subject:"\[Emc\-users\] BLDC on 7i43 \+ 7i39 \+ linear motors"

17 квітня 2012 р. 19:23 Peter C. Wallace p...@mesanet.com написав:

 Did you verify the bit file md5 checksum?


Yes, it's ok.

There's some progress at last! Here's the simplified hal I try to check 7i39

loadrt trivkins
loadrt motmod servo_period_nsec=100 num_joints=3
loadrt probe_parport
loadrt hostmot2
loadrt hm2_7i43 config=firmware=hm2/7i43-4/SVST4_4_7i39.BIT num_encoders=1
num_pwmgens=0 num_3pwmgens=1 num_stepgens=0
setp hm2_7i43.0.3pwmgen.frequency 15000
setp hm2_7i43.0.watchdog.timeout_ns 1000

addf hm2_7i43.0.read servo-thread
addf motion-command-handler servo-thread
addf motion-controller servo-thread
addf hm2_7i43.0.write servo-thread
addf hm2_7i43.0.pet_watchdog   servo-thread

setp hm2_7i43.0.3pwmgen.00.enable 1
setp hm2_7i43.0.3pwmgen.00.fault-invert 1
setp hm2_7i43.0.3pwmgen.00.A-value 1
setp hm2_7i43.0.3pwmgen.00.B-value 0
setp hm2_7i43.0.3pwmgen.00.C-value 0

When I start it, the motor is powered. Thus 7i39 is OK, good news!
Now I'm fighting one axis config with pid and bldc...

Is the following connection correct?

net x-output   = pid.x.output
net x-output   = bldc.0.value

I guess pid controls bldc, but it was backwards before. Though, still
nothing works.

Andrew
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Re: [Emc-users] BLDC on 7i43 + 7i39 + linear motors

2012-04-21 Thread Viesturs Lācis

2012/4/21 Andrew parallel.kinemat...@gmail.com:

 setp hm2_7i43.0.3pwmgen.00.A-value 1
 setp hm2_7i43.0.3pwmgen.00.B-value 0
 setp hm2_7i43.0.3pwmgen.00.C-value 0

IMHO these will tell to apply current to a certain winding of the
motor, so it will not move anywhere.

You might try to setp bldc.0.value to a certain value so that it tells
to move at certain velocity...

Viesturs

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Re: [Emc-users] BLDC on 7i43 + 7i39 + linear motors


On Sat, 21 Apr 2012, Andrew wrote:


Date: Sat, 21 Apr 2012 17:11:51 +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: Re: [Emc-users] BLDC on 7i43 + 7i39 + linear motors

17  2012 ??. 19:23 Peter C. Wallace p...@mesanet.com 
??:



Did you verify the bit file md5 checksum?




Is the following connection correct?

net x-output   = pid.x.output
net x-output   = bldc.0.value


Yes that is correct but of course the three phase outputs of the bldc comp 
must connect to the 3 phase inputs of the 3ppwmgen and the proper init 
sequence must be triggered in the bldc comp (man bldc)


Peter Wallace
Mesa Electronics
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Re: [Emc-users] BLDC on 7i43 + 7i39 + linear motors

21 квітня 2012 р. 17:56 Viesturs Lācis viesturs.la...@gmail.com написав:

 2012/4/21 Andrew parallel.kinemat...@gmail.com:
 
  setp hm2_7i43.0.3pwmgen.00.A-value 1
  setp hm2_7i43.0.3pwmgen.00.B-value 0
  setp hm2_7i43.0.3pwmgen.00.C-value 0

 IMHO these will tell to apply current to a certain winding of the
 motor, so it will not move anywhere.

 Viesturs, you're right! But the goal was to test 7i39, if it can power the
motor at all. And it can.

You might try to setp bldc.0.value to a certain value so that it tells
 to move at certain velocity...

 Bldc already works some way, but obviously wrong. Now I'm trying to figure
out the motor parameters. That's fun already, instead of dead motor.
BTW I figured out that the previous problem was 3pwmgen scale set too high.

Andrew
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Re: [Emc-users] BLDC on 7i43 + 7i39 + linear motors

21 квітня 2012 р. 18:06 Peter C. Wallace p...@mesanet.com написав:

 Yes that is correct but of course the three phase outputs of the bldc comp
 must connect to the 3 phase inputs of the 3ppwmgen and the proper init
 sequence must be triggered in the bldc comp (man bldc)


The motor is moving already, but not exactly correct. I try to find bldc
parameters
As bldc.pattern only needed with Halls, then only bldc.0.scale
and bldc.0.poles remain?
The motor pole pair pitch is 72 mm, and encoder is 200 pulses per mm.
I set bldc.0.scale  to 14400 and  bldc.0.poles is 2
But still something's wrong.

Also, there's a question about bldc init. I came up with init on Estop:

net estop-out  iocontrol.0.user-enable-out = bldc.0.init =
hm2_7i43.0.3pwmgen.00.enable
net x-is-init  bldc.0.init-done = iocontrol.0.emc-enable-in = pid.x.enable

It works, but after init is complete, motors power off, and power on when
the machine is ON. Which is bad as they can loose the init position. How do
I make it right?

Andrew
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Re: [Emc-users] BLDC on 7i43 + 7i39 + linear motors

On Sat, 21 Apr 2012, Andrew wrote:

Date: Sat, 21 Apr 2012 19:38:15 +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: Re: [Emc-users] BLDC on 7i43 + 7i39 + linear motors

21  2012 ??. 18:06 Peter C. Wallace p...@mesanet.com 
??:

Yes that is correct but of course the three phase outputs of the bldc comp
must connect to the 3 phase inputs of the 3ppwmgen and the proper init
sequence must be triggered in the bldc comp (man bldc)

The motor is moving already, but not exactly correct. I try to find bldc
parameters
As bldc.pattern only needed with Halls, then only bldc.0.scale
and bldc.0.poles remain?
The motor pole pair pitch is 72 mm, and encoder is 200 pulses per mm.
I set bldc.0.scale  to 14400 and  bldc.0.poles is 2
But still something's wrong.

Also, there's a question about bldc init. I came up with init on Estop:

net estop-out  iocontrol.0.user-enable-out = bldc.0.init =
hm2_7i43.0.3pwmgen.00.enable
net x-is-init  bldc.0.init-done = iocontrol.0.emc-enable-in = pid.x.enable

It works, but after init is complete, motors power off, and power on when
the machine is ON. Which is bad as they can loose the init position. How do
I make it right?

