Re: [Emc-users] problem with genserkins
andy pugh wrote: ERR kI - compute_jinv (joints: %f %f %f %f %f %f), (iterations=0) Looking at the source-code that error indicates that the inversion of the matrix has failed. It might mean that your DH parameters are in some way inconsistent, or possibly just that the motor position is ambiguous. Is that the actual error message? All those %f entries should be printing out as joint positions. I don't resolve my problem yet! :( I thought that this error ERR kI - compute_jinv (joints: %f %f %f %f %f %f), (iterations=0) could be mean that I didn't set the number of iterations that were used to compute the inverse kinematics. The genserkins module request a pin for this. It is correct? How I can set this? from genserkins.h and genserkins.c: TODO: * make number of joints a loadtime parameter * add HAL pins for all settable parameters, including joint type: ANGULAR / LINEAR * add HAL pins for debug data (num_iterations) * add HAL pins for ULAPI compiled version hal_s32_t iterations; /*! How many iterations were actually used to compute the inverse kinematics. */ hal_s32_t max_iterations; /*! Number of iterations after which to give up and report an error. */ -- RSA(R) Conference 2012 Save $700 by Nov 18 Register now http://p.sf.net/sfu/rsa-sfdev2dev1 ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
Re: [Emc-users] problem with genserkins
On 8 November 2011 09:44, Francesca Sca fancy_...@yahoo.it wrote: could be mean that I didn't set the number of iterations that were used to compute the inverse kinematics. The genserkins module request a pin for this. It is correct? How I can set this? It looks like a parameter is created to set the max iterations, but I think it is initialised to 100. (for reference, the HAL parameter is created in line 612) hal_s32_t iterations; /*! How many iterations were actually used to compute the inverse kinematics. */ hal_s32_t max_iterations; /*! Number of iterations after which to give up and report an error. */ If you are using the Axis interface then you can see the value of the parameter in Machine-Show Hal Config (or perhaps Mostra configurazione HAL) and look at the parameter genserkins.max-iterations. You can change the value in the same window by typing setp ganserkin.max-iterations 100 If you find a value that works, then you can put that same line in your HAL file. -- atp The idea that there is no such thing as objective truth is, quite simply, wrong. -- RSA(R) Conference 2012 Save $700 by Nov 18 Register now http://p.sf.net/sfu/rsa-sfdev2dev1 ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
Re: [Emc-users] Has anyone tried to use and RC controller with EMC to run a RC brushless
Good morning all, There is an ad running in Digital Machinist magazine for an RC speed control of a brushless motor with ESC. If interested go to www.logicnc.com It gives EMC2 a way to control spindle speed from the parallel port. I haven't used one yet though. Cheers! - Original Message - From: jop...@gmail.com jop...@gmail.com To: emc-users@lists.sourceforge.net emc-users@lists.sourceforge.net Sent: Tue Nov 08 01:40:37 2011 Subject: Re: [Emc-users] Has anyone tried to use and RC controller with EMC to run a RC brushless Has anyone tried to use and RC controller with EMC to run a RC brushless motor Hi! I try to use it. Work still in progress, but control part is almost done. please read more here http://www.linuxcnc.org/component/option,com_kunena/Itemid,20/func,view/catid,16/id,2056/limit,6/limitstart,12/lang,english/#14554 On 11/08/2011 06:15 AM, Kasey Matejcek wrote: Has anyone tried to use and RC controller with EMC to run a RC brushless motor They take a pwm control signal from 1ms to 2ms or around there but haven't tried It sound like the have to have a signal on the input when there powered up or the go into disable mode possibly On 7 November 2011 02:26, Kirk Wallacekwall...