Hello! It has been quite a long time since I have tried unsuccessfully to get STMBL drive working with the Yaskawa servomotor. A little context: I posted here a year or so ago about Biesse retrofit that I was doing and 8i20 drives that I fitted because original Yaskawa drives were showing some errors but I kept them to provide normal ABZ encoder signal because actual encoder output is quadrature signal in AB lines and commutation pattern in 3rd channel (normally used for index). I posted about the C channel pattern and asked about possibilities to decipher it in LinuxCNC and/or Mesa firmware. So I have 8i20 drives for X and Y motors and original drives providing ABZ signal to LinuxCNC. The thing is that servodrive for Z axis died completely. So I got STMBL drive because 8i20 was not available at the moment and STMBL has a HAL module for Yaskawa encoders (only to discover later that it is for absolute encoders, not incremental). I got the drive from a guy in Italy that seems to be making his version of them (https://freakontrol.github.io/stmbl/docs/introduction/) and I managed to contact him on Element but he is not much in to responding to say the least). So I have been trying to get STMBL drive to work with that servomotor at least with A and B channels from encoder without index. I have connected 24VFC for logics power, 340VDC power for motr, motor cable and encoder cable to drive and I have plugged USB cable for Servoterm app. I do not yet have it connected to LinuxCNC (I have not tried to load smart-serial module in drive config although it is visible that I have LinuxCNC open in background - that is for enabling machine power). First thing I started with was a stmbl config as follows: link pid link pmsm link enc_fb0 link misc link id_pmsm
And I was having issues with connection of servoterm to stmbl drive. But I managed to notice in servoterm app suggested values for conf0.r, conf0.l and conf0.psi (I have not found any datasheet of the motor so I have to trust the drive to sense/measure for me). Polecount should be 8 but the app insists that it is 4 so I gave up especially after I had specified conf0.mot_fb_res to 32768 (it is 8192 PPR encoder) so then it should be able to detect pole count correctly. The connection problems looked like this (I had move on from id_pmsm to id_mot as per suggestion in servoterm app): https://www.youtube.com/watch?v=SkFTIcRQUL0 I spent a lot of time trying to figure it out and providing separate 24VDC logic power improved a lot (now it did not disconnect in a split second): https://www.youtube.com/watch?v=pCc_dh2BObo But it did freeze and I could not do anything but close the app. And when I restarted the servoterm app, it was this: https://www.youtube.com/watch?v=z35EzysD0Pk So I do not understand what am I doing wrong. I would reaalllly appreciate if there is someone with experience of getting stmbl drive to work and hopefully poke me in correct direction. Thank you in advance! Viesturs _______________________________________________ Emc-users mailing list [email protected] https://lists.sourceforge.net/lists/listinfo/emc-users