Andrew

A couple of things:

if you have the parameters right, you may still have the phase rotatiom 
backwards, this can be fixed by swapping 2 motor leads.

The init position is not lost (the raw encoder offset is measured when the 
init current is applied)

Peter Wallace
Mesa Electronics
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Re: [Emc-users] BLDC on 7i43 + 7i39 + linear motors

21 квітня 2012 р. 20:30 Peter C. Wallace p...@mesanet.com написав:

 if you have the parameters right, you may still have the phase rotatiom
 backwards, this can be fixed by swapping 2 motor leads.

 Thanks Peter, that is possible. Can I change something in hal to avoid
swapping wires?


  The init position is not lost (the raw encoder offset is measured when
 the init current is applied)


Well, that's not convenient anyways. I'd like motors to keep position after
init.
 BTW, can the machine be also homed when init on index pulse?

Andrew
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Re: [Emc-users] BLDC on 7i43 + 7i39 + linear motors

21 квітня 2012 р. 21:00 Andrew parallel.kinemat...@gmail.com написав:


 if you have the parameters right, you may still have the phase rotatiom
 backwards, this can be fixed by swapping 2 motor leads.

 Thanks Peter, that is possible. Can I change something in hal to avoid
 swapping wires?


That's not the case, unfortunately.
The wrong commutation just overheated the motor. I was lucky to notice that.
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Re: [Emc-users] BLDC on 7i43 + 7i39 + linear motors


On Sat, 21 Apr 2012, Andrew wrote:


Date: Sat, 21 Apr 2012 21:30:11 +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: Re: [Emc-users] BLDC on 7i43 + 7i39 + linear motors

21  2012 ??. 21:00 Andrew parallel.kinemat...@gmail.com 
??:




if you have the parameters right, you may still have the phase rotatiom

backwards, this can be fixed by swapping 2 motor leads.

Thanks Peter, that is possible. Can I change something in hal to avoid

swapping wires?




That's not the case, unfortunately.
The wrong commutation just overheated the motor. I was lucky to notice that.


Yes, until you get the commutation and PID right you are using your BLDC like 
a step motor (so dont leave it on if it does not work)


You could also run from a low motor voltage until you get things working (say 
5V)


to verify that your parameters are close you can apply a small fixed drive so 
you can feel the once per cycle magnetic detent and the verify that 
bldc.N.phase-angle changes by 1 for each detent


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Re: [Emc-users] BLDC on 7i43 + 7i39 + linear motors

21 квітня 2012 р. 21:39 Peter C. Wallace p...@mesanet.com написав:

 Yes, until you get the commutation and PID right you are using your BLDC
 like a step motor (so dont leave it on if it does not work)

 You could also run from a low motor voltage until you get things working
 (say 5V)


I use 20V now, it's ok.


 to verify that your parameters are close you can apply a small fixed drive
 so you can feel the once per cycle magnetic detent and the verify that
 bldc.N.phase-angle changes by 1 for each detent


With
setp hm2_7i43.0.3pwmgen.00.A-value 0
setp hm2_7i43.0.3pwmgen.00.B-value 5
setp hm2_7i43.0.3pwmgen.00.C-value 0
I watched phase angle and from one detent to another it changed one cycle
from 0.25 to 0.25 with scale 14400 and poles 2.
But the commutation is still wrong. When I start the machine normally and
move the axis, it stops after short move, bldc value is high, but nothing
moves.

That's interesting: when the machine is ON, there's a position where phase
angle suddenly jumps say from 0.22 to 0.72, exactly when bldc value
crossing 0 and changes its sign. But phase angle goes through the same
point without jump when the machine is OFF! What is it?
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Re: [Emc-users] BLDC on 7i43 + 7i39 + linear motors


On Sat, 21 Apr 2012, Andrew wrote:


Date: Sat, 21 Apr 2012 22:53:55 +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: Re: [Emc-users] BLDC on 7i43 + 7i39 + linear motors

21  2012 ??. 21:39 Peter C. Wallace p...@mesanet.com 
??:



Yes, until you get the commutation and PID right you are using your BLDC
like a step motor (so dont leave it on if it does not work)

You could also run from a low motor voltage until you get things working
(say 5V)



I use 20V now, it's ok.



to verify that your parameters are close you can apply a small fixed drive
so you can feel the once per cycle magnetic detent and the verify that
bldc.N.phase-angle changes by 1 for each detent


With
setp hm2_7i43.0.3pwmgen.00.A-value 0
setp hm2_7i43.0.3pwmgen.00.B-value 5
setp hm2_7i43.0.3pwmgen.00.C-value 0
I watched phase angle and from one detent to another it changed one cycle
from 0.25 to 0.25 with scale 14400 and poles 2.
But the commutation is still wrong. When I start the machine normally and
move the axis, it stops after short move, bldc value is high, but nothing
moves.

That's interesting: when the machine is ON, there's a position where phase
angle suddenly jumps say from 0.22 to 0.72, exactly when bldc value
crossing 0 and changes its sign. But phase angle goes through the same
point without jump when the machine is OFF! What is it?



This is normal (the sign of the BLDC value determines whether the drive 
voltage leads or lags the reference angle by 90 electrical degrees)


might try inverting the sign on your encoder scale (or bldc scale)


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Re: [Emc-users] BLDC on 7i43 + 7i39 + linear motors

21 квітня 2012 р. 23:04 Peter C. Wallace p...@mesanet.com написав:

 might try inverting the sign on your encoder scale (or bldc scale


I already did that, with no success. But out af a sudden it works
now. Though still unstable.
Now tuning PID.
What is minimum servo period for 7i43? I set 50 and it became much more
stable.
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Re: [Emc-users] BLDC on 7i43 + 7i39 + linear motors

On Sun, 22 Apr 2012, Andrew wrote:

Date: Sun, 22 Apr 2012 00:42:18 +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: Re: [Emc-users] BLDC on 7i43 + 7i39 + linear motors

21  2012 ??. 23:04 Peter C. Wallace p...@mesanet.com 
??:

might try inverting the sign on your encoder scale (or bldc scale

I already did that, with no success. But out af a sudden it works
now. Though still unstable.
Now tuning PID.
What is minimum servo period for 7i43? I set 50 and it became much more
stable.

