcnc
net encoder-count <= remora.PV.0 => encoder.0.raw_count
loadrt conv_float_s32 count=1
addf conv-float-s32.0 servo-thread
loadrt mux4 count=1
addf mux4.0 servo-thread
# If your MPG outputs a quadrature signal per click set x4 to 1
# If your MPG puts out 1 pulse per click set x4 to 0
#setp encoder.0.x4-mode 0
# For velocity mode, set to 1
# In velocity mode the axis stops when the dial is stopped
# even if that means the commanded motion is not completed,
# For position mode (the default), set to 0
# In position mode the axis will move exactly jog-scale
# units for each count, regardless of how long that might take,
setp joint.0.jog-vel-mode 1
setp joint.1.jog-vel-mode 1
setp joint.2.jog-vel-mode 1
setp joint.3.jog-vel-mode 1
setp joint.4.jog-vel-mode 1
# This sets the scale that will be used based on the input to the mux4
setp mux4.0.in0 0.1
setp mux4.0.in1 0.01
setp mux4.0.in2 0.001
# The inputs to the mux4 component
net scale1 mux4.0.sel0 <= remora.input.10
net scale2 mux4.0.sel1 <= remora.input.9
# The output from the mux4 is sent to each axis jog scale
net mpg-scale <= mux4.0.out
net mpg-scale => joint.0.jog-scale axis.x.jog-scale
net mpg-scale => joint.1.jog-scale axis.y.jog-scale
net mpg-scale => joint.2.jog-scale axis.z.jog-scale
net mpg-scale => joint.3.jog-scale axis.a.jog-scale
net mpg-scale => joint.4.jog-scale axis.c.jog-scale
# The MPG inputs
#net mpg-a encoder.0.phase-A <= remora.input.7
#net mpg-b encoder.0.phase-B <= remora.input.8
# The Axis select inputs
net mpg-x joint.0.jog-enable axis.x.jog-enable <= remora.input.11
net mpg-y joint.1.jog-enable axis.y.jog-enable <= remora.input.12
net mpg-z joint.2.jog-enable axis.z.jog-enable <= remora.input.13
net mpg-a joint.3.jog-enable axis.a.jog-enable <= remora.input.14
net mpg-c joint.4.jog-enable axis.c.jog-enable <= remora.input.15
# The encoder output counts to the axis. Only the selected axis will move.
net encoder-count conv-float-s32.0.in
net encoder-counts conv-float-s32.0.out
#net encoder-counts <= encoder.0.counts
net encoder-counts => joint.0.jog-counts axis.x.jog-counts
net encoder-counts => joint.1.jog-counts axis.y.jog-counts
net encoder-counts => joint.2.jog-counts axis.z.jog-counts
net encoder-counts => joint.3.jog-counts axis.a.jog-counts
net encoder-counts => joint.4.jog-counts axis.c.jog-countsqt_dragon_hd_postgui hal
# load components
########################################################################
loadrt logic names=logic-and personality=0x102
addf logic-and servo-thread
# load a summing component for adding spindle lift and Z compensation
loadrt scaled_s32_sums
addf scaled-s32-sums.0 servo-thread
loadusr -Wn z_level_compensation z_level_compensation
# method parameter must be one of nearest(2), linear(1), cubic (0)
setp z_level_compensation.fade-height 0.0
setp z_level_compensation.method 1
# connect signals
########################################################################
net spindle-speed-limited => spindle.0.speed-out-rps => spindle.0.speed-in
# the unlink pin commands are only used, because they are connected
# in core_sim.hal and we use this file to simulate
unlinkp iocontrol.0.tool-change
unlinkp iocontrol.0.tool-changed
unlinkp iocontrol.0.tool-prep-number
net tool-change hal_manualtoolchange.change <= iocontrol.0.tool-change
net tool-changed hal_manualtoolchange.changed <= iocontrol.0.tool-changed
net tool-prep-number hal_manualtoolchange.number <= iocontrol.0.tool-prep-number
net eoffset-clear axis.z.eoffset-clear
net eoffset-counts axis.z.eoffset-counts
setp axis.z.eoffset-scale .001
net eoffset-total axis.z.eoffset
net eoffset-total qtdragon.eoffset-value
setp axis.z.eoffset-enable True
## external offsets for spindle pause function
##################################################
net eoffset-clear qtdragon.eoffset-clear
net eoffset-spindle-count <= qtdragon.eoffset-spindle-count
net spindle-pause qtdragon.spindle-inhibit spindle.0.inhibit
net probe-input qtdragon.led-probe
