I started to test IRAM module with MESA 5i23. I use TPEN6_6 firmware and
bldc module in "n" mode.
I am rotating it slowly (setp bldc.0.frequency 0.2). PWM outputs are
true sinusoidal (checked on scope), but motion has some smooth
(non-linear) parts and stop parts.
BTW, I can't use bldc "n6" mode, because I don't have where to connect
A-high-value, A-low-value, .. because bldc component has A-value, ..
pins only. When I use "n" mode, the motion is not smooth and it does not
depend on strength (bldc.0.value).
Shouldn't PWM curve look not like sine, but with "kinks" in the center,
smth. like this:
http://www.postech.ac.kr/ee/cmd/102_BLDC_pedal.htm
?
My config hal file attached. Look at X axis.
# Generated by PNCconf at Tue Jun 11 21:36:21 2013
# If you make changes to this file, they will be
# overwritten when you run PNCconf again
loadrt trivkins
loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD
num_joints=[TRAJ]AXES
loadrt probe_parport
loadrt hostmot2
loadrt hm2_pci config="firmware=hm2/5i23/TPEN6_6.BIT num_encoders=3
num_pwmgens=0 num_3pwmgens=3 num_stepgens=0 "
setp hm2_5i23.0.watchdog.timeout_ns 10000000
loadrt pid names=pid.x,pid.y,pid.z
loadrt bldc cfg=n,qi6,qi6
setp hm2_5i23.0.3pwmgen.frequency 12000
setp hm2_5i23.0.3pwmgen.00.deadtime 500
addf hm2_5i23.0.read servo-thread
addf motion-command-handler servo-thread
addf motion-controller servo-thread
addf pid.x.do-pid-calcs servo-thread
addf pid.y.do-pid-calcs servo-thread
addf pid.z.do-pid-calcs servo-thread
addf bldc.0 servo-thread
addf bldc.1 servo-thread
addf bldc.2 servo-thread
addf hm2_5i23.0.write servo-thread
addf hm2_5i23.0.pet_watchdog servo-thread
# external output signals
# external input signals
#*******************
# AXIS X
#*******************
# axis enable chain
newsig emcmot.00.enable bit
sets emcmot.00.enable FALSE
net emcmot.00.enable <= axis.0.amp-enable-out
net emcmot.00.enable => hm2_5i23.0.3pwmgen.00.enable
# net emcmot.00.enable => pid.0.enable
# -- BLDC setup --
setp bldc.0.drive-offset 0
setp bldc.0.rev 0
# net x-pos-rawcounts bldc.0.rawcounts
# net x-index-enable bldc.0.index-enable
net x-bldc-current bldc.0.out
net x-meas-angle bldc.0.phase-angle
# net x-output bldc.0.value
setp bldc.0.value 0.3
setp bldc.0.frequency 0.2
# net x-enable bldc.0.init
# net x-enable hm2_5i23.0.3pwmgen.00.enable
# net x-is-init bldc.0.init-done
setp pid.x.Pgain [AXIS_0]P
setp pid.x.Igain [AXIS_0]I
setp pid.x.Dgain [AXIS_0]D
setp pid.x.bias [AXIS_0]BIAS
setp pid.x.FF0 [AXIS_0]FF0
setp pid.x.FF1 [AXIS_0]FF1
setp pid.x.FF2 [AXIS_0]FF2
setp pid.x.deadband [AXIS_0]DEADBAND
setp pid.x.maxoutput [AXIS_0]MAX_OUTPUT
net x-index-enable <=> pid.x.index-enable
net x-enable => pid.x.enable
net x-output => pid.x.output
net x-pos-cmd => pid.x.command
net x-vel-fb => pid.x.feedback-deriv
net x-pos-fb => pid.x.feedback
# ---TPPWM Generator signals/setup---
# six output 3pwg
# TODO write some commands!
net pwm.00-a bldc.0.A-value => hm2_5i23.0.3pwmgen.00.A-value
net pwm.00-b bldc.0.B-value => hm2_5i23.0.3pwmgen.00.B-value
net pwm.00-c bldc.0.C-value => hm2_5i23.0.3pwmgen.00.C-value
# ---Encoder feedback signals/setup---
setp hm2_5i23.0.encoder.00.counter-mode 0
setp hm2_5i23.0.encoder.00.filter 1
setp hm2_5i23.0.encoder.00.index-invert 0
setp hm2_5i23.0.encoder.00.index-mask 0
setp hm2_5i23.0.encoder.00.index-mask-invert 0
setp hm2_5i23.0.encoder.00.scale [AXIS_0]ENCODER_SCALE