Minimum period depends on how many I/O cycles you do and how much of the host 
cycles you are willing to burn up doing I/O. with the parallel ports I've 
tested with, I get between 3-6 Usec of I/O time for each 32 bit register 
read/write on the EPP interfaced 7I43. So a three axis system may have about 
18-20 I/O cycles you would use about 54 to 120 usec of host time doing EPP I/O

for a simple 3 or 4 axis system 4KHz may be possible (note: the 7I43 is the 
slowest FPGA card we make due to the EPP interface ~8-12 times slower than the 
PCI cards)

Tuning a voltage mode (or current mode = torque mode) drive is tricky you will 
need a fair amount of P and D and FF1. The higher the sample rate the better 
for phase margin (which will allow high stable gain). Also tuning should be 
done with the carriage loaded and FF1 especially should be tuned with the 
final motor voltage as FF1 is motor voltage dependent on a a voltage mode 
drive

Peter Wallace
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Re: [Emc-users] BLDC on 7i43 + 7i39 + linear motors

22 квітня 2012 р. 02:04 Peter C. Wallace p...@mesanet.com написав:

 Minimum period depends on how many I/O cycles you do and how much of the
 host cycles you are willing to burn up doing I/O. with the parallel ports
 I've tested with, I get between 3-6 Usec of I/O time for each 32 bit
 register read/write on the EPP interfaced 7I43. So a three axis system may
 have about 18-20 I/O cycles you would use about 54 to 120 usec of host time
 doing EPP I/O

 for a simple 3 or 4 axis system 4KHz may be possible (note: the 7I43 is
 the slowest FPGA card we make due to the EPP interface ~8-12 times slower
 than the PCI cards)


25ns seems ok for one axis. Tomorrow I'll try all 3.


 Tuning a voltage mode (or current mode = torque mode) drive is tricky you
 will need a fair amount of P and D and FF1. The higher the sample rate the
 better for phase margin (which will allow high stable gain). Also tuning
 should be done with the carriage loaded and FF1 especially should be tuned
 with the final motor voltage as FF1 is motor voltage dependent on a a
 voltage mode drive

 Already doing 1m/s with 40m/s2 acceleration, not so bad. But still have to
tune pid better, max error is up to 1mm. When I add D, much noise appears
on PID output.
Generally linear motors are well-controlled, I hope it's possible to
decrease f-error to 0.1-0.2mm. I probably should increase PWM frequency,
now it's 15000.
Thanks for your help.

Andrew
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Re: [Emc-users] BLDC on 7i43 + 7i39 + linear motors

On Sun, 22 Apr 2012, Andrew wrote:

Date: Sun, 22 Apr 2012 02:20:51 +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: Re: [Emc-users] BLDC on 7i43 + 7i39 + linear motors

22  2012 ??. 02:04 Peter C. Wallace p...@mesanet.com 
??:

Minimum period depends on how many I/O cycles you do and how much of the
host cycles you are willing to burn up doing I/O. with the parallel ports
I've tested with, I get between 3-6 Usec of I/O time for each 32 bit
register read/write on the EPP interfaced 7I43. So a three axis system may
have about 18-20 I/O cycles you would use about 54 to 120 usec of host time
doing EPP I/O

for a simple 3 or 4 axis system 4KHz may be possible (note: the 7I43 is
the slowest FPGA card we make due to the EPP interface ~8-12 times slower
than the PCI cards)

25ns seems ok for one axis. Tomorrow I'll try all 3.

Tuning a voltage mode (or current mode = torque mode) drive is tricky you
will need a fair amount of P and D and FF1. The higher the sample rate the
better for phase margin (which will allow high stable gain). Also tuning
should be done with the carriage loaded and FF1 especially should be tuned
with the final motor voltage as FF1 is motor voltage dependent on a a
voltage mode drive

Already doing 1m/s with 40m/s2 acceleration, not so bad. But still have to
tune pid better, max error is up to 1mm. When I add D, much noise appears
on PID output.

Are you using the encoder velocity output to feed to the pid components 
fb-deriv pin?

If not already doing this, this can improve the D noise situation

Generally linear motors are well-controlled, I hope it's possible to
decrease f-error to 0.1-0.2mm. I probably should increase PWM frequency,
now it's 15000.
Thanks for your help.

Andrew

Peter Wallace
Mesa Electronics
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Re: [Emc-users] BLDC on 7i43 + 7i39 + linear motors

2012-04-21 Thread Andy Pugh



On 21 Apr 2012, at 18:30, Peter C. Wallace p...@mesanet.com wrote:

 
 if you have the parameters right, you may still have the phase rotatiom 
 backwards, this can be fixed by swapping 2 motor leads.

Actually, it is easier to use a negative encoder scale into bldc. In fact that 
will be necessary in 50% of installations. 
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Re: [Emc-users] BLDC on 7i43 + 7i39 + linear motors

2012-04-17 Thread Andrew

17 квітня 2012 р. 03:24 Peter C. Wallace p...@mesanet.com написав:

 What I am asking is if the 7I39 encoder inputs work normally now
 If not, this still suggests a wiring error of some kind


I test only X axis now. The encoder is connected to 1 (A) and 3 (B) wires
of ribbon cable, and it works on X axis. The cable connects 7i43 (P4) to
7i39.
The motor is connected to bottom right connector on 7i39, from bottom to
top: Ground, U, V, W.
Top left corner orange LED on 7i39 lights, as well as bottom green LED
among 5. When I start the machine, the middle orange LED of 5 lights too. I
guess 7i39 receives power well. Absolutely no idea what can be wrong.
BTW manual shows 1+5 leds but only 5 described.

Andrew
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Re: [Emc-users] BLDC on 7i43 + 7i39 + linear motors

2012-04-17 Thread rob c

So the 7i39 is a brush less DC motor, if your trying to see if the motor it 
self is functional just hook it up to a DC power supply, 12V would do just 
fine, if it rotates regardless of polarity the motor is good and you need to 
move onto the electronics.
What are you hooking the encoder to? What kind of encoder is it?