## Z level compensation
####################################################
net eoffset-clr2 z_level_compensation.clear => logic-and.in-01
net xpos-cmd z_level_compensation.x-pos <= joint.0.motor-pos-cmd
net ypos-cmd z_level_compensation.y-pos <= joint.1.pos-cmd
net zpos-cmd z_level_compensation.z-pos <= joint.2.pos-cmd
net z_compensation_on z_level_compensation.enable-in <= qtdragon.comp-on
net eoffset-zlevel-count z_level_compensation.counts => qtdragon.eoffset-zlevel-count
net eoffset-spindle-count scaled-s32-sums.0.in0
net eoffset-zlevel-count scaled-s32-sums.0.in1
setp scaled-s32-sums.0.scale0 1000
net eoffset-counts scaled-s32-sums.0.out-s
30 May 2024 19:10
Replied by spumco on topic Mesa 7i96s and 750W AC servo
Mesa 7i96s and 750W AC servo
Category: PnCConf Wizard
Just as I suspected.
There's no such thing as "sorta" NEMA34. Your BLDC is a standard 80mm servo frame. The bolt pattern is very close, but not exactly the same as NEMA34.
This is good news, actually. Your mounting plate will accept an 80mm servo with no modifications (i.e. no die grinder, file, or fiddling). Had you bought that NEMA34 86M-DHT (DMM) servo you'd have found that the bolts didn't line up, and the shaft wouldn't work because it's 1/2" (12.7mm).
The 86N-DHT is the metric version of that motor, and has an 80mm boss, the correct bolt pattern, and a 14mm shaft. Drive is ~$270, motor is ~$300. Plus cables, so ~$600-$700 for everything.
However... there are more powerful 80mm servo motors available at much lower cost than the DMM. Specifically, the StepperOnline T6 series 1kw servo & drive kit. These are rebranded Leadshine servos, BTW.
Servo drive & motor kit is only ~$270, shipped from the US. 3kRPM rated, 5kRPM max. 30% more torque than the DMM 750w servos. Very easy connections, although it can't use 0-10v analog in signals. You will have to run the servo in step & direction mode, but LCNC works well with S&D spindles. Has decent encoder output signals from the drive (with index), so if you use a 1:1 pulley ratio you can do rigid tapping with no additional encoder needed.
The only downside (for you) is that the motor shaft is 19mm.
This is easily dealt with, however, by replacing the motor pulley with a different one. I'd recommend using a taper-lock or QD pulley and purchasing the appropriate 19mm taper-lock or QD bushing. These mounts provide a very firm grip and very concentric mounting. Check out the B&B Manufacturing website; they have excellent online support for finding the right pulley/belt/bushing combos.
Your mill probably has an HTD-5M belt, likely 15 or 20mm wide, and what appears to be a 50T pulley from internet pics. Just count the teeth, measure the width between the flanges (should be about 1mm wider than the standard belt size).
If you are willing to fabricate a different mounting plate/assembly then we can explore other motor options. But I suspect you just want your mill working ASAP and this is the quickest/easiest thing I can think of. It's not ideal, and I'm concerned that the motor will run very hot when buried inside the head, but this should get you going pretty quickly for not much money.
While you're thinking about it, have a look inside the head and see if you can figure out a way to get a 24vdc fan inside and some vents to cool the motor down.
There's no such thing as "sorta" NEMA34. Your BLDC is a standard 80mm servo frame. The bolt pattern is very close, but not exactly the same as NEMA34.
This is good news, actually. Your mounting plate will accept an 80mm servo with no modifications (i.e. no die grinder, file, or fiddling). Had you bought that NEMA34 86M-DHT (DMM) servo you'd have found that the bolts didn't line up, and the shaft wouldn't work because it's 1/2" (12.7mm).
The 86N-DHT is the metric version of that motor, and has an 80mm boss, the correct bolt pattern, and a 14mm shaft. Drive is ~$270, motor is ~$300. Plus cables, so ~$600-$700 for everything.