@wallacecompany.com wrote: I suppose a draw bar is going to be a problem. How does your current drawbar work? I can imagine thet it might be possible to use the exisiting drawbar actuator for the new spindle. Part of the solution might be to hold the high-speed spindle in place with the 4 tapped holes in the face rather than with the drawbar. I have an electric draw bar like this one: http://home.insightbb.com/~joevicar3/cheap_drawbar.htm It's not very subtle and would make short work of a 20 taper collet. There are laminations available with a decent-sized central hole that would allow a through-bore motor to be made. http://www.gobrushless.com/shop/index.php?app=ccp0ns=prodshowref=SC+ 65mmstator I think an ISO10 holder could be made to fit at least partly up inside that, and you could probably still get at the face mounting bolts. However I have not found a drawing which shows them. http://www.schaublin.ch/catalogues/PO039-042.pdf Usually outrunners are wound to get low RPM. I would most likely need as much speed as possible. Many of the laminations I have seen have odd numbers of poles so would not work. I do see the above stator has a number of poles that evenly divides by three, so would work if I wind six poles in a row. So let's see, 60 RPS = 3600 RPM. Common VFD's go up to 400 Hz to give around 24,000 RPM. That would do nicely. This would be a slam dunk if I didn't want the draw bar and went with ER collets, hmmm. An Inrunner might package more easily. Rather than a brushless motor, I wonder if gearing up the existing spindle is an option. I have seen a centrifugal supercharger drive which used friction drive to achieve a large speed increase using only a slightly resilient outer drive ring, and slightly-floating-mounted planets. These are almost ready-made for the planet job: http://simplybearings.co.uk/shop/advanced_search_result.php?categories _id=44611_10=9205_121_210=-122_220=9205_2223_230=9205_23x=22y=9 extra_field_filter=1 I found this: http://www.tormach.com/product_pcnc_acc_speeder.html I suppose a smooth belt from the main spindle to an offset idler axle then a belt back to an on-axis secondary spindle would work, but then there would be no fancy high-tech electronics involved. -- Kirk Wallace http://www.wallacecompany.com/machine_shop/ http://www.wallacecompany.com/E45/index.html California, USA -- RSA(R) Conference 2012 Save $700 by Nov 18 Register now http://p.sf.net/sfu/rsa-sfdev2dev1 ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users -- RSA(R) Conference 2012 Save $700 by Nov 18 Register now http://p.sf.net/sfu/rsa-sfdev2dev1 ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users -- RSA(R) Conference 2012 Save $700 by Nov 18 Register now http://p.sf.net/sfu/rsa-sfdev2dev1 ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users This communication is for the use of the intended recipient only. It may contain information that is privileged and confidential. If you are not the intended recipient of this communication, the disclosure, copying, distribution or use hereof is prohibited. If you have received this communication in error, please advise me by return
Re: [Emc-users] Has anyone tried to use and RC controller with EMC to run a RC brushless
On 8 November 2011 11:16, James Louis james.lo...@gastechnology.org wrote: Good morning all, There is an ad running in Digital Machinist magazine for an RC speed control of a brushless motor with ESC. If interested go to www.logicnc.com It gives EMC2 a way to control spindle speed from the parallel port. I haven't used one yet though. It isn't strictly necessary. As the RC pulse protocol is a 1 - 2mS pulse every 20mS the standard EMC2 PWM function can be used, but gives fairly poor resolution. (20 discrete steps with a 25,000nS base thread). -- atp The idea that there is no such thing as objective truth is, quite simply, wrong. -- RSA(R) Conference 2012 Save $700 by Nov 18 Register now http://p.sf.net/sfu/rsa-sfdev2dev1 ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
Re: [Emc-users] Has anyone tried to use and RC controller with EMC to run a RC brushless
On 11/8/2011 6:56 AM, andy pugh wrote: On 8 November 2011 11:16, James Louisjames.lo...@gastechnology.org wrote: Good morning all, There is an ad running in Digital Machinist magazine for an RC speed control of a brushless motor with ESC. If interested go to www.logicnc.com It gives EMC2 a way to control spindle speed from the parallel port. I haven't used one yet though. It isn't strictly necessary. As the RC pulse protocol is a 1 - 2mS pulse every 20mS the standard EMC2 PWM function can be used, but gives fairly poor resolution. (20 discrete steps with a 25,000nS base thread). 1-2 ms in 20ms ... I've read that before. So the min pulse width is 1 ms and the max is 2ms.. in a 20ms time slot? Seems like a waste to only use up to 2ms of the 20 ms time slot... Dave -- RSA(R) Conference 2012 Save $700 by Nov 18 Register now http://p.sf.net/sfu/rsa-sfdev2dev1 ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
Re: [Emc-users] Has anyone tried to use and RC controller with EMC to run a RC brushless