 From: parallel.kinemat...@gmail.com
 Date: Tue, 17 Apr 2012 09:21:20 +0300
 To: emc-users@lists.sourceforge.net
 Subject: Re: [Emc-users] BLDC on 7i43 + 7i39 + linear motors

 17 квітня 2012 р. 03:24 Peter C. Wallace p...@mesanet.com написав:

  What I am asking is if the 7I39 encoder inputs work normally now
  If not, this still suggests a wiring error of some kind

 I test only X axis now. The encoder is connected to 1 (A) and 3 (B) wires
 of ribbon cable, and it works on X axis. The cable connects 7i43 (P4) to
 7i39.
 The motor is connected to bottom right connector on 7i39, from bottom to
 top: Ground, U, V, W.
 Top left corner orange LED on 7i39 lights, as well as bottom green LED
 among 5. When I start the machine, the middle orange LED of 5 lights too. I
 guess 7i39 receives power well. Absolutely no idea what can be wrong.
 BTW manual shows 1+5 leds but only 5 described.

 Andrew
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Re: [Emc-users] BLDC on 7i43 + 7i39 + linear motors

2012-04-17 Thread Greg Bernard

How is a brushless motor going to rotate with just a DC power supply?

 
+++
We are like tenant farmers chopping down the fence around our house for 
fuel when we should be using Nature's inexhaustible sources of energy -- sun, 
wind and tide. ... I'd put my money on the sun and solar energy. 
What a source of power! I hope we don't have to wait until oil and coal 
run out before we tackle that. -Thomas Edison, inventor (1847-1931) 




 From: rob c crob...@live.ca
To: emc-users@lists.sourceforge.net 
Sent: Tuesday, April 17, 2012 8:28 AM
Subject: Re: [Emc-users] BLDC on 7i43 + 7i39 + linear motors
 

So the 7i39 is a brush less DC motor, if your trying to see if the motor it 
self is functional just hook it up to a DC power supply, 12V would do just 
fine, if it rotates regardless of polarity the motor is good and you need to 
move onto the electronics.
What are you hooking the encoder to? What kind of encoder is it?

 From: parallel.kinemat...@gmail.com
 Date: Tue, 17 Apr 2012 09:21:20 +0300
 To: emc-users@lists.sourceforge.net
 Subject: Re: [Emc-users] BLDC on 7i43 + 7i39 + linear motors
 
 17 квітня 2012 р. 03:24 Peter C. Wallace p...@mesanet.com написав:
 
  What I am asking is if the 7I39 encoder inputs work normally now
  If not, this still suggests a wiring error of some kind
 
 
 I test only X axis now. The encoder is connected to 1 (A) and 3 (B) wires
 of ribbon cable, and it works on X axis. The cable connects 7i43 (P4) to
 7i39.
 The motor is connected to bottom right connector on 7i39, from bottom to
 top: Ground, U, V, W.
 Top left corner orange LED on 7i39 lights, as well as bottom green LED
 among 5. When I start the machine, the middle orange LED of 5 lights too. I
 guess 7i39 receives power well. Absolutely no idea what can be wrong.
 BTW manual shows 1+5 leds but only 5 described.
 
 Andrew
 --
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Re: [Emc-users] BLDC on 7i43 + 7i39 + linear motors

2012-04-17 Thread Peter C. Wallace

On Tue, 17 Apr 2012, Andrew wrote:

Date: Tue, 17 Apr 2012 09:21:20 +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: Re: [Emc-users] BLDC on 7i43 + 7i39 + linear motors

17  2012 ??. 03:24 Peter C. Wallace p...@mesanet.com 
??:

What I am asking is if the 7I39 encoder inputs work normally now
If not, this still suggests a wiring error of some kind

I test only X axis now. The encoder is connected to 1 (A) and 3 (B) wires
of ribbon cable, and it works on X axis. The cable connects 7i43 (P4) to
7i39.
The motor is connected to bottom right connector on 7i39, from bottom to
top: Ground, U, V, W.
Top left corner orange LED on 7i39 lights, as well as bottom green LED
among 5. When I start the machine, the middle orange LED of 5 lights too. I
guess 7i39 receives power well. Absolutely no idea what can be wrong.
BTW manual shows 1+5 leds but only 5 described.

Andrew

Flat cable problems? The fact that the encoder inputs on the 7I39 do not work 
for you means something is wrong either on the 7I39s or the interconnections 
to the 7I43

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Peter Wallace
Mesa Electronics

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Re: [Emc-users] BLDC on 7i43 + 7i39 + linear motors

2012-04-17 Thread Andrew

17 квітня 2012 р. 16:50 Peter C. Wallace p...@mesanet.com написав:

 Flat cable problems? The fact that the encoder inputs on the 7I39 do not
 work for you means something is wrong either on the 7I39s or the
 interconnections to the 7I43


The cable is probably OK. I bought 2 of them and no one works. And the
cable uses 2 completely pairs of wires for encoder 0 and 1. Very unlikely
that all these wires damaged. And some kind of signal was going to 7i43, so
they're can't be broken. The same with 2 7i39s, none of 2 do not work.
Something might be wrong with the power supply from 7i48 to 7i39, but the
power LED is on, and when I connect 7i48 to the same 7i43 with the same
cable - all OK.
Feels like I'm stuck completely, at least till my oscilloscope arrives
(maybe 2 weeks). Also feels like both 7i39 might be damaged - in the worst
case.


17 квітня 2012 р. 16:28 rob c crob...@live.ca написав:

 So the 7i39 is a brush less DC motor, if your trying to see if the motor
 it self is functional just hook it up to a DC power supply, 12V would do
 just fine, if it rotates regardless of polarity the motor is good and you
 need to move onto the electronics.


BLDC motor won't rotate when connected to DC, unlykely to brushed DC motor.
But it jerks, that's enough to see it's OK.
In my case it's HIWIN linear DC motor, it just moves to a certain point
when connected to DC.

What are you hooking the encoder to? What kind of encoder is it?


It's linear incremental quadrature encoder, connected to MESA 7i39 card (dual
3 phase bridge driver for brushless 3 phase motors).