However... there are more powerful 80mm servo motors available at much lower cost than the DMM. Specifically, the StepperOnline T6 series 1kw servo & drive kit. These are rebranded Leadshine servos, BTW.
Servo drive & motor kit is only ~$270, shipped from the US. 3kRPM rated, 5kRPM max. 30% more torque than the DMM 750w servos. Very easy connections, although it can't use 0-10v analog in signals. You will have to run the servo in step & direction mode, but LCNC works well with S&D spindles. Has decent encoder output signals from the drive (with index), so if you use a 1:1 pulley ratio you can do rigid tapping with no additional encoder needed.
The only downside (for you) is that the motor shaft is 19mm.
This is easily dealt with, however, by replacing the motor pulley with a different one. I'd recommend using a taper-lock or QD pulley and purchasing the appropriate 19mm taper-lock or QD bushing. These mounts provide a very firm grip and very concentric mounting. Check out the B&B Manufacturing website; they have excellent online support for finding the right pulley/belt/bushing combos.
Your mill probably has an HTD-5M belt, likely 15 or 20mm wide, and what appears to be a 50T pulley from internet pics. Just count the teeth, measure the width between the flanges (should be about 1mm wider than the standard belt size).
If you are willing to fabricate a different mounting plate/assembly then we can explore other motor options. But I suspect you just want your mill working ASAP and this is the quickest/easiest thing I can think of. It's not ideal, and I'm concerned that the motor will run very hot when buried inside the head, but this should get you going pretty quickly for not much money.
While you're thinking about it, have a look inside the head and see if you can figure out a way to get a 24vdc fan inside and some vents to cool the motor down.
26 May 2024 18:03
Replied by Krister on topic LinuxCNC on Raspberry Pi 5
LinuxCNC on Raspberry Pi 5
Category: Installing LinuxCNC
Problem with indexpuls on spindle ,The reading on the imput 10 GPIO 22 for the indexpuls is 0.5 volt ac and the reading on input 11 GPIO 24 is 0.2 v ac , I dont know
the settings in HAL file for this and I need help to find the right values for correkt reading in the Hal file ,i dont know the right place to play with these numers , I can read the signal on the input at the chinese breakout bord and after that the signal disepere nothing in the Halmeter or Halscope. My set up is Raspberry pi 5 and this byte2bot.com/blogs/instructions/setting-...-the-pi-parallel-hat and this byte2bot.com/products/5-axis-cnc-interfa...tepper-motor-drivers
the HAL file
# Generated by stepconf 1.1 at Mon Mar 18 18:19:52 2024
# If you make changes to this file, they will be
# overwritten when you run stepconf again
loadrt [KINS]KINEMATICS
loadrt [EMCMOT]EMCMOT base_period_nsec=[EMCMOT]BASE_PERIOD servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS
#loadrt hal_parport cfg="0 out"
#setp parport.0.reset-time 5000
loadrt stepgen step_type=0,0
loadrt encoder num_chan=4
loadrt abs count=1
loadrt scale count=1
loadrt lowpass count=1
loadrt near
loadrt pwmgen output_type=1
loadrt classicladder_rt numPhysInputs=15 numPhysOutputs=15 numS32in=10 numS32out=10 numFloatIn=10 numFloatOut=10
#loadrt charge_pump
#loadrt hal_pi_gpio dir=0x13407 exclude=0x1F64BF8
loadrt hal_gpio inputs=PIN22,PIN32,PIN33,PIN24,PIN26 outputs=PIN12,PIN37,PIN21,PIN19,PIN23,PIN29,PIN31,PIN35,PIN11,PIN16,PIN13,PIN18