On Tue, Nov 8, 2011 at 3:30 PM, Dave e...@dc9.tzo.com wrote: 1-2 ms in 20ms ... I've read that before. So the min pulse width is 1 ms and the max is 2ms.. in a 20ms time slot? Seems like a waste to only use up to 2ms of the 20 ms time slot... Not really: this 'protocol' was originally developed for arrange more channels on the same wire. http://adamone.rchomepage.com/guide1.htm The repetition period is just 20 ms that allow for a dozen of servo controlled. *am* -- Andrea Montefusco IW0HDV -- RSA(R) Conference 2012 Save $700 by Nov 18 Register now http://p.sf.net/sfu/rsa-sfdev2dev1 ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
Re: [Emc-users] Has anyone tried to use and RC controller with EMC to run a RC brushless
This is a legacy of the RC data format. The signal is transmitted as a series of short fixed width pulses, one pulse per channel. The time between each pulse gives the output pulse width for that channel. This repeats for the rest of the channels. 20ms gives enough time for 8 channels plus a sync pulse. This format is very easy to decode with a simple counter. Les On 08/11/2011 14:30, Dave wrote: 1-2 ms in 20ms ... I've read that before. So the min pulse width is 1 ms and the max is 2ms.. in a 20ms time slot? Seems like a waste to only use up to 2ms of the 20 ms time slot... Dave -- RSA(R) Conference 2012 Save $700 by Nov 18 Register now http://p.sf.net/sfu/rsa-sfdev2dev1 ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users -- RSA(R) Conference 2012 Save $700 by Nov 18 Register now http://p.sf.net/sfu/rsa-sfdev2dev1 ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
Re: [Emc-users] Has anyone tried to use and RC controller with EMC to run a RC brushless
For a up to date usage of RC servos, take a look at http://www.openservo.org/ *am* -- Andrea Montefusco IW0HDV -- RSA(R) Conference 2012 Save $700 by Nov 18 Register now http://p.sf.net/sfu/rsa-sfdev2dev1 ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
Re: [Emc-users] Has anyone tried to use and RC controller with EMC to run a RC brushless
Hello Dave, the RC protocol is very prinitive and thus very flexible. In order to make more channels possible I use a variable time slot which adds up by ten variable pulses (correctly, pulse pauses from 1 to 2 ms) which contain the channel informations plus a 10 ms sync pulse (can be reduced to 6 or 8 ms without problems). So, the length of the whole telegram varies from 20 ms (all ten channels at lower limit) to 30 ms (all channels up). Encoder and decoder use the same IC, a decimal CMOS counter. Very simple circuits for both sides. The sync pause is detected by a simple RC combination, resetting the decimal counter. Peter Dave schrieb: 1-2 ms in 20ms ... I've read that before. So the min pulse width is 1 ms and the max is 2ms.. in a 20ms time slot? Seems like a waste to only use up to 2ms of the 20 ms time slot... Dave -- RSA(R) Conference 2012 Save $700 by Nov 18 Register now http://p.sf.net/sfu/rsa-sfdev2dev1 ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users -- RSA(R) Conference 2012 Save $700 by Nov 18 Register now http://p.sf.net/sfu/rsa-sfdev2dev1 ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
Re: [Emc-users] Has anyone tried to use and RC controller with EMC to run a RC brushless
OK, now I understand.. Makes sense since RC model planes have been around for a long time. Thanks, Dave On 11/8/2011 10:19 AM, Peter Blodow wrote: Hello Dave, the RC protocol is very prinitive and thus very flexible. In order to make more channels possible I use a variable time slot which adds up by ten variable pulses (correctly, pulse pauses from 1 to 2 ms) which contain the channel informations plus a 10 ms sync pulse (can be reduced to 6 or 8 ms without problems). So, the length of the whole telegram varies from 20 ms (all ten channels at lower limit) to 30 ms (all channels up). Encoder and decoder use the same IC, a decimal CMOS counter. Very simple circuits for both sides. The sync pause is detected by a simple RC combination, resetting the decimal counter. Peter Dave schrieb: 1-2 ms in 20ms ... I've read that before. So the min pulse width is 1 ms and the max is 2ms.. in a 20ms time slot? Seems like a waste to only use up to 2ms of the 20 ms time slot... Dave -- RSA(R) Conference 2012 Save $700 by Nov 18 Register now http://p.sf.net/sfu/rsa-sfdev2dev1 ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users -- RSA(R) Conference 2012 Save $700 by Nov 18 Register now http://p.sf.net/sfu/rsa-sfdev2dev1 ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users -- RSA(R) Conference 2012 Save $700 by Nov 18 Register now http://p.sf.net/sfu/rsa-sfdev2dev1 ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