Andrew
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Re: [Emc-users] BLDC on 7i43 + 7i39 + linear motors

2012-04-17 Thread Peter C. Wallace

On Tue, 17 Apr 2012, Andrew wrote:

Date: Tue, 17 Apr 2012 19:10:26 +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: Re: [Emc-users] BLDC on 7i43 + 7i39 + linear motors

17  2012 ??. 16:50 Peter C. Wallace p...@mesanet.com 
??:

Flat cable problems? The fact that the encoder inputs on the 7I39 do not
work for you means something is wrong either on the 7I39s or the
interconnections to the 7I43

The cable is probably OK. I bought 2 of them and no one works. And the
cable uses 2 completely pairs of wires for encoder 0 and 1. Very unlikely
that all these wires damaged. And some kind of signal was going to 7i43, so
they're can't be broken. The same with 2 7i39s, none of 2 do not work.
Something might be wrong with the power supply from 7i48 to 7i39, but the
Bpower LED is on, and when I connect 7i48 to the same 7i43 with the same
cable - all OK.
Feels like I'm stuck completely, at least till my oscilloscope arrives
(maybe 2 weeks). Also feels like both 7i39 might be damaged - in the worst
case.

Did you verify the bit file md5 checksum?

Peter Wallace
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Re: [Emc-users] BLDC on 7i43 + 7i39 + linear motors

2012-04-17 Thread rob c

You don't need an Oscilloscope to determine if your power supply is faulty, 
also you can check to continuity of all your wires using a simple multimeter.
Keep it simple.
Again what kind of Encoder are you using?
Rob
http://www.whatisacnc.com  

 From: parallel.kinemat...@gmail.com
 Date: Tue, 17 Apr 2012 19:10:26 +0300
 To: emc-users@lists.sourceforge.net
 Subject: Re: [Emc-users] BLDC on 7i43 + 7i39 + linear motors

 17 квітня 2012 р. 16:50 Peter C. Wallace p...@mesanet.com написав:

  Flat cable problems? The fact that the encoder inputs on the 7I39 do not
  work for you means something is wrong either on the 7I39s or the
  interconnections to the 7I43

 The cable is probably OK. I bought 2 of them and no one works. And the
 cable uses 2 completely pairs of wires for encoder 0 and 1. Very unlikely
 that all these wires damaged. And some kind of signal was going to 7i43, so
 they're can't be broken. The same with 2 7i39s, none of 2 do not work.
 Something might be wrong with the power supply from 7i48 to 7i39, but the
 power LED is on, and when I connect 7i48 to the same 7i43 with the same
 cable - all OK.
 Feels like I'm stuck completely, at least till my oscilloscope arrives
 (maybe 2 weeks). Also feels like both 7i39 might be damaged - in the worst
 case.

 17 квітня 2012 р. 16:28 rob c crob...@live.ca написав:

  So the 7i39 is a brush less DC motor, if your trying to see if the motor
  it self is functional just hook it up to a DC power supply, 12V would do
  just fine, if it rotates regardless of polarity the motor is good and you
  need to move onto the electronics.

 BLDC motor won't rotate when connected to DC, unlykely to brushed DC motor.
 But it jerks, that's enough to see it's OK.
 In my case it's HIWIN linear DC motor, it just moves to a certain point
 when connected to DC.

 What are you hooking the encoder to? What kind of encoder is it?

 It's linear incremental quadrature encoder, connected to MESA 7i39 card (dual
 3 phase bridge driver for brushless 3 phase motors).

 Andrew
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Re: [Emc-users] BLDC on 7i43 + 7i39 + linear motors

15 квітня 2012 р. 19:49 andy pugh bodge...@gmail.com написав:

 You need to Halscope the encoder pins (dmesg should tell you which
 gpio pins correspond to the encoder phases) and see if there is a good
 quadrature signal getting into LinuxCNC.


Here's the halscope
http://img35.imageshack.us/img35/3557/screenshot1kq.png(pins 12 and 13
supposed to be A and B)
I do not understand what's going on. When I change counter-mode to 1 it
counts only in one direction, and 4 times less distance. I.e. probably
channel  A is OK, but it does not see B.
I checked the encoder connection to 7i39 many times. And just checked this
encoder perfectly works with 7i48.
Could it be pinout error in 7i39 manual or firmware? Anyone has working
config for 7i43+7i39?

Too bad I have not received yet my ordered o-scope to check the signal on
encoder output pins...

Andrew
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Re: [Emc-users] BLDC on 7i43 + 7i39 + linear motors

On Monday, April 16, 2012 06:15:29 AM Andrew did opine:

 15 ذ؛ذ²ر–ر‚ذ½رڈ 2012 ر€. 19:49 andy pugh bodge...@gmail.com 
ذ½ذ°ذ؟ذ¸رپذ°ذ²:
  You need to Halscope the encoder pins (dmesg should tell you which
  gpio pins correspond to the encoder phases) and see if there is a good
  quadrature signal getting into LinuxCNC.
 
 Here's the halscope
 http://img35.imageshack.us/img35/3557/screenshot1kq.png(pins 12 and 13
 supposed to be A and B)

Looks like it is but those slow rise  fall times (looks to be slew rate 
limited), coupled with the non-50% duty cycle, could be problematic.

Who made that encoder?

For a scope shot of the opto based one I built, see on my page in the sig, 
at Genes-os9-stf/eagle/quadrature-waveform.JPG where you can see the nearly 
50% duty cycle, and near 90 degree quadrature of the 2 signals.  This seems 
to track well all the way to 2500 rpm, that spindles top speed.

 I do not understand what's going on. When I change counter-mode to 1 it
 counts only in one direction, and 4 times less distance.

Expected I believe but check the HAL manual, its much more accurate than my 
aging memory.

 I.e. probably
 channel  A is OK, but it does not see B.
 I checked the encoder connection to 7i39 many times. And just checked
 this encoder perfectly works with 7i48.
 Could it be pinout error in 7i39 manual or firmware? Anyone has working
 config for 7i43+7i39?
 
 Too bad I have not received yet my ordered o-scope to check the signal
 on encoder output pins...
 
 Andrew

Cheers, Gene
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Re: [Emc-users] BLDC on 7i43 + 7i39 + linear motors

2012/4/16 gene heskett ghesk...@wdtv.com:

 http://img35.imageshack.us/img35/3557/screenshot1kq.png(pins 12 and 13
 supposed to be A and B)

I think you might need to move the encoder more slowly, as you only
have a 1mS sample rate available.
It almost looks like there is no actual quadrature offset in the channels.

I think counter-mode only counts up, and only looks at one channel.