net x-pos-fb <= hm2_5i23.0.encoder.00.position
net x-vel-fb <= hm2_5i23.0.encoder.00.velocity
net x-pos-fb => axis.0.motor-pos-fb
net x-index-enable axis.0.index-enable <=>
hm2_5i23.0.encoder.00.index-enable
net x-pos-rawcounts <= hm2_5i23.0.encoder.00.rawcounts
# ---setup home / limit switch signals---
net x-home-sw => axis.0.home-sw-in
net x-neg-limit => axis.0.neg-lim-sw-in
net x-pos-limit => axis.0.pos-lim-sw-in
#*******************
# AXIS Y
#*******************
# -- BLDC setup --
setp bldc.1.drive-offset 0
setp bldc.1.rev 0
setp bldc.1.scale 8192
setp bldc.1.poles 8
setp bldc.1.initvalue 0
setp bldc.1.lead-angle 90
setp bldc.1.encoder-offset 0
net y-a-high-value bldc.1.A-high
net y-a-low-value bldc.1.A-low
net y-b-high-value bldc.1.B-high
net y-b-low-value bldc.1.B-low
net y-c-high-value bldc.1.C-high
net y-c-low-value bldc.1.C-low
net y-pos-rawcounts bldc.1.rawcounts
net y-index-enable bldc.1.index-enable
net y-bldc-current bldc.1.out
net y-meas-angle bldc.1.phase-angle
net y-output bldc.1.value
net y-enable bldc.1.init
net y-is-init bldc.1.init-done
setp pid.y.Pgain [AXIS_1]P
setp pid.y.Igain [AXIS_1]I
setp pid.y.Dgain [AXIS_1]D
setp pid.y.bias [AXIS_1]BIAS
setp pid.y.FF0 [AXIS_1]FF0
setp pid.y.FF1 [AXIS_1]FF1
setp pid.y.FF2 [AXIS_1]FF2
setp pid.y.deadband [AXIS_1]DEADBAND
setp pid.y.maxoutput [AXIS_1]MAX_OUTPUT
net y-index-enable <=> pid.y.index-enable
net y-enable => pid.y.enable
net y-output => pid.y.output
net y-pos-cmd => pid.y.command
net y-vel-fb => pid.y.feedback-deriv
net y-pos-fb => pid.y.feedback
# ---TPPWM Generator signals/setup---
# six output 3pwg
# TODO write some commands!
# ---Encoder feedback signals/setup---
setp hm2_5i23.0.encoder.01.counter-mode 0
setp hm2_5i23.0.encoder.01.filter 1
setp hm2_5i23.0.encoder.01.index-invert 0
setp hm2_5i23.0.encoder.01.index-mask 0
setp hm2_5i23.0.encoder.01.index-mask-invert 0
setp hm2_5i23.0.encoder.01.scale [AXIS_1]ENCODER_SCALE
net y-pos-fb <= hm2_5i23.0.encoder.01.position
net y-vel-fb <= hm2_5i23.0.encoder.01.velocity
net y-pos-fb => axis.1.motor-pos-fb
net y-index-enable axis.1.index-enable <=>
hm2_5i23.0.encoder.01.index-enable
net y-pos-rawcounts <= hm2_5i23.0.encoder.01.rawcounts
# ---setup home / limit switch signals---
net y-home-sw => axis.1.home-sw-in
net y-neg-limit => axis.1.neg-lim-sw-in
net y-pos-limit => axis.1.pos-lim-sw-in
#*******************
# AXIS Z
#*******************
# -- BLDC setup --
setp bldc.2.drive-offset 0
setp bldc.2.rev 0
setp bldc.2.scale 8192
setp bldc.2.poles 4
setp bldc.2.initvalue 0
setp bldc.2.lead-angle 90
setp bldc.2.encoder-offset 0
net z-a-high-value bldc.2.A-high
net z-a-low-value bldc.2.A-low
net z-b-high-value bldc.2.B-high
net z-b-low-value bldc.2.B-low
net z-c-high-value bldc.2.C-high
net z-c-low-value bldc.2.C-low
net z-pos-rawcounts bldc.2.rawcounts
net z-index-enable bldc.2.index-enable
net z-bldc-current bldc.2.out
net z-meas-angle bldc.2.phase-angle
net z-output bldc.2.value
net z-enable bldc.2.init
net z-is-init bldc.2.init-done
setp pid.z.Pgain [AXIS_2]P
setp pid.z.Igain [AXIS_2]I
setp pid.z.Dgain [AXIS_2]D
setp pid.z.bias [AXIS_2]BIAS
setp pid.z.FF0 [AXIS_2]FF0
setp pid.z.FF1 [AXIS_2]FF1
setp pid.z.FF2 [AXIS_2]FF2
setp pid.z.deadband [AXIS_2]DEADBAND
setp pid.z.maxoutput [AXIS_2]MAX_OUTPUT
net z-index-enable <=> pid.z.index-enable
net z-enable => pid.z.enable
net z-output => pid.z.output
