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Buttons, are they momentary or on/off ?

Just tried out my 7i54 pwm output for the first time. Something's not right somewhere. Encoders are correctly counting on each axis when I nudge them. The motor power connector gets 24VDC, but the pwm outputs to the 3 valve coils remain at 0V.

This is using my custom firmware PIN_SV10_7I36_7I54_NWE_72.vhd on a 7i80hdt. PCW helped me a bit with that.

I have yet to determine whether the problem is with my hal config or the firmware. Everything on the 7i36 seems to just work.

LED CR5 illuminates when motor power is applied, and CR2 is illuminated while P5 receives 5V power.

7i54 Jumpers
W4 is down to select external 5V power
W1,2,3,6,8,10,11,12,13,15,17,19 are up to select current mode
W5,7,9,14,16,18 are down to select 1 amp max output per motor
W21,22,24,25,27,28,30,31,33,34,36,37 are to the right to select differential encoder input
W20,23,26,29,32,35 are to the left to select single ended encoder input.
Checked again, I think I got them all straight. Everything is backwards because the location in the cabinet wanted the board upside down.

The servo valve for Y1 is connected to 7i54 connector P4 pins 18, 19 (Motor0) The coil is rated /-15V 0-300mA and measures 30 ohms
The servo valve for Y2 is connected to 7i54 connector P4 pins 22, 23 (Motor1) The coil is rated /-15V 0-300mA and measures 30 ohms
The above two solenoids actually consist of two 60 ohm coils each that can be wired series/parallel. The above numbers are with the original configuration of parallel connection.
The proportional valve for Y is connected to 7i54 connector P3 pins 18, 19 (Motor2) The coil is rated 24V 0-700mA and measures 22 ohms

I am attaching some hal dumps with everything energized expecting output on the pwm.

net joint.X.amp-fault-in hm2_7i76e.0.7i76.0.0.input-16-not
etc...

Do U replace this section
# HLFB is true when enabled *and* following
net hlfb_x  hm2_7i76e.0.7i76.0.0.input-16-not 
net hlfb_y  hm2_7i76e.0.7i76.0.0.input-17-not
net hlfb_y2 hm2_7i76e.0.7i76.0.0.input-18-not
net hlfb_z  hm2_7i76e.0.7i76.0.0.input-19-not
net hlfb-a  hm2_7i76e.0.7i76.0.0.input-20-not

With net joint.X.amp-fault-in whatever_input_pin

? Thanks 

I looked at that and unfortunately it is code sprinkled around everywhere.
So it will be a bit of surgery in the etherlab code I am afraid.
Besides, it seems eoe does work, it is just it doesn't work with lcec.
There should be some calls in lcec to process eoe frames that isn't there.
So one can always argue where the problem is. I know I can only fix
it on a PowerPoint level, not in code.
 

Indeed, the old config.
You remember there is a procedure around that.
Copy xml file to config\io\ethercat somewhere (similar)
restart twincat to have it read in new config, scan for devices,
free run mode on, program eeprom, remove device, scan for devices
and with some luck the new config is there. Something like that.
I had it in one if my first youtube videos about ethercat.

Edit.
Upload xml file to C:\TwinCAT\3.1\Config\Io\EtherCAT and restart TwinCAT
 

Jump to 10:04 and follow the steps


 

net joint.X.amp-fault-in whatever_input_pin
That is all you need to add to hal file for each joint.

thanks a lot i can try this tomorrow

I see you got replys already, while preparing this.  My idea to solve that, by adding the gap value for tool 4 to 6. Extend the ini entry for [TOOL_SLOT_DELTA] by y_gap, then apply that value for tool 4 to 6


in o<rack_change> sub



    
in .ini



 


Edit:

AS the 'tool_slot_delta' is always added, the 'y_gap' should be reduced by 111 to 206

I think I need (joint.X.amp-fault-in) but not sure correct spot to insert.

thanks Rodw, I can try ``it in the air'' but that would also be ok if I get a change for slot 4, but since slot 5 and 6 are also bigger than GT3, then I will get some other distance for 5 and 6, unless I make additional lines again, ``if GT4`` is bigger than 4, then again only delta y will work, which is 111mm?