 Looks like it is but those slow rise  fall times

That is a Halscope trace, so digital. The apparent slew-rate is just
how Halscope joins the dots.

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Re: [Emc-users] BLDC on 7i43 + 7i39 + linear motors

On Monday, April 16, 2012 07:05:21 AM andy pugh did opine:

 2012/4/16 gene heskett ghesk...@wdtv.com:
  http://img35.imageshack.us/img35/3557/screenshot1kq.png(pins 12 and
  13 supposed to be A and B)
 
 I think you might need to move the encoder more slowly, as you only
 have a 1mS sample rate available.
 It almost looks like there is no actual quadrature offset in the
 channels.
 
 I think counter-mode only counts up, and only looks at one channel.
 
  Looks like it is but those slow rise  fall times
 
 That is a Halscope trace, so digital. The apparent slew-rate is just
 how Halscope joins the dots.

My halscope tracing looks similar to the real scope, shows none of that 
slew rate limited effect, only the expected sample timing jitter. When I 
can run the spindle again, I will do a screen capture and post it alongside 
the 100mhz version.

Cheers, Gene
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Re: [Emc-users] BLDC on 7i43 + 7i39 + linear motors

16 квітня 2012 р. 13:41 gene heskett ghesk...@wdtv.com написав:

 Looks like it is but those slow rise  fall times (looks to be slew rate
 limited), coupled with the non-50% duty cycle, could be problematic.

 Who made that encoder?


Gene as far as I understand you can't measure too much with 1kHz sampling
rate (that's what we have with HAL scope)
Encoders are absolutely OK, I tested them on the other machine, and just
tested again with 7i48. But 7i48 has muxed encoders and I can't see much
with HAL scope anyways.

16 квітня 2012 р. 13:58 andy pugh bodge...@gmail.com написав:

I think counter-mode only counts up, and only looks at one channel.


Yes, it just counts any pulses of A channel.

I think you might need to move the encoder more slowly, as you only
 have a 1mS sample rate available.
 It almost looks like there is no actual quadrature offset in the channels.


 I tried that, but no quadrature pulses appear. I'm afraid that this is
7i39 spoils the quadrature signal. Does it make sense to connect the
encoder right to 7i43 pins and look? Though it works with 7i48, who
knows... I might try that. And if the pulses are correct, it means
something wrong with 7i39 or my specific encoder cable to 7i39. But I
checked it all possible ways... And 5V on pin 6 confirms that I use the
correct pinout.
So I'm just stuck.

Andrew
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Re: [Emc-users] BLDC on 7i43 + 7i39 + linear motors

On 16 April 2012 12:31, Andrew parallel.kinemat...@gmail.com wrote:

  I tried that, but no quadrature pulses appear.

That's very odd. Have you noticed the zoom and position sliders in Halscope?

  I'm afraid that this is
 7i39 spoils the quadrature signal.

It works OK for me. (I have a couple of them, but only one type of encoder)

 Does it make sense to connect the encoder right to 7i43 pins and look

It is worth a try, as long as it is a 5V TTL single-ended encoder.

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Re: [Emc-users] BLDC on 7i43 + 7i39 + linear motors

16 квітня 2012 р. 15:09 andy pugh bodge...@gmail.com написав:

 On 16 April 2012 12:31, Andrew parallel.kinemat...@gmail.com wrote:

  Does it make sense to connect the encoder right to 7i43 pins and look

 It is worth a try, as long as it is a 5V TTL single-ended encoder.

 Just did it. Perfect quadrature pulses
http://img214.imageshack.us/img214/6079/screenshothaloscillosco.png
And the position is correct, of course.

  I'm afraid that this is 7i39 spoils the quadrature signal.

 It works OK for me. (I have a couple of them, but only one type of encoder)


I also have 2 of them, and all work the same. Then, it's either the cable
(I'll check it again now. No contact? Unsufficient power?) or something's
wrong with 7i39, can't imagine that.

Andrew
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Re: [Emc-users] BLDC on 7i43 + 7i39 + linear motors

16 April 2012 13:47, Andrew parallel.kinemat...@gmail.com wrote:

 I also have 2 of them, and all work the same. Then, it's either the cable
 (I'll check it again now. No contact? Unsufficient power?) or something's
 wrong with 7i39, can't imagine that.

I think the pins are

10 9
8 7
6 5
4 3
2 1

With pin 1 having a square pad.

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Re: [Emc-users] BLDC on 7i43 + 7i39 + linear motors

16 квітня 2012 р. 15:09 andy pugh bodge...@gmail.com написав:

   I'm afraid that this is
  7i39 spoils the quadrature signal.

 It works OK for me. (I have a couple of them, but only one type of encoder)

 Do you power 7i39 from 7i43 via 50 pin cable or from other sourse? Maybe
that's the point?

It seems that my 7i39 isn't compatible with this particular encoder, I
can't figure out anything else.
Just connected the encoder directly to 7i39 board connector with very same
pins it was successfully connected to 7i43. And this problem again. What
else can be wrong?


Andrew
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Re: [Emc-users] BLDC on 7i43 + 7i39 + linear motors

On 16 April 2012 14:18, Andrew parallel.kinemat...@gmail.com wrote:

 Just connected the encoder directly to 7i39 board connector with very same
 pins it was successfully connected to 7i43.

I am not clear what you are saying here?

Where on the 7i39 are you connecting the encoder?

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Re: [Emc-users] BLDC on 7i43 + 7i39 + linear motors

16 квітня 2012 р. 16:18 andy pugh bodge...@gmail.com написав:

 16 April 2012 13:47, Andrew parallel.kinemat...@gmail.com wrote:

  I also have 2 of them, and all work the same. Then, it's either the cable
  (I'll check it again now. No contact? Unsufficient power?) or something's
  wrong with 7i39, can't imagine that.

 I think the pins are

 10 9
 8 7
 6 5
 4 3
 2 1

 With pin 1 having a square pad.

 That's what I think too. The square
And for me it's

6 - encoder 5V (and it's really 5V even with encoder connected)
7 - A (it is near 2.3V when moving the encoder, 0.6 or 4.2 when stopped -
looks like 50% duty cycle voltage)
8 - B (similar to A)
9 - Z (always 4.2V)
10 - GND (0V)

It's a mystery, then.