net z-pos-cmd => pid.z.command
net z-vel-fb => pid.z.feedback-deriv
net z-pos-fb => pid.z.feedback
# ---TPPWM Generator signals/setup---
# six output 3pwg
# TODO write some commands!
# ---Encoder feedback signals/setup---
setp hm2_5i23.0.encoder.02.counter-mode 0
setp hm2_5i23.0.encoder.02.filter 1
setp hm2_5i23.0.encoder.02.index-invert 0
setp hm2_5i23.0.encoder.02.index-mask 0
setp hm2_5i23.0.encoder.02.index-mask-invert 0
setp hm2_5i23.0.encoder.02.scale [AXIS_2]ENCODER_SCALE
net z-pos-fb <= hm2_5i23.0.encoder.02.position
net z-vel-fb <= hm2_5i23.0.encoder.02.velocity
net z-pos-fb => axis.2.motor-pos-fb
net z-index-enable axis.2.index-enable <=>
hm2_5i23.0.encoder.02.index-enable
net z-pos-rawcounts <= hm2_5i23.0.encoder.02.rawcounts
# ---setup home / limit switch signals---
net z-home-sw => axis.2.home-sw-in
net z-neg-limit => axis.2.neg-lim-sw-in
net z-pos-limit => axis.2.pos-lim-sw-in
#*******************
# SPINDLE S
#*******************
# ---setup spindle control signals---
net spindle-vel-cmd-rps <= motion.spindle-speed-out-rps
net spindle-vel-cmd <= motion.spindle-speed-out
net spindle-on <= motion.spindle-on
net spindle-cw <= motion.spindle-forward
net spindle-ccw <= motion.spindle-reverse
net spindle-brake <= motion.spindle-brake
net spindle-revs => motion.spindle-revs
net spindle-at-speed => motion.spindle-at-speed
net spindle-vel-fb => motion.spindle-speed-in
net spindle-index-enable <=> motion.spindle-index-enable
# ---Setup spindle at speed signals---
sets spindle-at-speed true
#******************************
# connect miscellaneous signals
#******************************
# ---HALUI signals---
net joint-select-a halui.joint.0.select
net x-is-homed halui.joint.0.is-homed
net jog-x-pos halui.jog.0.plus
net jog-x-neg halui.jog.0.minus
net jog-x-analog halui.jog.0.analog
net joint-select-b halui.joint.1.select
net y-is-homed halui.joint.1.is-homed
net jog-y-pos halui.jog.1.plus
net jog-y-neg halui.jog.1.minus
net jog-y-analog halui.jog.1.analog
net joint-select-c halui.joint.2.select
net z-is-homed halui.joint.2.is-homed
net jog-z-pos halui.jog.2.plus
net jog-z-neg halui.jog.2.minus
net jog-z-analog halui.jog.2.analog
net jog-selected-pos halui.jog.selected.plus
net jog-selected-neg halui.jog.selected.minus
net spindle-manual-cw halui.spindle.forward
net spindle-manual-ccw halui.spindle.reverse
net spindle-manual-stop halui.spindle.stop
net machine-is-on halui.machine.is-on
net jog-speed halui.jog-speed
net MDI-mode halui.mode.is-mdi
# ---coolant signals---
net coolant-mist <= iocontrol.0.coolant-mist
net coolant-flood <= iocontrol.0.coolant-flood
# ---probe signal---
net probe-in => motion.probe-input
# ---motion control signals---
net in-position <= motion.in-position
net machine-is-enabled <= motion.motion-enabled
# ---digital in / out signals---
# ---estop signals---
net estop-out <= iocontrol.0.user-enable-out
net estop-out => iocontrol.0.emc-enable-in
# ---manual tool change signals---
loadusr -W hal_manualtoolchange
net tool-change-request iocontrol.0.tool-change =>
hal_manualtoolchange.change
net tool-change-confirmed iocontrol.0.tool-changed <=
hal_manualtoolchange.changed
net tool-number iocontrol.0.tool-prep-number =>
hal_manualtoolchange.number
net tool-prepare-loopback iocontrol.0.tool-prepare =>
iocontrol.0.tool-prepared
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