#addf parport.0.read base-thread
addf stepgen.make-pulses base-thread
#loadrt sum2 count=1
#loadrt not count=1
addf encoder.update-counters base-thread
addf pwmgen.make-pulses base-thread
#addf parport.0.write base-thread
#addf parport.0.reset base-thread
addf stepgen.capture-position servo-thread
addf encoder.capture-position servo-thread
addf motion-command-handler servo-thread
addf motion-controller servo-thread
addf classicladder.0.refresh servo-thread
addf stepgen.update-freq servo-thread
addf pwmgen.update servo-thread
addf abs.0 servo-thread
addf scale.0 servo-thread
addf lowpass.0 servo-thread
addf hal_gpio.read base-thread
addf hal_gpio.write base-thread
addf near.0 servo-thread
net spindle-cmd-rpm => pwmgen.0.value
net spindle-on <= spindle.0.on => pwmgen.0.enable
net spindle-pwm <= pwmgen.0.pwm
setp pwmgen.0.pwm-freq 100.0
setp pwmgen.0.scale 1166.6666666666665
setp pwmgen.0.offset 0.11428571428571428
setp pwmgen.0.dither-pwm true
net spindle-cmd-rpm <= spindle.0.speed-out
net spindle-cmd-rpm-abs <= spindle.0.speed-out-abs
net spindle-cmd-rps <= spindle.0.speed-out-rps
net spindle-cmd-rps-abs <= spindle.0.speed-out-rps-abs
net spindle-at-speed => spindle.0.at-speed
net spindle-cw <= spindle.0.forward
################ Spindle index #########################
# Add the encoder to HAL and attach it to threads.
#loadrt encoder num_chan=4
#addf encoder.update-counters base-thread
#addf encoder.capture-position servo-thread
# Set the HAL encoder to 20 pulses per revolution.
setp encoder.3.position-scale 20
# Set the HAL encoder to non-quadrature simple counting using A only.
setp encoder.3.counter-mode true
# Connect the HAL encoder outputs to LinuxCNC.
net spindle-position encoder.3.position => spindle.0.revs
net spindle-velocity encoder.3.velocity => spindle.0.speed-in
net spindle-index-enable encoder.3.index-enable <=> spindle.0.index-enable
# Connect the HAL encoder inputs to the real encoder.
net spindle-phase-a encoder.3.phase-A # <= hal_gpio.PIN24-in
net spindle-phase-b encoder.3.phase-B
net spindle-index encoder.3.phase-Z # <= hal_gpio.PIN22-in-not
setp encoder.3.position-scale 20.000000 #
setp encoder.3.counter-mode 1 #
setp lowpass.0.gain 0.05
net spindle-position encoder.3.position => spindle.0.revs
#net spindle-velocity-feedback-rps encoder.3.velocity => spindle.0.speed-in
net spindle-index-enable encoder.3.index-enable <=> spindle.0.index-enable
net spindle-phase-a encoder.3.phase-A
net spindle-phase-b encoder.3.phase-B
net spindle-index encoder.3.phase-Z
#net estop-out => parport.0.pin-01-out
net xstep => hal_gpio.PIN21-out
#setp parport.0.pin-02-out-reset 1
net xdir => hal_gpio.PIN19-out
net ystep => hal_gpio.PIN23-out
#setp parport.0.pin-04-out-reset 1
net ydir => hal_gpio.PIN29-out
net zstep => hal_gpio.PIN31-out
#setp parport.0.pin-06-out-reset 1
net zdir => hal_gpio.PIN35-out
#net astep => hal_gpio.PIN11-out
#setp parport.0.pin-08-out-reset 1
#net adir => hal_gpio.PIN16-out
net spindle-cw => hal_gpio.PIN11-out
net spindle-pwm => hal_gpio.PIN16-out
net xenable => hal_gpio.PIN37-out
net spindle-index <= hal_gpio.PIN22-in