Re: [Emc-users] Has anyone tried to use and RC controller with EMC to run a RC brushless
On Tue, 2011-11-08 at 11:56 +, andy pugh wrote: On 8 November 2011 11:16, James Louis james.lo...@gastechnology.org wrote: Good morning all, There is an ad running in Digital Machinist magazine for an RC speed control of a brushless motor with ESC. If interested go to www.logicnc.com It gives EMC2 a way to control spindle speed from the parallel port. I haven't used one yet though. It isn't strictly necessary. As the RC pulse protocol is a 1 - 2mS pulse every 20mS the standard EMC2 PWM function can be used, but gives fairly poor resolution. (20 discrete steps with a 25,000nS base thread). I played with an AVR to get the fast PWM needed. See: http://wiki.linuxcnc.org/emcinfo.pl?AVR For spindle speed output only the SPP example could work. For multi-parameter I/O the Modbus example could be a base to build on. I believe many RC ESC's are AVR based so the PWM link could be changed to SPI or Modbus fairly easily. -- Kirk Wallace http://www.wallacecompany.com/machine_shop/ http://www.wallacecompany.com/E45/index.html California, USA -- RSA(R) Conference 2012 Save $700 by Nov 18 Register now http://p.sf.net/sfu/rsa-sfdev2dev1 ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
Re: [Emc-users] Has anyone tried to use and RC controller with EMC to run a RC brushless
On 8 November 2011 15:54, Kirk Wallace kwall...@wallacecompany.com wrote: I played with an AVR to get the fast PWM needed. See: http://wiki.linuxcnc.org/emcinfo.pl?AVR Also, I am pretty sure that the Mesa and Pico boards have enough resolution in their PWM generators to work perfectly well. -- atp The idea that there is no such thing as objective truth is, quite simply, wrong. -- RSA(R) Conference 2012 Save $700 by Nov 18 Register now http://p.sf.net/sfu/rsa-sfdev2dev1 ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
Re: [Emc-users] Has anyone tried to use and RC controller with EMC to run a RC brushless
On 11/08/2011 8:30 AM, Dave wrote: On 11/8/2011 6:56 AM, andy pugh wrote: On 8 November 2011 11:16, James Louisjames.lo...@gastechnology.org wrote: Good morning all, There is an ad running in Digital Machinist magazine for an RC speed control of a brushless motor with ESC. If interested go to www.logicnc.com It gives EMC2 a way to control spindle speed from the parallel port. I haven't used one yet though. It isn't strictly necessary. As the RC pulse protocol is a 1 - 2mS pulse every 20mS the standard EMC2 PWM function can be used, but gives fairly poor resolution. (20 discrete steps with a 25,000nS base thread). 1-2 ms in 20ms ... I've read that before. So the min pulse width is 1 ms and the max is 2ms.. in a 20ms time slot? Seems like a waste to only use up to 2ms of the 20 ms time slot... No, RC is a pulse POSITION modulation, see http://skymixer.engineering.free.fr/index.php?option=com_contentview=articleid=74:rc-ppm-signalcatid=51:rc-receiversItemid=49 for more info. (Line may have to be unwrapped.) Jon -- RSA(R) Conference 2012 Save $700 by Nov 18 Register now http://p.sf.net/sfu/rsa-sfdev2dev1 ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
Re: [Emc-users] Has anyone tried to use and RC controller with EMC to run a RC brushless
On 11/08/2011 8:50 AM, Les Newell wrote: This is a legacy of the RC data format. The signal is transmitted as a series of short fixed width pulses, one pulse per channel. The time between each pulse gives the output pulse width for that channel. This repeats for the rest of the channels. 20ms gives enough time for 8 channels plus a sync pulse. This format is very easy to decode with a simple counter. This is the RADIO format, where all servo channels are multiplexed onto one radio signal. But, the individual servo units see a single pulse of varying width, every 20 ms. Jon -- RSA(R) Conference 2012 Save $700 by Nov 18 Register now http://p.sf.net/sfu/rsa-sfdev2dev1 ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
Re: [Emc-users] Has anyone tried to use and RC controller with EMC to run a RC brushless
