On Thu, 29 Sep 2011, Viesturs L?cis wrote:
Date: Thu, 29 Sep 2011 19:56:45 +0300
From: "[UTF-8] Viesturs L?cis" <viesturs.la...@gmail.com>
Reply-To: "Enhanced Machine Controller (EMC)"
<emc-users@lists.sourceforge.net>
To: "Enhanced Machine Controller (EMC)" <emc-users@lists.sourceforge.net>
Subject: Re: [Emc-users] 3-phase pwmgens for 7i39
2011/9/29 andy pugh <bodge...@gmail.com>:
On 29 September 2011 11:03, Viesturs L??cis <viesturs.la...@gmail.com> wrote:
What is max number of the "pattern"?
47, I think. See man bldc
To me it seems that Your suggested hi,hi,hi is telling - there is Hall
sensor feedback and index signal, no quadrature.
Is that correct?
Insufficient coffee error, redo from start.
No, not correct at all. I would start with qh,qh,qh
(Using "i" inmplies that you know where the index is relative to the poles.)
I tried all 48 patterns twice. Obtained result - nothing...
I tested by setting pattern value in HAL file, saving file, starting
EMC and pressing F1 and F2. I understand that at this moment motor
should turn. Is that correct?
Did you ever get any motor movement? If not, something more basic is wrong
(like PWM enable or initial voltage % (you have 10/166.6*28V) = 1.7V
-deadzone which may be too low to generate much current especially if the
PWM frequency is high)
Also I dont see the PWM frequency set
Here is the contents of HAL file that relates to that particular
instance of encoder, bldc module and 3pwmgen.
loadrt bldc cfg=qh,qh,qh
addf bldc.2 servo-thread
newsig emcmot.02.enable bit
sets emcmot.02.enable FALSE
net emcmot.02.enable => hm2_[HOSTMOT2](BOARD).0.3pwmgen.02.enable
net emcmot.02.enable <= axis.2.amp-enable-out
# encoder feedback
setp hm2_[HOSTMOT2](BOARD).0.encoder.02.counter-mode 0
setp hm2_[HOSTMOT2](BOARD).0.encoder.02.filter 1
setp hm2_[HOSTMOT2](BOARD).0.encoder.02.index-invert 0
setp hm2_[HOSTMOT2](BOARD).0.encoder.02.index-mask 0
setp hm2_[HOSTMOT2](BOARD).0.encoder.02.index-mask-invert 0
setp hm2_[HOSTMOT2](BOARD).0.encoder.02.scale [AXIS_2]INPUT_SCALE
setp bldc.2.scale [AXIS_2]INPUT_SCALE
setp bldc.2.poles 8
setp bldc.2.pattern 47
net motor.2.hall-1 hm2_[HOSTMOT2](BOARD).0.gpio.027.in => bldc.2.hall1
net motor.2.hall-2 hm2_[HOSTMOT2](BOARD).0.gpio.028.in => bldc.2.hall2
net motor.2.hall-3 hm2_[HOSTMOT2](BOARD).0.gpio.029.in => bldc.2.hall3
net enc.2.raw hm2_[HOSTMOT2](BOARD).0.encoder.02.rawcounts => bldc.2.rawcounts
setp hm2_[HOSTMOT2](BOARD).0.3pwmgen.02.scale 166.667
setp bldc.2.value 10
net pwm.02-a bldc.2.A-value => hm2_[HOSTMOT2](BOARD).0.3pwmgen.02.A-value
net pwm.02-b bldc.2.B-value => hm2_[HOSTMOT2](BOARD).0.3pwmgen.02.B-value
net pwm.02-c bldc.2.C-value => hm2_[HOSTMOT2](BOARD).0.3pwmgen.02.C-value
7i39 does receive power. It has 28.2VDC on motor power input terminals.
Encoder is working - when I turn motor by hand, joint's position
changes and bldc.2.rawcounts also changes.
Hall sensor feedback also is recieved - when I watch bldc.2.hall1,
bldc.2.hall2 and bldc.2.hall3 pins in HAL Config, all 3 LEDs change
colors as I turn motor by hand.
What else am I missing?
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All the data continuously generated in your IT infrastructure contains a
definitive record of customers, application performance, security
threats, fraudulent activity and more. Splunk takes this data and makes
sense of it. Business sense. IT sense. Common sense.
http://p.sf.net/sfu/splunk-d2dcopy1
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