Advanced Search

So here is my setup directory. It has been 6 months since I've looked at this, also I'm not too proud, I just got it working. 
It is for a gantry. Includes homing and compensates for the buildup of following error I see on all the axes.
The integration loop bit is at the bottom of cia402.comp.  It's more like a slow drift than hard integration. But it does the job of eliminating the buildup of position error.

Also make sure you are sending the target velocity 60B1 and adjust the velocity gains. I ran the machine back and forth and watched following error as I adjusted the various velocity gains. They matter.

 


 

.this does not work, maybe because you entered the parameters in the routine in the section of returning the current tool to its place, also o302 already exists, so I changed it to o303, but the same thing happens when selecting T4 M6(spindle goes 111mm from tool 3). you should somehow add it to the section of the file where it says ``POKUPI ALAT'',- means that is, ``selected tool'' down in routine, if you are able to edit that part. Thank you very much
  .

tommylight wrote:

 back when they were selling stepper motors and labeling them as "revolutionary servo motors" for a lot more $, and i think they still do, but now with encoder feedback.
 

Tommy,

They aren't steppers and I don't think they ever have been.  I haven't seen the internal windings, but they don't act like any steppers I've come across.  There is no perceptible rotor cogging when you spin them by hand.  Even the Berger-Lahr 5-phase steppers I have on my Emco lathe have a tiny bit of cogging feel.

The Nema 23/34's are BLDC's with an encoder, trajectory generator, and IO (not just some halls).  The AC-input versions are... maybe something else, don't know.

I've been using them off and on for automation equipment for about 7-8 years and they haven't changed, at least not the mechanical/electrical parts.  They've got upgraded IP67 connectors as an option now, as well as Ethercat models.

Best thing since sliced bread?  No.  There's an upper limit to the performance you can get with 75VDC and 16AWG(ish) cables.

But they are extremely useful in certain applications and no separate drive makes integrating them very easy.

Yes the PC is in metal housing and right now it is outside the control cabinet. I am confident this is not a EMC issue.

i have bought a much older pc which i will test tommorow.

thanks so far.

is

hm2_7i80.0.pwmgen.00.enable <== j6-amp-enable

true when you expect PWM output?

Your firmware has PWMGEN 0 enabling all 7I54 PWMgens
If this is not desirable you leave the enables as GPIO
bits.

Thanks for your reply. That works fine, except I can't use the three-position switch for forward and reverse.
I've also noticed that when I press the stop button, I have to hold it down until the motor stops completely. If I release it before the motor stops, it doesn't stop and the RPMs increase again.
I'll keep this VFD (A2 8015) for a belt sander I'm building.
I bought another VFD, a Suswe SU600, for the lathe, and I'd like to do the same as with the other one: add a three-position switch for forward and reverse, and a start/stop button.

Does the pc have a metal housing (shielded), with the 6i25 inside? Or is it a motherboard mounted in a cabinet that also contains a VFD, relays, etc? If so, your motherboard will likely need additional shielding.

Find or borrow a used PC.

the pc only reboots when i try to run my configuration. i can run Sample configurations like "axis". But when i try to run the config i created using pncconf wizard the pc just reboots. i also does this if i try to Open Loop test or test / tune axis.

langdons as these are release candidates I would prefer if these are only available from the links on my github page. If you have any images with rcX in the file name on your server could you please kindly remove them.

No, not really, you will need another PC at least.
Lets clear something up first, does the PC reboot when turning ON the Mesa cards, or, when running LinuxCNC ?

@Spumco,
Thank you for reminding me, now i know why i can not recall what was going on as i am used to ignoring everything having to do with clearpath since back when they were selling stepper motors and labeling them as "revolutionary servo motors" for a lot more $, and i think they still do, but now with encoder feedback.

Fastfred wrote:

Thank You for that looks like the .hal file is correct now I am assuming I dont have correct settings in the motors thought it would fault if power/loss of com .

or am I missing a config for that? 

Thanks
 

This is why I suggested the FIRST thing was to verify/edit the motor programming using the Clearpath software.

You cannot successfully edit/adjust HAL unless you know exactly what the motor(s) HLFB output is doing under various conditions.

Power up the motors - no need to enable in LCNC - connect a Windows computer to the motors and open the Clearpath software.  Verify that all motors' HLFB output is set to 'Servo On.'

Check your LCNC input pins are working correctly.  You can enable/disable the motors using the Clearpath software (overriding LCNC's output). 

While you enable/disable the motors via Clearpath software, two things should happen:

• The Clearpath software display should show 'servo on' in the output monitor
• LCNC halshow input pins should be high/yellow when enable is true, and low/dark when the motor is not enabled

 


@tommylight - Clearpath motors have no separate drives.  The motors are supplied with DC power and all programming/control stuff is mounted internally in the motor itself.  They have three inputs (enable + A + , and a single output (HLFB) that can be programmed to do different things.

some little progress made, I managed to flash the EEPROM, the name of the device changed and I don't see the input/output anymore.
However, I m not able to pass the INIT step

OK thank you i wil ltry