On Tuesday, November 08, 2011 11:10:12 AM andy pugh did opine: On 8 November 2011 11:16, James Louis james.lo...@gastechnology.org wrote: Good morning all, There is an ad running in Digital Machinist magazine for an RC speed control of a brushless motor with ESC. If interested go to www.logicnc.com It gives EMC2 a way to control spindle speed from the parallel port. I haven't used one yet though. It isn't strictly necessary. As the RC pulse protocol is a 1 - 2mS pulse every 20mS the standard EMC2 PWM function can be used, but gives fairly poor resolution. (20 discrete steps with a 25,000nS base thread). My experience with this sort of a control scheme is limited to the pico- power gizmo's used to rotate the receiving antenna in the feedhorn of a polarotor in a satellite dish, now gone largely out of style because most are no longer motorized, but aimed at fixed birds today. These devices are not speed demons, but positioning servo's and in good condition are about a degree accurate. They can turn about 345 degrees in perhaps 1 second. Given the limitations of the base thread defined, 2 questions come to mind, the first being just how important is it to control a spindles speed to 1 or 2% accuracy? In my admittedly limited use, I either set the speed in the gcode, or by hand from the knob, trying to select a speed which is anti-resonant with the rest of the rubber in my micromills frame, often mathematically and theoretically way too high, and the chips are dangerously fine. Bit life is of course reduced in terms of weight of swarf removed with a given bit. So bit cost for me is 4x what a good stiff mill would be. But that's just me my toy machine. I've been toying with buying a BF20/GO704 to get a bigger envelope, but I fear it would be a repeat problem given that machines lack of mass, that post is about 1/3rd the cross section it probably needs to be IMNSHO. Secondarily, it finer control is needed, then I'd suggest an additional bit of logic which would need a 2nd parport pin to control, so the pin usage is the same as my PMDX-106 setup which allows drive in either direction starting at about 30 rpm, but at 30 rpm there is no usable torque. At 250, yes, full blow the fuse torque can be had. To do this, fab a 16 bit counter with a countup input and a countdown input. Powerup reset to $. Feed the counters state to a 16 bit d/a, and use that to set the timing of a 555 circuit to feed the ESC, using the 1 to 2 ms variable std timebase for such. Needless complexity for a limited utility IMO. The hal setup would be the number of pulses to send to achieve the minimum speed, and the number to send to achieve maximum speed, and the offset, all scaled. If the speed is to be reduced, send n pulses to the downcount pin. Keep track of pulses sent, and send that many downcounts for a full stop. I think this could be an interesting method and reasonably economical, for an engraving gantry machine, but less so for the more conventional 3 or 4 axis small mill that may have anything from a stick of poplar to a 1.5 diameter chunk of mine shafting on its table. Cheers, Gene -- There are four boxes to be used in defense of liberty: soap, ballot, jury, and ammo. Please use in that order. -Ed Howdershelt (Author) My web page: http://coyoteden.dyndns-free.com:85/gene You've been telling me to relax all the way here, and now you're telling me just to be myself? -- The Return of the Secaucus Seven -- RSA(R) Conference 2012 Save $700 by Nov 18 Register now http://p.sf.net/sfu/rsa-sfdev2dev1 ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
Re: [Emc-users] Engaver Tool Changing
Has anyone considered a dental drill? 400,000 RPM! You can get them on eBay (which is kind of scary actually) DougM On Mon, Nov 7, 2011 at 10:52 PM, Kirk Wallace kwall...@wallacecompany.com wrote: On Mon, 2011-11-07 at 20:15 -0600, Kasey Matejcek wrote: Has anyone tried to use and RC controller with EMC to run a RC brushless motor They take a pwm control signal from 1ms to 2ms or around there but haven't tried It sound like the have to have a signal on the input when there powered up or the go into disable mode possibly I posted a little bit of RC servo stuff here: http://wiki.linuxcnc.org/cgi-bin/emcinfo.pl?RC_Servo_Test I suppose an RC ESC uses the same type of signal. http://www.youtube.com/watch?v=fPLdHeRQp_w Since an RC brushless motor is just a three phase motor this link might be of interest too: http://wiki.linuxcnc.org/cgi-bin/emcinfo.pl?BLDC but in this setup EMC2 fills the ESC role. -- Kirk Wallace http://www.wallacecompany.com/machine_shop/ http://www.wallacecompany.com/E45/index.html California, USA -- RSA(R) Conference 2012 Save $700 by Nov 18 Register now http://p.sf.net/sfu/rsa-sfdev2dev1 ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users -- RSA(R) Conference 2012 Save $700 by Nov 18 Register now http://p.sf.net/sfu/rsa-sfdev2dev1 ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
