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What is the omronmx2 fault status?
 

You should be able to use single ended encoder pins directly with a 5V encoder.
The 5abobx3d configuration has encoders on all connectors and the 5abobx2
configuration has encoders on both connectors.

For more input protection, I  would add a say 100 ohm series resistor
to the encoder signal lines.
 

I would try using the latest mesaflash:

github.com/LinuxCNC/mesaflash

As there were some bugs with the 7I90 name

( build instructions on bottom of page )


 

 


 
 

Hakan wrote:

It can be that the motor speed needs to be ramped up, like it is by linuxcnc.
Setting 6000 rpm as a step is quite challenging.
Anyway, 3000 rpm is more than decent for a stepper motor.

Consider to use csp mode, that's what most people do.
The position feedback is lagging two servo cycles when using ethercat
and a velocity loop has a hard time.

If you use csp, the position update will stop in your scenario, and the motors will stop.
Check out the SDO listing, there is a max current setting (per motor).

 

If I got my math correct, target velocity 500000 = 3000rpm, target velocity 600000 = 3600rpm

>needs to be ramped up...
Yes, another detail I failed to remark on: I noticed when operating in opmode 9 this drive uses a sane accel/decel rate, which kind of surprised me.
I can change target velocity in big jumps and it ramps smoothly to my target velocity. But if I set controlword = 6, the addressed motor stops BAM!
If I set target velocity first, then controlword = 15, it does not move. I changed target velocity to 0 then to 10000 then it started. Didn't check whether I actually had to set target velocity = 0 first.

As far as I can tell, in opmode 8, it behaves as you described. If I set position in any size of small or big jump, it tries to move there instantaneously. Small jumps move the motor, big jumps just make a "chirp".

>If you use csp,
Good idea. I just had to play with my new toy.

rodw wrote:

Its interesting your feedback about motor performance. I di wonder about how I would go not using Lichuan motors. 3000 rpm is up where I was expecting!

 

I know the motor's phase inductance or voltage rating can make a huge difference in top speed attainable. These motors do not have either of those specs listed, making it harder to compare specs, but when I get a chance, I'll try to measure phase inductance.

Higher inductance motors need higher voltage to produce the same speed and torque. This is the first thing that comes to mind, seeing what these motors can do.

Frankly, I'm quite impressed I got this kind of speed out of them. They must have relatively low phase inductance. They're labelled hybrid stepper motors. I'll hazard a guess they're wound to similar specs as a BLDC motor, but in 2 phase configuration. Its been a while since I messed with steppers, the ones I previously used would never have got this speed on 24V, hardly even at 48V.

I was thinking that the best option would be to use an MPG WHB04B? Is the wireless or wired version better? Can everything be controlled from the MPG, including the start/stop spindle?

Hi, 

Please can you share a bit file where i can use 5v encoder inputs on my bob P7 for my 7c81 board. I donot want to use 24v but 5v as a quad encoder fast inputs. Rest pins are fine for a normal 5axis bob3 pins.

thanks

Maybe i almost got it. Now i have this error -> see picture 

HI Pcw
Can you please provide a bit file for the following

7i92+7i76+7i89

Thanks
Henk

You just named them "statusword" instead of "cia-statusword" in the ethercat-conf.xml file.
It is often worthwhile to examine the words it complains about.

Hi, I had trouble shrinking the pic to send. Anyways-
Spi seems to have never been flashed nor working... my memory fooled me there so sorry for that. I rebuilt the lpt to p4 cable as i had that wrong as well....
But now... still no respone from Mesaflash version x.11 (within lnxcnc img 2.9.4). With jumper w3 i can seemingly select two configs under halrun so both eeprom seeem good.
Both are working under loadrt in epp.mode but none with Mesaflash.
For that i used sudo mesaflash --device 7i90hd --epp --addr 0x378 --verbose --readhdmi
I also tried --addr 0x778
I did try --addr_hi w/o anything added as not sure how to use it...with --addr
I tried many comies - nothing but No 7i90hd found.
Or syntax errors...

I will post the response from loadrt later as it provided some interesting response reharding the interface - matching the comand line in mesaflash but having some more info - cant recall right.now ...)

The lp0 port is confirmed in the boot log ... epp 378 int 5 etc.

under halmon i check some io's and they are updated in linuxcnc. When i short inputs it is visible. at least it seems to work on that side...
Messig about i also get the watchdog bite.
So whats left that im doing wrong

Thanks so far..
At least im a bit more ahead now what to do and check when going for spi... may be... as id like to have it on a pi5...

Hakan wrote:

It can be that the motor speed needs to be ramped up, like it is by linuxcnc.
Setting 6000 rpm as a step is quite challenging.
Anyway, 3000 rpm is more than decent for a stepper motor.

Consider to use csp mode, that's what most people do.
The position feedback is lagging two servo cycles when using ethercat
and a velocity loop has a hard time.

If you use csp, the position update will stop in your scenario, and the motors will stop.
Check out the SDO listing, there is a max current setting (per motor).

 

If you are going shopping for power supplies, Lichuan recommend to use 36 volts. I bought a nice little 5 amp din rail mount one which will do my 2 amp motors.. I meant to get 36 volts but force of habit I bought 48v!

Its interesting your feedback about motor performance. I di wonder about how I would go not using Lichuan motors. 3000 rpm is up where I was expecting!

I've had a change of pace and been doing some CAD cos I gotta use these things! Slowly coming together with a scrap of gear rack I had lying around.
 
 

Okay seems we have progress!!! I changed those I/O modules to newer ones and they are working renumbered and structured the xml file to reflect that now my error shows 

./Ethercat.hal:51: Pin 'lcec.0.3.cia-statusword' does not exist
10890

is there a place I missed to add these?

Hey Guys,
a few hours later, i compile a new mbccs file and implemented these pin names in my .hal file.
I can toggle the pin in LinuxCNC but still no reaction on my Vdf.
There is a little RUN LED on top of the VDF to indicate, if I successfully send the "run" command.
(It worked with the USB-Dongle pretty well)
Can you see any kind of mistakes anywhere ?
I am close to the finishline but getting more and more frustrated

Thank you for any hint