Advanced Search

But I cannot define PDO mapping in the drive itself. The control device i.e. the EtherCAT master should write the PDO mapping on startup.

I found a few ways of defining the SDO in drive from LinuxCNC - sdoconfig and initcmds.

What do you mean by adjusting the servo?

So you want the DIR pin to be GPIO rather than PWM direction?

( The PWM direction pin is controlled by the sign of the PWM value )

thanks for the thoughts. ill be hopefully getting this ordered up in a few weeks. should be fun

Complete success with the lathe modbus communications. Much faster and works fantastic with the automatic gear detection. 

forum.linuxcnc.org/10-advanced-configura...tion-updated-for-vfd

There is no "E-stop in" in your hal file, so LinuxCNC has no way of knowing if the button is pressed or not.

I used the TangentAudio source code to build a driver for the Commander SK VFD, This worked, but when I implemented automatic gear detection, I found the updates were too slow. I was able to replace the user mode driver with hm2_modbus.

If anyone is still using a user mode driver and has a mesa card, you should consider replacing it with hm2_modbus and the CommanderSK.mbccs I posted in:

forum.linuxcnc.org/10-advanced-configura...dated-for-vfd#343921

 

Ok, everything has settled, homes and I have a working machine but ESTOP external button versus software - the external button kills the mx3660 but does not trip in LinuxCNC

Played a little, read some, and am giving the following thinking someone may have the fancy answer.

ESTOP external is NC switch setup, has a NO side not using.

Machine enabled Halshow results:

• ESTOP External OFF:     pin.003.in  RED
• ESTOP External ON:     pin.003.in  RED
•          pin.003.out              no change
  
  Software ESTOP:
  • OFF         pin.003.in                 RED
  • OFF         pin.003.in_not          YELLOW
  • OFF         pin.003.out              YELLOW
  • ON         pin.003.in                   RED
  • OFF         pin.003.in_not          YELLOW
  • OFF         pin.003.out               RED
    
    Understand from reading that the output/input somehow can be linked to false or other pin - tried, I get config errors, no load.
    
    Again, not a deal breaker, but when the external ESTOP is triggered such as during a home, the motors stop but when I raise the button the machine continues - like it paused not ESTOPPED. That's a little disconcerting.
    
    Attaching HAL file.
    
     

    File Attachment:

    File Name: 010.hal
    File Size:10 KB

I have been running my mill and lathe without accurate RPM control/calibration. Recently, I stumbled upon forum.linuxcnc.org/47-hal-examples/27071...r-detection?start=20

I broke down my implementation of this idea into three files:

• LatheSpindle.hal - General spindle control and automatic gear detection scaling.
• cmdr_wrapper.hal - Implements hm2_modbus for CommanderSK VFD.
• Spindle_postgui.hal - Scaling for use with gmoccapy.Using hm2_modbus provides much faster communications and better gear detection during accel/decel than the user mode driver I previously used. 
  
  
  
   
  
  The gear detection magic occurs by using the ratio of the spindle frequency to the vfd motor frequency. If you have a number of gears or belts, each combination will have a distinct ratio. You use this to populate the x values of the lincurve. For the y values you use the scaling necessary to scale the spindle command frequency to the required vfd motor frequency. It's quite easy to collect this information.
  
  
  

I used a wrapper around the VFD commands so I could share code with my mill that uses a GS11 VFD.



I'm very happy with how this turned out! 

No, you just adjust the servo and the ethercat master and your ethercat.xml take care of the rest. 
 

Thank you very much for everything you do.

I just had a quick look, but might go a bit deeper at another time.

The ctx/context appears to be the libusb_context struct. I guess you could just do after libusb_init in usb.cc:
github.com/LinuxCNC/linuxcnc/blob/master...whb04b-6/usb.cc#L629
But this probably isn't the best workaround in general.

I guess most of the problems in the past has been because of the assert statement in setupAsyncTransfer? Or did the pendant never reconnect for you in the past? When I was testing and just unplugged the dongle and plugged it back in, it usually didn't fail in the setupAsyncTransfer function, so the assert statement didn't prevent reconnection.

You might also be interested in testing the changes made by Hannes:
github.com/hdiethelm/linuxcnc-fork/tree/xhc-whb04b-6-fix-v2
I believe you need to do a "git checkout xhc-whb04b-6-fix-v2" after git clone in case you want to test that. With regards to the disconnects, his solution is more elegant than decreasing loops, because it avoids trying to change mode altogether when it's clear it would fail anyway.
 

Might look at the step pulse train with an oscilloscope.

Also is it possible the servo drive is not set to position mode?
 

Okay, is there a way to verify that it is an electrical/wiring issue?

OK so that may still be an electrical/wiring  issue

(if the DRO does not move but the motors move)



 

DRO updates to the inputed position about a second after .1 inches is inputted and the motor continues after that. The DRO doesn't update again until another input is entered.