Re: [Emc-users] Has anyone tried to use and RC controller with EMC to run a RC brushless
By the way, virtually all brushless ESCs will accept a frame rate of up to 400Hz (2.5ms interval). I do that in my quadcopter controller to increase the bandwidth. Quadcopters need very fast ESC response for stability. Les On 08/11/2011 16:09, Jon Elson wrote: This is the RADIO format, where all servo channels are multiplexed onto one radio signal. But, the individual servo units see a single pulse of varying width, every 20 ms. Jon -- RSA(R) Conference 2012 Save $700 by Nov 18 Register now http://p.sf.net/sfu/rsa-sfdev2dev1 ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
Re: [Emc-users] Has anyone tried to use and RC controller with EMC to run a RC brushless
On Tuesday, November 08, 2011 11:57:11 AM Dave did opine: On 11/8/2011 6:56 AM, andy pugh wrote: On 8 November 2011 11:16, James Louisjames.lo...@gastechnology.org wrote: Good morning all, There is an ad running in Digital Machinist magazine for an RC speed control of a brushless motor with ESC. If interested go to www.logicnc.com It gives EMC2 a way to control spindle speed from the parallel port. I haven't used one yet though. It isn't strictly necessary. As the RC pulse protocol is a 1 - 2mS pulse every 20mS the standard EMC2 PWM function can be used, but gives fairly poor resolution. (20 discrete steps with a 25,000nS base thread). 1-2 ms in 20ms ... I've read that before. So the min pulse width is 1 ms and the max is 2ms.. in a 20ms time slot? Seems like a waste to only use up to 2ms of the 20 ms time slot... From my experience, they work essentially as a sample hold, integrating the charge during the pulse, then hold drive the motor which ever direction balances the bridge during the hold/rest period. I believe the 20ms is the alloted time to reset the integrator so it restarts at a consistent state. We had one mcu based controller that used the 1-2 millisecond signal, but had about a 500ms cycle rate, worked just fine. OTOH, putting a 1 khz square wave in didn't seem to get usable operation for testing on the bench, it just stayed where it was at for the most part, so the cycle time can be too short. Quick enough (just barely) for model airplane RC usage, but IMO not nearly fast enough for accurate machining at industrial speeds if scaled up 1000x and used to drive the tables. Dave -- RSA(R) Conference 2012 Save $700 by Nov 18 Register now http://p.sf.net/sfu/rsa-sfdev2dev1 ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users Cheers, Gene -- There are four boxes to be used in defense of liberty: soap, ballot, jury, and ammo. Please use in that order. -Ed Howdershelt (Author) My web page: http://coyoteden.dyndns-free.com:85/gene I guess I've been wrong all my life, but so have billions of other people... Certainty is just an emotion. -- Hal Clement -- RSA(R) Conference 2012 Save $700 by Nov 18 Register now http://p.sf.net/sfu/rsa-sfdev2dev1 ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
Re: [Emc-users] Has anyone tried to use and RC controller with EMC to run a RC brushless
On 11/08/2011 05:04 PM, Jon Elson wrote: No, RC is a pulse POSITION modulation, see http://skymixer.engineering.free.fr/index.php?option=com_contentview=articleid=74:rc-ppm-signalcatid=51:rc-receiversItemid=49 for more info. (Line may have to be unwrapped.) Jon, it depends on where you are looking at. In an RC system for model plane, if you look to the RF modulator input, you are right (first row of schema you posted). But if you look to each servo control wire (the original topic of this thread), then the information position is coded with the pulse width. Really that depends from the original Phil Kraft design and implementation (dated middle '60 if I remember well). The _recent_ RC servos are quite forgiving of the frequency of this pulse: the more advanced ones have a microcontroller inside in order to drive the electrical engine to a quite high PWM frequency and get lesser losses. That was not necessarily true in the past though, because the old RC servo circuits heavily depend on the pulses period of 20-30 ms in order to correctly drive the small engine inside. *am* - Andrea Montefusco iw0hdvhttp://www.montefusco.com tel: +393356992791 fax: +390623318709 - -- RSA(R) Conference 2012 Save $700 by Nov 18 Register now http://p.sf.net/sfu/rsa-sfdev2dev1 ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
Re: [Emc-users] integrating a spindle fault signal in a modular way?
