Re: [Emc-users] Supported Servo Motors
Hi andy, i know of 4 different protocols versions for the Mitsubishi absolute encoders: - Mitsu01 - Mit02-4 - Mit02-2 - Mit03-4 Mit02-2 uses an half-duplex UART over RS485 with 2.5Mbps. The others have an additional clock line. According to Heidenhain the four variants are similar to each other. Our motors (HA-FF38-UE-S1, 17bit absolute encoder + multi turn) use Mit02-2, therefor we implemented a small subset in STMBL (see: https://github.com/rene-dev/stmbl/blob/master/src/comps/encm.comp). see also: http://www.deltatau.com/manuals/pdfs/ACC-84E.pdf http://www.heidenhain.de/de_EN/php/documentation-information/brochures/popup/media/media/file/view/file-0668/file.pdf Siemens motors often use EnDat, which is electrically equal to BiSS (clock + bidirectional data over rs485). see also: https://www.heidenhain.de/de_DE/php/dokumentation-und-information/prospekte/popup/media/media/file/view/file-0219/file.pdf Bosch and Berger-Lahr/Schneider-Electric motors often use Hyperface (SIN/COS encoder + slow absolute position + motor data over rs485). see also: https://www.sick.com/media/pdf/0/90/190/IM0015190.PDF If you find more infos on other protocols please share. We are alway looking for new stuff to implement (next PCB version supports SSI, Biss, EnDat, Mit02-2, Hyperface, ...). Nico > I know that LinuxCNC can run nicely with conventional incremental > encoders and also with Resolvers using either the Pico convertor or > the Mesa 7i49 card. (In fact my Mill runs with a 7i49) > > Looking through eBay for servos to convert my lathe I find lots of > Mitsubishi and Yaskawa servo motors. These seem to use absolute > encoders and a proprietary interface. > > Does anyone know which, if any, use a SSI, BISS etc interface which > can be interpreted by the Mesa absolute encoder interfaces? > > I think that Fanuc is another option, but I don't know how to > differentiate between the various Fanuc encoding and commutation > schemes. > -- ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
Re: [Emc-users] Motor Resolvers
Hi, there is no current feedback yet and the over current protection is copied from the UHU servo controller (http://www.uhu-servo.de/). The next version will have a small cpu for this stuff (cheaper, neads less space and is far more flexible). We are planning to include a current prediction in software based an our motor simulator. Our current pid component does it with an open loop PD controller. But the main problem is the noise amplification in position derivation for velocity feedback. Therefor the main development is currently done in realtime filter algorithems without too much phase shift. We have plenty of calculation power, so we can even experiment with stuff like total variation denoising or polynomial fit at 5kHz (our current pid freqency, resolver positions come in at 20kHz). Our hal like framework and the terminal realy speeds testing up, as we are able to rewire and reconfigure the hole system on the fly and get instant feedback. Nico On 11/22/2014 12:49 PM, el cringo wrote: Hi, i just added pdfs for the current hw version. The eagle files are for version 6.5.0. We once tried KiCad but we are a lot better with eagle. Thank you. I looked at your pdfs. I also installed the latest LinuxCNC ( 2.6 with Wheezy) on a PC and loaded Eagle 7, so I can open Eagle files now. It took a while to figure out Git Hub (I normally use Bitbucket) and downloaded your files. There really isn't that much magic in the hardware, except maybe the current feedback/limit bit. It seems the magic is in the software. I'm looking forward to watching your progress. -- Download BIRT iHub F-Type - The Free Enterprise-Grade BIRT Server from Actuate! Instantly Supercharge Your Business Reports and Dashboards with Interactivity, Sharing, Native Excel Exports, App Integration more Get technology previously reserved for billion-dollar corporations, FREE http://pubads.g.doubleclick.net/gampad/clk?id=157005751iu=/4140/ostg.clktrk ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
Re: [Emc-users] Motor Resolvers
Hi, i just added pdfs for the current hw version. The eagle files are for version 6.5.0. We once tried KiCad but we are a lot better with eagle. If you want to try our hal implementation connect a stm32f4-discovery (we use the old version with the stm32f407 cpu but it should work on all stm32f2 - stm32f4 devices with small changes) to your Linux/OS X machine and start the term (should work under Linux). Another serial terminal will work too, but you should change term.comp as we use control chars for plotting. ? will print the available component pins. comp0.sink = comp1.source will link two pins. comp0.sink = comp0.sink will unlink. comp0.sink = 23.42 will unlink and set the pin. comp0.sink shows the value and driving pin. Nets are pins without components. Chaining pins does only work up to depth 2 (only pin0 = pin1 or pin0 = net0, net0 = pin1 will work). Currently components are fixed and you can only link and set pins at runtime. The order of calculation is fixed in the component or triggered by reading the output pin (for small comps like plus, dont build loops with these). As the software is under heavy development and we have no stable branch yet not every uploaded version will work and there will be changes of syntax and workflow in the future. On the hardware side we try to follow KISS. The main part is done by the stm32f4(even motion would fit in here) and the iramx16up60b. In the next version we will even replace the overcurrent protection with a small cpu. We are aiming for one controller board with feedback interfaces commanding three to four driver boards over a serial bus. Command in will be quadrature, can, rs485 or ethernet. The main difference to other AC drives is that wie don't use current feedback for acceleration/force controll. In future we want to try state prediction with our ac motor simulator (sim/ in the git repo, simulates all from external load over resolver noise to motor induction except pwm freqency and motor heating). But even without it we get realy good result except for motor noise (resulting from resolver noise, not present with encoder feedback) but we are working on