Advanced Search

I get around C++ coding some, but this halcomp thing has me confused. I am trying to call several functions within the _ function. As far as I can tell, what I have should work, but when I halcompile it I get these annoying warnings. I know they are just warnings, but I wouldn't mind fixing them.

In other C projects I sometimes use headers, etc, but I'm confused how this works in halcompile.
I searched around some, but can't seem to find examples of how what I'm trying to do would be done in halcomp.

sudo halcompile --install beam_pullmax.comp 
Compiling realtime beam_pullmax.c
beam_pullmax.comp: In function ‘_’:
beam_pullmax.comp:213:5: warning: implicit declaration of function ‘y_stop’ [-Wimplicit-function-declaration]
beam_pullmax.comp:241:6: warning: implicit declaration of function ‘y_down_fast’ [-Wimplicit-function-declaration]
beam_pullmax.comp:286:6: warning: implicit declaration of function ‘y_down_slow’ [-Wimplicit-function-declaration]
beam_pullmax.comp:448:6: warning: implicit declaration of function ‘y_up_slow’ [-Wimplicit-function-declaration]
beam_pullmax.comp:467:6: warning: implicit declaration of function ‘y_up_fast’ [-Wimplicit-function-declaration]
Linking beam_pullmax.so
cp beam_pullmax.so /usr/lib/linuxcnc/modules/

Ah Ha! I think I got it! Just include a header file like any old C program...
I guess I'll post anyway now that it is all typed up, in case it saves someone else time on a future project.

I still have to port it to the main branch, but it already works in dev.

www.youtube.com/shorts/7ieYCgcRN9Q

thank you So I should pin that axis the way you sent it to me, and it will work for me, right? Thank you very much… what do I owe you?

In my case, there is no need to limit the output at zero. I am using pwmgen to generate the 0–10 V signal in type=0, so any negative PID output is clamped to zero.

The PID behaves correctly during ramp-up, since the output is limited to the maximum possible pwmgen value. The derivative gain provides enough damping to prevent overshoot in that direction. However, during ramp-down, there is a small amount of overshoot. It is minimal and perfectly acceptable for my application.

I was just wondering whether it would be useful to have a minoutput pin, allowing the lower limit to be set to zero instead of -maxoutput.

Looking at the manual for this drive I think I can set the control inputs to the terminals and the frequency input to the modbus, I will have to try it later this week.

 

 


 

I just edited the automatically generated .ini and .hal files as needed or commented out lines until LinuxCNC worked. The limit switches, etc. are also not wired yet; I just want to test the old amplifiers once. So, nothing fancy. Maybe I removed too much there or haven't adjusted it yet...?   

RotarySMP has issues with 1 drive causing a fault after a jog, 1 drive faults immediately on jog, and 1 is working OK, so not the same thing as this topic.
This was trying to jog while the drives were disabled, and the subsequent tuning.
RotarySMP has most probably issues with EXE cards that translate whatever feedback Maho uses to pulses.
I though he already figured that out as he did mentioned the same thing on his last video.

forum.linuxcnc.org/49-basic-configuratio...3-axis-router#340542

perhaps also useful for others

 

not with my VFD, if it set to RS485 mode, all other inputs are disabled.

But I'm already trying something.
I'm currently writing a simple Modbus simulator in Python.
I already have an idea of how I can implement it.

Can you post your hal/ini files?
 

First of all, thank you so much for the quick replies! With the spontaneous help of a colleague, I downloaded the latest version of mesaflash, etc., did the same thing, and it worked for him. However, the problem is still that I can't control the analog outputs. I got the idea about the firmware because I read somewhere that I need a different version so that analog output is available instead of PWM. Currently, I have PWM 00...05, with both value and enable settings. When I set enable, the Mesa outputs about 0.35V at the analog output. Scale = 10 Max_output = 10 Do I need to adjust anything else? If you need any further information, please let me know! Thank you!

Could the speed command be sent in the modbus loop and then I could use regular gpio for the start stop?

It could be a bit difficult. To be honest, I've never really thought about how to integrate a VFD using normal Modbus commands.

The main problem is that Rio sends the values in a loop, and individual commands cannot be triggered by a button, for example (to start/stop).

I think I'll have to expand it a bit for that,
but you can try reading out a few values to test the communication.

in json it looks like that to read BusVoltage and RunningFrequency:

I think I would choose the alarm polarity so its "ON" for alarm, then the can be wired in parallel

To wire the enables in parallel, a single 5V step/dir pin may not have enough current
so a better scheme would be to use an isolated output for this, say:

+5V --> OUT0+
OUT0- --> ENAX+,ENAY+,ENAZ+
5VGND --> ENAX-,ENAY-,ENAZ-