On 11/06/2011 08:36 PM, Scott Hasse wrote: It seems the normal way to do this would be to take the input to the existing estop-ext signal put that into an or or component and link that with the spindle fault and the link the or component to the estop-ext. However, that can't be done in a very modular way from what I can see. Any opinions on the best way to integrate multiple external estop signals? We have a spindle VFD which faults every few hours. We really need a new one, but that will come. Not sure the cause, but there are electric trains nearby and we suspect power surges may be the problem. Or maybe just a flaky VFD. The VFD has a fault relay which has NC and NO contacts. We wired one of the contacts to motion.enable, like this: net vfd-ok motion.enable = hm2_5i20.0.gpio.052.in_not We also have a pushbutton called RESET in the pyvcp panel of axis, which drives the VFD's reset line. When there is a fault it halts motion, and after pressing F2 in axis and the reset button on the panel, it can be restarted. Not sure if this is optimal, but it seems to work ok. I'm not sure if this would work with the vault logic your VFD has. Karl -- RSA(R) Conference 2012 Save $700 by Nov 18 Register now http://p.sf.net/sfu/rsa-sfdev2dev1 ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
Re: [Emc-users] Has anyone tried to use and RC controller with EMC to run a RC brushless
On 11/08/2011 10:02 AM, andy pugh wrote: On 8 November 2011 15:54, Kirk Wallacekwall...@wallacecompany.com wrote: I played with an AVR to get the fast PWM needed. See: http://wiki.linuxcnc.org/emcinfo.pl?AVR Also, I am pretty sure that the Mesa and Pico boards have enough resolution in their PWM generators to work perfectly well. The PWM frequency of the Pico Systems Universal PWM Controller is global for all PWM outputs. I was mainly thinking of using them to control servo amps and not other devices like spindle drives. The timing resolution on the newer units is 25 ns, which should be pretty good for most purposes. Even at the 50 KHz PWM rate we use on our servo amps, that provides 800 steps of resolution or 0.0125% Jon -- RSA(R) Conference 2012 Save $700 by Nov 18 Register now http://p.sf.net/sfu/rsa-sfdev2dev1 ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
Re: [Emc-users] Computer lock up and EMC error
Print file information: RUN_IN_PLACE=no EMC2_DIR= EMC2_BIN_DIR=/usr/bin EMC2_TCL_DIR=/usr/share/emc/tcl EMC2_SCRIPT_DIR= EMC2_RTLIB_DIR=/usr/realtime-2.6.32-122-rtai/modules/emc2 EMC2_CONFIG_DIR= EMC2_LANG_DIR=/usr/share/emc/tcl/msgs INIVAR=inivar HALCMD=halcmd EMC2_EMCSH=/usr/bin/wish8.5 EMC2 - 2.4.6 Machine configuration directory is '/home/mill7/emc2/configs/Mill7' Machine configuration file is 'Mill7.ini' INIFILE=/home/mill7/emc2/configs/Mill7/Mill7.ini PARAMETER_FILE=emc.var EMCMOT=motmod EMCIO=io TASK=milltask HALUI= DISPLAY=axis NML_FILE= Cleaning up old EMC2... Shutting down and cleaning up EMC2... Waiting for other session to finish exiting...lockfile still not removed Could not find pid(s) for task emcsvr Killing task milltask, PID=1459 Removing HAL_LIB, RTAPI, and Real Time OS modules Removing NML shared memory segments Cleanup done Starting