it. Better documentation will come. But our current goal is to get our four axis robot (bosch sr60) working for 31C3. Another opensource project i know: https://www.vbesmens.de/en/upcx530-power-pcb.html (the guy lives nearby but we haven't met yet) Feel free to ask any questions or suggest new ideas. We are especially looking for better filtering and control algorithms. Nico On 11/22/2014 05:11 AM, Marius Liebenberg wrote: Sounds like you are moving in the right direction with this project. I for one will be watching with keen interest. If you need any assistance with pcb layouts or testing, let me know and I will gladly assist. On 2014-11-22 05:10, el cringo wrote: Hi, i am working with Rene on this project. For the next hardware version we are planning to support resolvers (3-8Vpp ref, 1-12Vpp sin/cos) and encoders/gms (ttl / 1Vpp / 11µA) with a single interface. ... snip I was hoping to get up to speed with this project: https://github.com/rene-dev/stmbl But I need to use Ubuntu 10.04 on my PC (for development) and it looks like the Eagle files are only compatible with the latest Eagle version which doesn't load on 10.04. It would be better for a broader audience if there were a doc directory with photos and PDF or open source versions of the schematics. Personally, I would not use Eagle but rather an open source program such as gEDA or KiCAD. In the past there have been other motor driver projects that have come and gone. It would be nice to gather any links covering DIY drivers on the wiki. I started a page a few years back: http://wiki.linuxcnc.org/cgi-bin/wiki.pl?Bridges_-_Half%2C_Full%2C_Three_Phase which has been added to, but could use some updating. -- Download BIRT iHub F-Type - The Free Enterprise-Grade BIRT Server from Actuate! Instantly Supercharge Your Business Reports and Dashboards with Interactivity, Sharing, Native Excel Exports, App Integration more Get technology previously reserved for billion-dollar corporations, FREE http://pubads.g.doubleclick.net/gampad/clk?id=157005751iu=/4140/ostg.clktrk ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
Re: [Emc-users] Motor Resolvers
Hi, i am working with Rene on this project. For the next hardware version we are planning to support resolvers (3-8Vpp ref, 1-12Vpp sin/cos) and encoders/gms (ttl / 1Vpp / 11µA) with a single interface. The current resolver only interface is a bit noisy (resolution: 12-13bit/rev, accuracy: 9-10bit/rev after sw filtering) and does not work well with non-floating signals. On the driver side we try to get rid of the ttl and analog parts whith a small controller for current / voltage measuring, pwm generation, break release, temperature control, ... We hope to have it ready for the 31C3. Nico What are you changing on the hardware? On 2014-11-21 13:06, Rene Hopf wrote: IRAMX-drv-v2 as a driver board, and res with the stm32f4discovery. The video is only at 160V. If we met in Stuttgart, it is the same hardware, running at higher voltage, and improved software. I am currently developing new hardware. Rene On 21 Nov 2014, at 09:39, Marius Liebenberg mar...@mastercut.co.za wrote: Hi Rene Very interesting work you have done there. Which one of the hardware options is used in the video demonstration? On 2014-11-21 03:56, Rene Hopf wrote: On 20 Nov 2014, at 19:14, andy pugh bodge...@gmail.com wrote: On 20 November 2014 17:56, Kirk Wallace kwall...@wallacecompany.com wrote: I seem to recall, to get fast PWM, I had to use Timer1 and not use the Arduino PWM library. I wonder if the resolver decoder might be improved in a similar fashion? I haven't had the time to study Andy's code, but it may already be optimized. It is all driven by interrupts and direct register writes, it doesn't use any Arduino libraries at all, not for PWM generation, not for analogue reading and not even for computing the arctan. (it uses an integer-only algorithm and a lookup table) http://wiki.linuxcnc.org/uploads/Resolver.pde My servo amp has a very good resolver interface, featuring 10kHz excitation with driver(8Vpp signal, to reduce noise), lowpass filter, and 12 bit resolution. included are eagle files, spice simulation, and code. It could be used to make a converter to other interfaces, or you can just use the whole project to drive your servos. It has even got a hal implementation to configure things at runtime. https://github.com/rene-dev/stmbl Rene -- atp If you can't fix it, you don't own it. http://www.ifixit.com/Manifesto -- Download BIRT iHub F-Type - The Free Enterprise-Grade BIRT Server from Actuate! Instantly Supercharge Your Business Reports and Dashboards with Interactivity, Sharing, Native Excel Exports, App Integration more Get technology previously reserved for billion-dollar corporations, FREE http://pubads.g.doubleclick.net/gampad/clk?id=157005751iu=/4140/ostg.clktrk ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users -- Download BIRT iHub F-Type - The Free Enterprise-Grade BIRT Server from Actuate! Instantly Supercharge Your Business Reports and Dashboards with Interactivity, Sharing, Native Excel Exports, App Integration more Get technology previously reserved for billion-dollar corporations, FREE http://pubads.g.doubleclick.net/gampad/clk?id=157005751iu=/4140/ostg.clktrk ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users -- Regards /Groete Marius D. Liebenberg +27 82 698 3251 +27 12 743 6064 QQ 1767394877 -- Download BIRT iHub F-Type - The Free Enterprise-Grade BIRT Server from Actuate! Instantly Supercharge Your Business Reports and Dashboards with Interactivity, Sharing, Native Excel Exports, App Integration more Get technology previously reserved for billion-dollar corporations, FREE http://pubads.g.doubleclick.net/gampad/clk?id=157005751iu=/4140/ostg.clktrk ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users -- Download BIRT iHub F-Type - The Free Enterprise-Grade BIRT Server from Actuate! Instantly Supercharge Your Business Reports and Dashboards with Interactivity, Sharing, Native Excel Exports, App Integration more Get technology previously reserved for billion-dollar corporations, FREE http://pubads.g.doubleclick.net/gampad/clk?id=157005751iu=/4140/ostg.clktrk ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