The distance between 3&4 = 317 and its therefore 206mm  more than the delta. (111_206 - 306)
I think I would save this gap in the ini file as a seperate variable and calculate the tool position and do something like
#tool_pos = #<_current_tool> * #<_ini[tool_slot_delta]y>]
if #<current_tool GT 3>
  #tool_pos = #tool_pos + 206  
G53 G0 Y [#<_ini[change_position]y> + #tool_pos X [#<_ini[change_position]x>]

I'll leave it to you to sort out the syntax as gcode is not my strong point. We have postprocessors for that!

Thank you,
some little progress made, everything compile, run LED is blinking in the LAN9252 board, but I-m not in OP mode yet:
What worries me is that I can still see the original configuration with available switches in Twincat
This means the EEPROM is not flashed correctly I guess?

I want over to etherlab's gitlab to request EoE could be disabled in the Ethercat.conf file but I then found that this was already a bug scheduled to be fixed in their next release (1.7) Issues 176 and 157 refer with the latter referring to linuxcnc and this exact drive.

gitlab.com/etherlab.org/ethercat/-/issue...MTY3MDcyMTkwfQ%3D%3D 

It still seems wrong to me that disabling a feature requires recompiling...

I might start a separate thread for the project of writing up a complete reusable custom single axis hal component. I think it would have a lot of uses.

At the moment I am preparing to drive Y axis up/down with the footpedal. This is what I've been able to learn so far:

1: The proportional valve sets the tonnage, and also provides the open-center? flow from the fixed displacement pump back to the tank. If there was any tonnage feedback originally, it had to be measured from the coil's armature position by analyzing the a.c. component of the coil drive pwm, I think. I see no other electronic connection to that hydraulic circuit. If I end up needing tonnage feedback, I will use a pressure sensor.

2: The servo valves provide directional variable speed control of the left and right side independently

3: 4.0 and 5.0 are labeled 'servo valve', 8.4 is labeled 'proportional valve' The valve bank also has 6 spool valves (listed in the order shown in the manual.  They are only numbered but appear to be common spool valves with 24VDC coils.) I label the servo valves with polarity markings. The book displays up and down pointers instead, so I'm guessing at polarity.

They operate in combinations to produce these hydraulic 'modes':

| Motion                   | Valves Active                                  |
|-|-|
| high speed down   | 9.1, 10.1, 6.1, 7.1, -4.0, -5.0           |
| press speed down | 8.5, 8.1, 8.4, -4.0, -5.0                    |
| pressure holding   | 8.5, 8.1, 8.4, -4.0, +4.0, -5.0, +5.0 |
| pressure relief       | 8.1, +4.0, +5.0                               |
| creep up                | 8.1, 8.4, +4.0, +5.0                        |
| high speed up       | 9.1, 10.1, 8.4, +4.0, +5.0               |

I see I do not need to individually power every single solenoid; some are connected to the same control relays; I list only the 24VDC solenoids here with their relays; the pwm controlled valves do not have relays, they have a power disconnect (e-stop circuit) contactor right after the 24VDC power supply unit:

| Relay | Solenoids |
|-|-|
| 200   | 9.1, 10.1  |
| 201   | 6.1, 7.1    |
| 202   | 8.5           |
| 203   | 8.1           |

For the pwm driving the coils, after some studying, it appears all three need essentially the same kind of power to activate them. (except the proportional is not reversible) PWM is listed as 300HZ, but from what I found so far, higher is totally fine. The important gotcha is for accurate control, it needs to dither by nn% at maybe 30Hz. So I think instead of superimposing a slow pwm on the fast hardware pwmgens, I will use a software siggen running at 30HZ and the offset component to superimpose dither upon my hardware pwmgen.value command.