net spindle-phase-a <= hal_gpio.PIN24-in
net min-home-x <= hal_gpio.PIN26-in
net min-home-z <= hal_gpio.PIN33-in
#############################################################
setp stepgen.0.position-scale [JOINT_0]SCALE
setp stepgen.0.steplen 1
setp stepgen.0.stepspace 0
setp stepgen.0.dirhold 35000
setp stepgen.0.dirsetup 35000
setp stepgen.0.maxaccel [JOINT_0]STEPGEN_MAXACCEL
net xpos-cmd joint.0.motor-pos-cmd => stepgen.0.position-cmd
net xpos-fb stepgen.0.position-fb => joint.0.motor-pos-fb
net xstep <= stepgen.0.step
net xdir <= stepgen.0.dir
net xenable joint.0.amp-enable-out => stepgen.0.enable
net min-home-x => joint.0.home-sw-in
net min-home-x => joint.0.neg-lim-sw-in
net min-home-x => joint.0.pos-lim-sw-in
setp stepgen.1.position-scale [JOINT_1]SCALE
setp stepgen.1.steplen 1
setp stepgen.1.stepspace 0
setp stepgen.1.dirhold 35000
setp stepgen.1.dirsetup 35000
setp stepgen.1.maxaccel [JOINT_1]STEPGEN_MAXACCEL
net zpos-cmd joint.1.motor-pos-cmd => stepgen.1.position-cmd
net zpos-fb stepgen.1.position-fb => joint.1.motor-pos-fb
net zstep <= stepgen.1.step
net zdir <= stepgen.1.dir
net zenable joint.1.amp-enable-out => stepgen.1.enable
net min-home-z => joint.1.home-sw-in
net min-home-z => joint.1.neg-lim-sw-in
net min-home-z => joint.1.pos-lim-sw-in
net estop-out <= iocontrol.0.user-enable-out
net estop-out => iocontrol.0.emc-enable-in
loadusr -W hal_manualtoolchange
net tool-change iocontrol.0.tool-change => hal_manualtoolchange.change
net tool-changed iocontrol.0.tool-changed <= hal_manualtoolchange.changed
net tool-number iocontrol.0.tool-prep-number => hal_manualtoolchange.number
net tool-prepare-loopback iocontrol.0.tool-prepare => iocontrol.0.tool-prepared
# Load Classicladder without GUI (can reload LADDER GUI in AXIS GUI
loadusr classicladder --nogui custom.clp
the settings in HAL file for this and I need help to find the right values for correkt reading in the Hal file ,i dont know the right place to play with these numers , I can read the signal on the input at the chinese breakout bord and after that the signal disepere nothing in the Halmeter or Halscope. My set up is Raspberry pi 5 and this byte2bot.com/blogs/instructions/setting-...-the-pi-parallel-hat and this byte2bot.com/products/5-axis-cnc-interfa...tepper-motor-drivers
the HAL file
# Generated by stepconf 1.1 at Mon Mar 18 18:19:52 2024
# If you make changes to this file, they will be
# overwritten when you run stepconf again
loadrt [KINS]KINEMATICS
loadrt [EMCMOT]EMCMOT base_period_nsec=[EMCMOT]BASE_PERIOD servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS
#loadrt hal_parport cfg="0 out"
#setp parport.0.reset-time 5000
loadrt stepgen step_type=0,0
loadrt encoder num_chan=4
loadrt abs count=1
loadrt scale count=1
loadrt lowpass count=1
loadrt near
loadrt pwmgen output_type=1
loadrt classicladder_rt numPhysInputs=15 numPhysOutputs=15 numS32in=10 numS32out=10 numFloatIn=10 numFloatOut=10
#loadrt charge_pump
#loadrt hal_pi_gpio dir=0x13407 exclude=0x1F64BF8
loadrt hal_gpio inputs=PIN22,PIN32,PIN33,PIN24,PIN26 outputs=PIN12,PIN37,PIN21,PIN19,PIN23,PIN29,PIN31,PIN35,PIN11,PIN16,PIN13,PIN18
