MESA 5i23 7i44 7i49 7i37 8i20

kenny
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11 years 3 weeks ago #63499 by kenny

Replied by kenny on topic MESA 5i23 7i44 7i49 7i37 8i20

Unfortunately, motor still generate tiny noise but no any movement...

Code:

#net amp-enable pid.0.enable
setp pid.0.Pgain [AXIS_0]PGAIN
setp pid.0.Igain [AXIS_0]IGAIN
setp pid.0.Dgain [AXIS_0]DGAIN
setp pid.0.bias [AXIS_0]BIAS
setp pid.0.FF0 [AXIS_0]FF0
setp pid.0.FF1 [AXIS_0]FF1
setp pid.0.FF2 [AXIS_0]FF2
setp pid.0.deadband [AXIS_0]DEADBAND
setp pid.0.maxoutput [AXIS_0]MAXOUTPUT

setp bldc.0.scale -8777216
setp bldc.0.poles 10
setp bldc.0.lead-angle 0
setp bldc.0.encoder-offset 200000

I was switch off PID (REM 1st line) and how to setting setp bldc parameters?
how is value scale and lead-angle ?

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andypugh
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11 years 3 weeks ago #63501 by andypugh

Replied by andypugh on topic MESA 5i23 7i44 7i49 7i37 8i20

kenny wrote: Unfortunately, motor still generate tiny noise but no any movement..

That's not that unusual :-)

To run the 8i20 at a fixed current and to experiment with things, run the following from the terminal with Linuxcnc started.
Don't do this when the motors are connected to the machine!

Code:

halcmd -kf
unlinkp hm2_5i23.0.8i20.0.1.current
setp hm2_5i23.0.8i20.0.1.current 0.2

That sets the 8i20 to a small test current that should be enough to run the motor when the bldc config it right.
Then try altering parameters.

Code:

setp bldc.0.scale 8777216

This might be enough, all by itself.

Another thing to try

Code:

setp hm2_5i23.0.8i20.0.1.current 0
setp hm2_5i23.0.resolver.00.reset 1
show pin hm2_5i23.0.counts
{Now rotate the motor by exactly 1 turn, by hand}
show pin hm2_5i23.0.counts

This checks that you don't have a multi-turn resolver. Some go through more than one cycle per motor shaft resolution.

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kenny
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11 years 3 weeks ago #63506 by kenny

Replied by kenny on topic MESA 5i23 7i44 7i49 7i37 8i20

I dont have pin: "hm2_5i23.0.counts" in show pin...

Code:

halcmd: show pin hm2_5i23.0.counts
Component Pins:
Owner   Type  Dir         Value  Name

halcmd: 

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kenny
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11 years 3 weeks ago #63509 by kenny

Replied by kenny on topic MESA 5i23 7i44 7i49 7i37 8i20

after rotate the rotor 1 turn (by hand):

Code:

halcmd: show pin hm2_5i23.0.resolver.00.count
Component Pins:
Owner   Type  Dir         Value  Name
    11  s32   OUT             0  hm2_5i23.0.resolver.00.count

Changed only rawcounts and angle:

Code:

halcmd: show pin hm2_5i23.0.resolver.00.angle
Component Pins:
Owner   Type  Dir         Value  Name
    11  float OUT     0.4718406  hm2_5i23.0.resolver.00.angle

halcmd: show pin hm2_5i23.0.resolver.00.angle
Component Pins:
Owner   Type  Dir         Value  Name
    11  float OUT     0.4725081  hm2_5i23.0.resolver.00.angle

halcmd: show pin hm2_5i23.0.resolver.00.rawcounts
Component Pins:
Owner   Type  Dir         Value  Name
    11  s32   OUT     -25616045  hm2_5i23.0.resolver.00.rawcounts ==> res-x-cnts

halcmd: show pin hm2_5i23.0.resolver.00.rawcounts
Component Pins:
Owner   Type  Dir         Value  Name
    11  s32   OUT     -42416594  hm2_5i23.0.resolver.00.rawcounts ==> res-x-cnts

halcmd: 

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andypugh
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11 years 3 weeks ago #63517 by andypugh

Replied by andypugh on topic MESA 5i23 7i44 7i49 7i37 8i20

Sorry, you probably have to set "reset" back to 0 again, or the counts will stay at zero

The angle number is interesting, it looks like the bldc.scale is out by a factor of 2.

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andypugh
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11 years 3 weeks ago #63535 by andypugh

Replied by andypugh on topic MESA 5i23 7i44 7i49 7i37 8i20

I have had more thoughts about this, and I think it is probably OK.
What we are probably seeing is the angle changing through zero and then back to nearly the same place.

Open a HALMeter to see, you can even do this from the Axis GUI menu or from the command line.
You can even consider adding the halmeters to the HAL file

Code:

loadusr halmeter pin bldc.0.angle

You should see that change between 0 and 1 as you rotate the motor shaft.

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kenny
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11 years 3 weeks ago #63546 by kenny

Replied by kenny on topic MESA 5i23 7i44 7i49 7i37 8i20

Hal oscilloscope is beatiful tool.

variable: hm2_5i23.0.resolver.00.angle is changed value between 0 an 1 every change mag. pole of motor (10 per rev.)
variable: hm2_5i23.0.8i20.0.0.angle is changed value between 0 and 1 every one turn shaft of motor

I dont have pin bldc.0.angle
I have only bldc.0.lead-angle bldc.0.phase-angle and bldc.0.rotor-angle

Is possible via this measurement setting bldc servo?

Thank you

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andypugh
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11 years 3 weeks ago #63548 by andypugh

Replied by andypugh on topic MESA 5i23 7i44 7i49 7i37 8i20

kenny wrote: variable: hm2_5i23.0.resolver.00.angle is changed value between 0 an 1 every change mag. pole of motor (10 per rev.)
variable: hm2_5i23.0.8i20.0.0.angle is changed value between 0 and 1 every one turn shaft of motor

That means that the resolver is a multi-pole one to match the motor.
You need to change the bldc component calibration to suit. The simplest way is probably to set the bldc.poles to 2.

I dont have pin bldc.0.angle

You probably don't have a bldc.poles either. I am typing this from memory, so you might have to use some imagination.
You want 8i20.0.rotor-angle to vary between 0 and 1 as every motor pole goes by.

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kenny
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11 years 3 weeks ago #63550 by kenny

Replied by kenny on topic MESA 5i23 7i44 7i49 7i37 8i20

Variable "bldc.0.rotor-angle" is changed value between 0 and 1 per one mag pole

Where is: "set the bldc.poles to 2." ?
Is this: "setp bldc.0.poles 10" ? I changed value from 10 to 2 and no effect...

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andypugh
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11 years 3 weeks ago #63558 by andypugh

Replied by andypugh on topic MESA 5i23 7i44 7i49 7i37 8i20

kenny wrote: Variable "bldc.0.rotor-angle" is changed value between 0 and 1 per one mag pole

Where is: "set the bldc.poles to 2." ?
Is this: "setp bldc.0.poles 10" ? I changed value from 10 to 2 and no effect...

It should affect the output of the bldc angle output pins. It won't change the resolver pins.

Also, note that as this is a multi-turn resolver you have to consider that in the axis scaling, when you get there.

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