Starthilfe Retrofit ISEL CPM4030 MESA7i95T+7i83

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1 year 2 months ago #333071 by Chris91
Starthilfe Retrofit ISEL CPM4030 MESA7i95T+7i83 was created by Chris91
Hallo,
ich benötige mal etwas Input...
Ich versuche einen Servocontroler mit +/-10V anzusteuern über die 7i95T+7i83.
Ich habe mir jetzt 4 PWMgen per Bitfile erstellt, verstehe jetzt aber noch nicht, wie ich die Verbindung

pid.x
hm2_7i95.0.pwmgen.00
hm2_7i95.0.7i83.0.0.analogout

hinbekommen soll? 
Kann mich wer in die richtige Richtung weisen?

 

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1 year 2 months ago #333072 by PCW
Replied by PCW on topic Starthilfe Retrofit ISEL CPM4030 MESA7i95T+7i83
You don't need any PWMgens,

The PID output would be connected to the hm2_7i95.0.7i83.0.0.analogout-NN
pin in hal

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1 year 2 months ago #333180 by Chris91
Replied by Chris91 on topic Starthilfe Retrofit ISEL CPM4030 MESA7i95T+7i83
So that's how it is?

Code:
# Axis: X Joint: 0 Output: 0 # PID Setup setp pid.x.Pgain [JOINT_0](P) setp pid.x.Igain [JOINT_0](I) setp pid.x.Dgain [JOINT_0](D) setp pid.x.bias [JOINT_0](BIAS) setp pid.x.FF0 [JOINT_0](FF0) setp pid.x.FF1 [JOINT_0](FF1) setp pid.x.FF2 [JOINT_0](FF2) setp pid.x.deadband [JOINT_0](DEADBAND) setp pid.x.maxoutput [JOINT_0](MAX_OUTPUT) setp pid.x.error-previous-target True # limit stepgen velocity corrections caused by position feedback jitter setp pid.x.maxerror [JOINT_0](MAX_ERROR) # joint-0 enable chain net joint-0-index-enable <=> pid.x.index-enable net joint-0-index-enable <=> joint.0.index-enable net joint-0-enable <= joint.0.amp-enable-out net joint-0-enable => pid.x.enable # Enable Stepgen net joint-0-enable => hm2_7i95.0.7i83.0.0.analogena0 # Joint 0 Step Generator Settings setp hm2_[MESA](BOARD).0.stepgen.00.dirsetup [JOINT_0](DIRSETUP) setp hm2_[MESA](BOARD).0.stepgen.00.dirhold [JOINT_0](DIRHOLD) setp hm2_[MESA](BOARD).0.stepgen.00.steplen [JOINT_0](STEPLEN) setp hm2_[MESA](BOARD).0.stepgen.00.stepspace [JOINT_0](STEPSPACE) setp hm2_[MESA](BOARD).0.stepgen.00.position-scale [JOINT_0](SCALE) setp hm2_[MESA](BOARD).0.stepgen.00.maxvel [JOINT_0](STEPGEN_MAX_VEL) setp hm2_[MESA](BOARD).0.stepgen.00.maxaccel [JOINT_0](STEPGEN_MAX_ACC) setp hm2_[MESA](BOARD).0.stepgen.00.step_type 0 setp hm2_[MESA](BOARD).0.stepgen.00.control-type 1 # position command and feedback net joint-0-pos-cmd <= joint.0.motor-pos-cmd net joint-0-pos-cmd => pid.x.command net joint-0-pos-fb <= hm2_[MESA](BOARD).0.stepgen.00.position-fb net joint-0-pos-fb => joint.0.motor-pos-fb net joint-0-pos-fb => pid.x.feedback # PID Output net joint.0.output <= pid.x.output net joint.0.output => hm2_[MESA](BOARD).0.stepgen.00.velocity-cmd # net joint.0.output => hm2_7i95.0.7i83.0.0.analogout0

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1 year 2 months ago #333185 by PCW
Replied by PCW on topic Starthilfe Retrofit ISEL CPM4030 MESA7i95T+7i83
More like:

net joint-0-pos-fb <= hm2_[MESA](BOARD).0.encoder.00.position
net joint-0-pos-fb => joint.0.motor-pos-fb
net joint-0-pos-fb => pid.x.feedback

# PID Output
net joint.0.output <= pid.x.output
net joint.0.output => hm2_7i95.0.7i83.0.0.analogout0

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