#addf parport.0.read base-thread
addf stepgen.make-pulses base-thread
#loadrt sum2 count=1
#loadrt not count=1
addf encoder.update-counters base-thread
addf pwmgen.make-pulses base-thread
#addf parport.0.write base-thread
#addf parport.0.reset base-thread
addf stepgen.capture-position servo-thread
addf encoder.capture-position servo-thread
addf motion-command-handler servo-thread
addf motion-controller servo-thread
addf classicladder.0.refresh servo-thread
addf stepgen.update-freq servo-thread
addf pwmgen.update servo-thread
addf abs.0 servo-thread
addf scale.0 servo-thread
addf lowpass.0 servo-thread
addf hal_gpio.read base-thread
addf hal_gpio.write base-thread
addf near.0 servo-thread
net spindle-cmd-rpm => pwmgen.0.value
net spindle-on <= spindle.0.on => pwmgen.0.enable
net spindle-pwm <= pwmgen.0.pwm
setp pwmgen.0.pwm-freq 100.0
setp pwmgen.0.scale 1166.6666666666665
setp pwmgen.0.offset 0.11428571428571428
setp pwmgen.0.dither-pwm true
net spindle-cmd-rpm <= spindle.0.speed-out
net spindle-cmd-rpm-abs <= spindle.0.speed-out-abs
net spindle-cmd-rps <= spindle.0.speed-out-rps
net spindle-cmd-rps-abs <= spindle.0.speed-out-rps-abs
net spindle-at-speed => spindle.0.at-speed
net spindle-cw <= spindle.0.forward
################ Spindle index #########################
# Add the encoder to HAL and attach it to threads.
#loadrt encoder num_chan=4
#addf encoder.update-counters base-thread
#addf encoder.capture-position servo-thread
# Set the HAL encoder to 20 pulses per revolution.
setp encoder.3.position-scale 20
# Set the HAL encoder to non-quadrature simple counting using A only.
setp encoder.3.counter-mode true
# Connect the HAL encoder outputs to LinuxCNC.
net spindle-position encoder.3.position => spindle.0.revs
net spindle-velocity encoder.3.velocity => spindle.0.speed-in
net spindle-index-enable encoder.3.index-enable <=> spindle.0.index-enable
# Connect the HAL encoder inputs to the real encoder.
net spindle-phase-a encoder.3.phase-A # <= hal_gpio.PIN24-in
net spindle-phase-b encoder.3.phase-B
net spindle-index encoder.3.phase-Z # <= hal_gpio.PIN22-in-not
setp encoder.3.position-scale 20.000000 #
setp encoder.3.counter-mode 1 #
setp lowpass.0.gain 0.05
net spindle-position encoder.3.position => spindle.0.revs
#net spindle-velocity-feedback-rps encoder.3.velocity => spindle.0.speed-in
net spindle-index-enable encoder.3.index-enable <=> spindle.0.index-enable
net spindle-phase-a encoder.3.phase-A
net spindle-phase-b encoder.3.phase-B
net spindle-index encoder.3.phase-Z
#net estop-out => parport.0.pin-01-out
net xstep => hal_gpio.PIN21-out
#setp parport.0.pin-02-out-reset 1
net xdir => hal_gpio.PIN19-out
net ystep => hal_gpio.PIN23-out
#setp parport.0.pin-04-out-reset 1
net ydir => hal_gpio.PIN29-out
net zstep => hal_gpio.PIN31-out
#setp parport.0.pin-06-out-reset 1
net zdir => hal_gpio.PIN35-out
#net astep => hal_gpio.PIN11-out
#setp parport.0.pin-08-out-reset 1
#net adir => hal_gpio.PIN16-out
net spindle-cw => hal_gpio.PIN11-out
net spindle-pwm => hal_gpio.PIN16-out
net xenable => hal_gpio.PIN37-out
net spindle-index <= hal_gpio.PIN22-in
net spindle-phase-a <= hal_gpio.PIN24-in
net min-home-x <= hal_gpio.PIN26-in
net min-home-z <= hal_gpio.PIN33-in
#############################################################
setp stepgen.0.position-scale [JOINT_0]SCALE
setp stepgen.0.steplen 1
setp stepgen.0.stepspace 0
setp stepgen.0.dirhold 35000
setp stepgen.0.dirsetup 35000
setp stepgen.0.maxaccel [JOINT_0]STEPGEN_MAXACCEL
net xpos-cmd joint.0.motor-pos-cmd => stepgen.0.position-cmd
net xpos-fb stepgen.0.position-fb => joint.0.motor-pos-fb
net xstep <= stepgen.0.step
net xdir <= stepgen.0.dir
net xenable joint.0.amp-enable-out => stepgen.0.enable
net min-home-x => joint.0.home-sw-in
net min-home-x => joint.0.neg-lim-sw-in
net min-home-x => joint.0.pos-lim-sw-in
setp stepgen.1.position-scale [JOINT_1]SCALE
setp stepgen.1.steplen 1
setp stepgen.1.stepspace 0
setp stepgen.1.dirhold 35000
setp stepgen.1.dirsetup 35000
setp stepgen.1.maxaccel [JOINT_1]STEPGEN_MAXACCEL
net zpos-cmd joint.1.motor-pos-cmd => stepgen.1.position-cmd
net zpos-fb stepgen.1.position-fb => joint.1.motor-pos-fb
net zstep <= stepgen.1.step
net zdir <= stepgen.1.dir
net zenable joint.1.amp-enable-out => stepgen.1.enable
net min-home-z => joint.1.home-sw-in
net min-home-z => joint.1.neg-lim-sw-in
net min-home-z => joint.1.pos-lim-sw-in
net estop-out <= iocontrol.0.user-enable-out
net estop-out => iocontrol.0.emc-enable-in
loadusr -W hal_manualtoolchange
net tool-change iocontrol.0.tool-change => hal_manualtoolchange.change
net tool-changed iocontrol.0.tool-changed <= hal_manualtoolchange.changed
net tool-number iocontrol.0.tool-prep-number => hal_manualtoolchange.number
net tool-prepare-loopback iocontrol.0.tool-prepare => iocontrol.0.tool-prepared
# Load Classicladder without GUI (can reload LADDER GUI in AXIS GUI
loadusr classicladder --nogui custom.clp
23 May 2024 12:20
Brother tc215 was created by Philip Lydin
Brother tc215
Category: General LinuxCNC Questions
Hello!