Andrew
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Re: [Emc-users] BLDC on 7i43 + 7i39 + linear motors

16 квітня 2012 р. 16:31 andy pugh bodge...@gmail.com написав:

 On 16 April 2012 14:18, Andrew parallel.kinemat...@gmail.com wrote:

  Just connected the encoder directly to 7i39 board connector with very
 same
  pins it was successfully connected to 7i43.

 I am not clear what you are saying here?

 Where on the 7i39 are you connecting the encoder?

 To small black 10pin connectors at the right side.

I mean that I exactly know where encoder pins A and B are, because I just
connected their wires to 7i43 and all worked.

Andrew
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Re: [Emc-users] BLDC on 7i43 + 7i39 + linear motors

On 16 April 2012 14:34, Andrew parallel.kinemat...@gmail.com wrote:

 It's a mystery, then.

For fun, you could add a base thread (for extra halscope resolution)
and a software encoder counter linked to the GPIO pins (you would need
to add the 7i43 gpio read function to the base thread)

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Re: [Emc-users] BLDC on 7i43 + 7i39 + linear motors

On 16 April 2012 14:34, Andrew parallel.kinemat...@gmail.com wrote:

 9 - Z (always 4.2V)

It might be that the encoder polarity is wrong. You could try
inverting the relevant 7i43 pins (I think that is possible).

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Re: [Emc-users] BLDC on 7i43 + 7i39 + linear motors

2012-04-16 Thread Ralph Stirling

 I think the pins are

 10 9
 8 7
 6 5
 4 3
 2 1

 With pin 1 having a square pad.

 That's what I think too. The square
And for me it's

6 - encoder 5V (and it's really 5V even with encoder connected)
7 - A (it is near 2.3V when moving the encoder, 0.6 or 4.2 when stopped -
looks like 50% duty cycle voltage)
8 - B (similar to A)
9 - Z (always 4.2V)
10 - GND (0V)

Are you looking at the top of the board or the bottom?
I believe the header should be

1 2
3 4
5 6
7 8
9 10

from the top of the board.  6 is +5, 7 is A, 8 is B, 9 is index,
and 10 is ground (as you observed).  If you have the pinout
reversed, though, then they are all connected to the wrong
pins.

I'm anxious for you to get beyond this encoder problem, because
I'm eager to learn about driving linear motors from LinuxCNC and 7I43's.
I hope to be doing that myself in a few weeks, with some small linear
motors I'm building.

-- Ralph
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Re: [Emc-users] BLDC on 7i43 + 7i39 + linear motors

On Monday, April 16, 2012 11:08:55 AM Andrew did opine:

 16 ذ؛ذ²ر–ر‚ذ½رڈ 2012 ر€. 13:41 gene heskett ghesk...@wdtv.com 
ذ½ذ°ذ؟ذ¸رپذ°ذ²:
  Looks like it is but those slow rise  fall times (looks to be slew
  rate limited), coupled with the non-50% duty cycle, could be
  problematic.
  
  Who made that encoder?
 
 Gene as far as I understand you can't measure too much with 1kHz
 sampling rate (that's what we have with HAL scope)

Huh?  Then why does it give you a choice of which thread to sample at?  It 
does you know. :)  When looking at those signals I used the base_thread.

Cheers, Gene
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Re: [Emc-users] BLDC on 7i43 + 7i39 + linear motors

On Monday, April 16, 2012 11:14:57 AM Andrew did opine:

 16 ذ؛ذ²ر–ر‚ذ½رڈ 2012 ر€. 15:09 andy pugh bodge...@gmail.com 
ذ½ذ°ذ؟ذ¸رپذ°ذ²:
  On 16 April 2012 12:31, Andrew parallel.kinemat...@gmail.com wrote:
   Does it make sense to connect the encoder right to 7i43 pins and look
  
  It is worth a try, as long as it is a 5V TTL single-ended encoder.
  
  Just did it. Perfect quadrature pulses
 
 http://img214.imageshack.us/img214/6079/screenshothaloscillosco.png
 And the position is correct, of course.
 
That is much better.  But are you turning the spindle by hand?  That is 
still a very uneven speed, showing at least 6/1 diffs in speed in just a 
fraction of a revolution.

Cheers, Gene
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Re: [Emc-users] BLDC on 7i43 + 7i39 + linear motors

2012/4/16 gene heskett ghesk...@wdtv.com:

 Huh?  Then why does it give you a choice of which thread to sample at?  It
 does you know. :)  When looking at those signals I used the base_thread.

There is typically no base thread on a 7i43 system, and even if you
create one, the Hostmot2 read/.write isn't on it.
You can add Hostmot2 GPIO-only access to the base thread, but I am not
sure anyone ever does.

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Re: [Emc-users] BLDC on 7i43 + 7i39 + linear motors

On Monday, April 16, 2012 11:31:42 AM andy pugh did opine:

 2012/4/16 gene heskett ghesk...@wdtv.com:
  Huh?  Then why does it give you a choice of which thread to sample at?
   It does you know. :)  When looking at those signals I used the
  base_thread.
 
 There is typically no base thread on a 7i43 system, and even if you
 create one, the Hostmot2 read/.write isn't on it.
 You can add Hostmot2 GPIO-only access to the base thread, but I am not
 sure anyone ever does.

Ahh, that explains that then, its running in some sort of a servo mode.  

Thanks for the clarification Andy.

Cheers, Gene
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Re: [Emc-users] BLDC on 7i43 + 7i39 + linear motors

16 квітня 2012 р. 17:45 Ralph Stirling ralph.stirl...@wallawalla.eduнаписав:

Are you looking at the top of the board or the bottom?
I believe the header should be

1 2
3 4
5 6
7 8
9 10

from the top of the board. 6 is +5, 7 is A, 8 is B, 9 is index,
and 10 is ground (as you observed). If you have the pinout
reversed, though, then they are all connected to the wrong
pins.

I look from the top, like shown in manual. And pin 1 it's in the right
bottom corner.
I have different voltage at pin groups exactly according the manual. And I
have 5V at left middle pin.
By the way what is SENSEA and SENSEB inputs?

I'm anxious for you to get beyond this encoder problem, because
I'm eager to learn about driving linear motors from LinuxCNC and 7I43's.

