On Sun, 15 Apr 2012, Andrew wrote:
Date: Sun, 15 Apr 2012 18:15:25 +0300
From: Andrew <parallel.kinemat...@gmail.com>
Reply-To: "Enhanced Machine Controller (EMC)"
<emc-users@lists.sourceforge.net>
To: "Enhanced Machine Controller (EMC)" <emc-users@lists.sourceforge.net>
Subject: [Emc-users] BLDC on 7i43 + 7i39 + linear motors
Hello,
I got troubles setting up my machine. Three small HIWIN linear motors (no
Hall sensors, just UVW inputs and temperature sensor output), linear
encoders, 7i43 with 2x7i39, and I'd like to put it all together. I also
have SVSTTP4_4_7i39 firmware.
Andy Pugh answered my first questions already.
15 ???????????? 2012 ??. 09:16 andy pugh <bodge...@gmail.com> ??????????????:
Does the encoder have index pulses, and do they have a fixed
correspondence to the motor phases?
Thanks for your answer, Andy!
It has, and the index position can be set anywhere.
You might also try "qi" mode, where it will try to run in one
direction until it sees an encoder index. This could be a physical
switch on the end-stop, if you can afford to run full-travel during
homing. You would then need to adjust the "encoder-offset" parameter
to suit.
In both cases the encoder scale parameter needs to be correct, and is
equally likely to need to be negative as positive.
Now I'd like magnetic init. Then I can find the offset and switch to index
homing.
I think everything else is mentioned in the manpage.
Now the problem for me is to properly connect bldc and 3pwmgen. I seem to
have it done but nothing happens.
If you load bldc in "q" mode then you will get an "init" input pin and
an "init-done" output pin. When "init" goes high then the component
will produce output a homing pattern to the motor phase outputs, and
will measure the encoder offset. When it is finished it will set
"init-done" high. Normally you would insert these into the emc-enable
loopback in the HAL so that there is no f-error raised during the
homing sequence.
But the question is when to enable 3pwmgen. Now I just set it always
enabled.
Please look at my configs (based on pncconf output, all strings with
"index" disabled, bldc to 3pwngen connection added).
That's what I have with this config. Encoders behave strange, only
+-0.005mm change with any movement, like only A or B is working. But I
checked 7i39 receives both A and B signals, and the signals look OK. Should
check the second 7i39.
The motor seems not powered at all, though two orange LEDs on 7i39 light
when the machine starts.
If you have any working configs 7i43+7i39 please share.
Thanks a lot,
Andrew
I would start with a normal hm2-servo config, not a pncconf derived setup,
the fewer uncertanties here the better.
First step would be to get the encoders working.
You may need to trace the signals from the encoder to the GPIO pins (you can
find the encoder A/B to GPIO pin mappings in the SVSTTP4_4.PIN file) you
should be able to just halmeter the GPIOs the correspond to the encoder A/B
pins and check them.
Also I believe this configuration does not connect the fault input to the
TPPWM so the TPPWM fault invert option must be set for all active TPPWMs
(you can verify that the fault is not set by reading the state of the TPPWMS
fault bit)
Peter Wallace
Mesa Electronics
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