My name is Philip im 15 years old and me and my brother who is 19 are currently in the progress of rebuilding and retrofitting a brother tc215 that hasnt been used in the past 15 or so years. It was real dirty when we bought the machine so we decided to take it apart, clean and paint everything. By now we have taken apart and put together the y and x axis. I also took apart and cleaned the ballscrew nut and the linear rail carriges ( the 15 yo dried grease was no fun ). We thought about reballing them but never got to it. If the backlash is bad we will probably do it then. So i have some questions, we will probably replace all of the axis motors and drives, they are very small 150 watt toshiba motor and 300w on z. Thinking of using
stepperonlines t6 series servos. 750w for x and y and 1kw for z. They are just rebranded leadshine motors which i have heard good things about ( and they are very cheap ). Then the spindle motor and driver i will keep for now and see if its power is enough. ive gotten the pinout to the drive and it looks simple enough. The orientation seems to be abit tricky. The atc motor i will replace for a closed loop stepper or a integrated servo i have laying around so that will be very simple to drive. The servo motors are step/dir so im thinking the mesa 7i96s ( almost the only thing in stock in europe ) will be a good fit for my project. Will the 16mm ballscrew and 20mm thk rails be enough for milling in harder metals like stainless and so on. To get a bigger ballscrew should´nt be so bad but the rails im not to sure about. i guess we have to wait and see. Do you think the motors are oversized i have gotten mixed opinions i just dont want to get them and they then turn out to be to small. im probably going to start ordering some electronics some time next week when i have put together the z axis assembly.
Now please feel free to answer some questions, add some questions and share your concerns and opinions.
My name is Philip im 15 years old and me and my brother who is 19 are currently in the progress of rebuilding and retrofitting a brother tc215 that hasnt been used in the past 15 or so years. It was real dirty when we bought the machine so we decided to take it apart, clean and paint everything. By now we have taken apart and put together the y and x axis. I also took apart and cleaned the ballscrew nut and the linear rail carriges ( the 15 yo dried grease was no fun ). We thought about reballing them but never got to it. If the backlash is bad we will probably do it then. So i have some questions, we will probably replace all of the axis motors and drives, they are very small 150 watt toshiba motor and 300w on z. Thinking of using
stepperonlines t6 series servos. 750w for x and y and 1kw for z. They are just rebranded leadshine motors which i have heard good things about ( and they are very cheap ). Then the spindle motor and driver i will keep for now and see if its power is enough. ive gotten the pinout to the drive and it looks simple enough. The orientation seems to be abit tricky. The atc motor i will replace for a closed loop stepper or a integrated servo i have laying around so that will be very simple to drive. The servo motors are step/dir so im thinking the mesa 7i96s ( almost the only thing in stock in europe ) will be a good fit for my project. Will the 16mm ballscrew and 20mm thk rails be enough for milling in harder metals like stainless and so on. To get a bigger ballscrew should´nt be so bad but the rails im not to sure about. i guess we have to wait and see. Do you think the motors are oversized i have gotten mixed opinions i just dont want to get them and they then turn out to be to small. im probably going to start ordering some electronics some time next week when i have put together the z axis assembly.