EMC2... Starting EMC2 server program: emcsvr Loading Real Time OS, RTAPI, and HAL_LIB modules Realtime system did not load Shutting down and cleaning up EMC2... Killing task emcsvr, PID=1824 Killing task , PID=1796 Killing task milltask, PID=1893 Removing HAL_LIB, RTAPI, and Real Time OS modules Removing NML shared memory segments Cleanup done Debug file information: 1359 /usr/bin/emc: line 356: return: -1: invalid option return: usage: return [n] 1459 PID TTY STAT TIME COMMAND Stopping realtime threads Unloading hal components ERROR: Module stepgen does not exist in /proc/modules commandline:0: exit value: 1 commandline:0: rmmod failed, returned -1 ERROR: Removing 'hal_parport': No such file or directory commandline:0: exit value: 1 commandline:0: rmmod failed, returned -1 ERROR: Removing 'probe_parport': No such file or directory commandline:0: exit value: 1 commandline:0: rmmod failed, returned -1 ERROR: Removing 'motmod': No such file or directory commandline:0: exit value: 1 commandline:0: rmmod failed, returned -1 commandline:0: unloadrt failed ERROR: Module hal_lib does not exist in /proc/modules ERROR: Removing 'rtapi': No such file or directory ERROR: Removing 'rtai_math': No such file or directory Can not find -sec DISPLAY -var INTRO_GRAPHIC -num 1 libnml/cms/tcp_srv.cc 276: bind error: 98 -- Address already in use libnml/cms/tcp_srv.cc 277: Server can not bind the connection socket on port 5005. libnml/rcs/rcs_exit.cc 96: Errors Reported!!! Press ^C to exit. insmod: error inserting '/usr/realtime-2.6.32-122-rtai/modules/rtai_hal.ko': -1 File exists 1824 1796 PID TTY STAT TIME COMMAND PID TTY STAT TIME COMMAND 1893 PID TTY STAT TIME COMMAND Stopping realtime threads Unloading hal components Kernel message information: [ 78.119005] I-pipe: Domain RTAI registered. [ 78.119021] RTAI[hal]: 3.8.1 mounted over IPIPE-NOTHREADS 2.6-03. [ 78.119027] RTAI[hal]: compiled with gcc version 4.4.3 (Ubuntu 4.4.3-4ubuntu5) . [ 78.119113] RTAI[hal]: mounted (IPIPE-NOTHREADS, IMMEDIATE (INTERNAL IRQs DISPATCHED), ISOL_CPUS_MASK: 0). [ 78.119119] PIPELINE layers: [ 78.119125] f8fb9e20 9ac15d93 RTAI 200 [ 78.119130] c085cb20 0 Linux 100 [ 78.168726] RTAI[malloc]: global heap size = 2097152 bytes, BSD. [ 78.169045] RTAI[sched]: IMMEDIATE, MP, USER/KERNEL SPACE: with RTAI OWN KTASKs, kstacks pool size = 524288 bytes. [ 78.169059] RTAI[sched]: hard timer type/freq = APIC/10416768(Hz); default timing: periodic; linear timed lists. [ 78.169067] RTAI[sched]: Linux timer freq = 250 (Hz), TimeBase freq = 1666974000 hz. [ 78.169073] RTAI[sched]: timer setup = 999 ns, resched latency = 2944 ns. [ 78.169211] RTAI[usi]: enabled. [ 78.358195] RTAI[math]: loaded. [ 78.612156] config string '0x378 out ' [ 80.676639] RTAI[math]: unloaded. [ 80.828115] SCHED releases registered named ALIEN RTGLBH [ 80.860485] RTAI[malloc]: unloaded. [ 80.960420] RTAI[sched]: unloaded (forced hard/soft/hard transitions: traps 0, syscalls 0). [ 80.976323] I-pipe: Domain RTAI unregistered. [ 80.976426] RTAI[hal]: unmounted. -- RSA(R) Conference 2012 Save $700 by Nov 18 Register now http://p.sf.net/sfu/rsa-sfdev2dev1___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