Now please feel free to answer some questions, add some questions and share your concerns and opinions.
21 May 2024 15:40
7i96 plasma firmware needed for BOB was created by jimmyrig
7i96 plasma firmware needed for BOB
Category: Driver Boards
Hi
Looking for 7i96 (non s) firmware for a cnc BOB (the cheap 5 axis one with a relay). I am using the double thcad for ohmic and thc.
Tried the g540 dpl firmware but it swaps my steppers around (0-4 being on the g540 not the mesa) could maybe make this work if i had too but wouldnt be fun to rewire. (see pic)
Ideally axis 0,1,2,3,4 on the mesa still, with 5,6,7,8,9, on the bob.
Currently the machine has 3 X axis. 2x gantry and 1x cable follower (cables hang from ceiling on an axis which follows x so they dont get tangled). 1 for y and 1 for z
looking at adding at least 1 for rotary plasma, and one to feed the bar through the spindle. Might need one or two more to clamp the bar. Not sure yet.
I have a few 7i96S as backups, would it be possible to get the firmware for that board as well?
Thanks
Looking for 7i96 (non s) firmware for a cnc BOB (the cheap 5 axis one with a relay). I am using the double thcad for ohmic and thc.
Tried the g540 dpl firmware but it swaps my steppers around (0-4 being on the g540 not the mesa) could maybe make this work if i had too but wouldnt be fun to rewire. (see pic)
Ideally axis 0,1,2,3,4 on the mesa still, with 5,6,7,8,9, on the bob.
Currently the machine has 3 X axis. 2x gantry and 1x cable follower (cables hang from ceiling on an axis which follows x so they dont get tangled). 1 for y and 1 for z
looking at adding at least 1 for rotary plasma, and one to feed the bar through the spindle. Might need one or two more to clamp the bar. Not sure yet.
I have a few 7i96S as backups, would it be possible to get the firmware for that board as well?
Thanks
13 May 2024 02:28
Replied by moretoyswins on topic Smoked my spindle - likely my fault
Smoked my spindle - likely my fault
Category: Installing LinuxCNC
Sorry for the delay, life got in the way.
Long story short test with a DVM were positive, could not test spindle due to the late hour. At "m3 s25000" I am putting out between 9.98v and 9.99v, I hope the fluttering does not effect the Spindle performance.
I ended up with:
OUTPUT_SCALE = 12.27V/10V * 25000 = 30675
The issue is the power supply, currently I have one PSU that supplies both +-5v, +12v, the other PSU I have is 48v for Steppers. the issue is you can only adjust the 5v side, the 12v is only "approximately 12v".
From the manufacture's documents:
The 12v side does fluctuate between 12.26v and 12.27v, I used the latter in your formula.
There may be a separate 12v PSU in my future, if I can make space in the controller box, which is currently packed. Should have started with a bigger chassis, but I choose to use an old PC case.
Thanks for all the help, on to the next issue and I will have to test Spindle in daylight hours.
Long story short test with a DVM were positive, could not test spindle due to the late hour. At "m3 s25000" I am putting out between 9.98v and 9.99v, I hope the fluttering does not effect the Spindle performance.
I ended up with:
OUTPUT_SCALE = 12.27V/10V * 25000 = 30675
The issue is the power supply, currently I have one PSU that supplies both +-5v, +12v, the other PSU I have is 48v for Steppers. the issue is you can only adjust the 5v side, the 12v is only "approximately 12v".
From the manufacture's documents:
Of course you don't find these things out until you go digging.Accurate voltage regulation is not guaranteed if the load does not draw the minimum current.
Looking at the block diagram the reason becomes clear: only Channel 1 (5V) is regulated via a feedback loop. Channel 2 (12V) is open loop and unregulated.So you have to adjust the 5V output with the potentiometer while your intended load is drawing its usual current... and you will get "approximately 12V" on the other output.Also the 12V output will fluctuate depending on current draw on the 5V output.
The 12v side does fluctuate between 12.26v and 12.27v, I used the latter in your formula.
There may be a separate 12v PSU in my future, if I can make space in the controller box, which is currently packed. Should have started with a bigger chassis, but I choose to use an old PC case.
Thanks for all the help, on to the next issue and I will have to test Spindle in daylight hours.
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