That's not a big deal, I guess. At least I know that Andy and Viesturs had
their encoders working. Maybe it's really a pinout, but I'm 99% sure it's
not. Maybe just some incompatibility, though it's hard to believe too... RC
+ Shmitt can't break the signal too much. If I do not find a solution, I
connect the encoder directly to 7i43

I hope to be doing that myself in a few weeks, with some small linear
motors I'm building.

I should say I was surprised how simple are these motors. Just a rod with
magnets inside, and several coils in the forcer. And this motor with
20x250mm rod and 40x40x90mm lenght forcer they sell for $500 or smth.
Now I think about making them myself. So any details on this would be
useful. Any links for your motors.

Andrew
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Re: [Emc-users] BLDC on 7i43 + 7i39 + linear motors

2012-04-16 Thread Viesturs Lācis

2012/4/16 Andrew parallel.kinemat...@gmail.com:

 I look from the top, like shown in manual. And pin 1 it's in the right
 bottom corner.
 I have different voltage at pin groups exactly according the manual. And I
 have 5V at left middle pin.
 By the way what is SENSEA and SENSEB inputs?

They are not used by 7i39, they are routed just right to the 50 pin
connector and are available on Your gpio pin. Basically You can put
some limit switch or something else there.
IIRC Peter had an idea for some potential use in future, so they
already gave the name for that, but I can be very wrong on this.
Anyway, sense pins are not used by 7i39 at the moment. I have a
adjusted firmware, where there are stepgen outputs on these 2 lines.
And it is working :)

Viesturs





 I'm anxious for you to get beyond this encoder problem, because
 I'm eager to learn about driving linear motors from LinuxCNC and 7I43's.


 That's not a big deal, I guess. At least I know that Andy and Viesturs had
 their encoders working. Maybe it's really a pinout, but I'm 99% sure it's
 not. Maybe just some incompatibility, though it's hard to believe too... RC
 + Shmitt can't break the signal too much. If I do not find a solution, I
 connect the encoder directly to 7i43

 I hope to be doing that myself in a few weeks, with some small linear
 motors I'm building.


 I should say I was surprised how simple are these motors. Just a rod with
 magnets inside, and several coils in the forcer. And this motor with
 20x250mm rod and 40x40x90mm lenght forcer they sell for $500 or smth.
 Now I think about making them myself. So any details on this would be
 useful. Any links for your motors.

 Andrew
 --
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Re: [Emc-users] BLDC on 7i43 + 7i39 + linear motors

Looked at the 7I39 manual and schematics (and our 7I39 test cabling)
and dont see any errors there.

freeby/mesanet.com/7i39icon.pdf
freeby/mesanet.com/7i39quad.pdf

are the input connector and quadrature input sections of the 7I39 if you want 
to trace the signals.

Peter Wallace
Mesa Electronics

(\__/)
(='.'=) This is Bunny. Copy and paste bunny into your
()_() signature to help him gain world domination.


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Re: [Emc-users] BLDC on 7i43 + 7i39 + linear motors

sorry thats:

freeby.mesanet.com/7i39icon.pdf
freeby.mesanet.com/7i39quad.pdf

Peter Wallace
Mesa Electronics

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Re: [Emc-users] BLDC on 7i43 + 7i39 + linear motors

16 квітня 2012 р. 21:17 Peter C. Wallace p...@mesanet.com написав:

 sorry thats:

 freeby.mesanet.com/7i39icon.pdf
 freeby.mesanet.com/7i39quad.pdf

 Thanks Peter, I can trace the signals when my oscilloscope arrives. I
can't see... after 74HCT14 the encoder signals must go right to 50 pin
connector?

But it can't wait long, now I'll cut the cable and continue setting up 7i39
and asking questions.

Andrew
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Re: [Emc-users] BLDC on 7i43 + 7i39 + linear motors

On 16 April 2012 20:29, Andrew parallel.kinemat...@gmail.com wrote:

 But it can't wait long, now I'll cut the cable and continue setting up 7i39
 and asking questions.

Cable is cheap.


-- 
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Re: [Emc-users] BLDC on 7i43 + 7i39 + linear motors

On Mon, 16 Apr 2012, Andrew wrote:

Date: Mon, 16 Apr 2012 22:29:46 +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: Re: [Emc-users] BLDC on 7i43 + 7i39 + linear motors

16  2012 ??. 21:17 Peter C. Wallace p...@mesanet.com 
??:

sorry thats:

freeby.mesanet.com/7i39icon.pdf
freeby.mesanet.com/7i39quad.pdf

Thanks Peter, I can trace the signals when my oscilloscope arrives. I
can't see... after 74HCT14 the encoder signals must go right to 50 pin
connector?

Sure and thats in the manual

But it can't wait long, now I'll cut the cable and continue setting up 7i39
and asking questions.

Andrew

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Re: [Emc-users] BLDC on 7i43 + 7i39 + linear motors

16 квітня 2012 р. 22:43 andy pugh bodge...@gmail.com написав:

 On 16 April 2012 20:29, Andrew parallel.kinemat...@gmail.com wrote:

  But it can't wait long, now I'll cut the cable and continue setting up
 7i39
  and asking questions.

 Cable is cheap.


And its every wire proved multi-cored. I thought it's solid.

The encoder is connected, as well as X axis motor. I also connected
bldc.0.init to estop

net estop-out =  iocontrol.0.user-enable-out
net estop-out =  bldc.0.init
net x-is-init =  iocontrol.0.emc-enable-in
*
*
I start Linuxcnc and nothing happens. After I push estop button, there's
some pause, and that's all. The motor power is connected, but the motor
seems dead. Since I enabled 3pwmgens two orange LEDs light on 7i39 when the
machine is started. And one green LED is always on.
What might be wrong?

Here's the beginning of HAL:

loadrt trivkins
loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD
num_joints=[TRAJ]AXES
loadrt probe_parport
loadrt hostmot2
loadrt hm2_7i43 config=firmware=hm2/7i43-4/SVST4_4_7i39.BIT num_encoders=3
num_pwmgens=0 num_3pwmgens=3 num_stepgens=0
setp hm2_7i43.0.3pwmgen.frequency 2
setp hm2_7i43.0.watchdog.timeout_ns 1000

loadrt pid names=pid.x,pid.y,pid.z
loadrt bldc cfg=q,q,q

addf hm2_7i43.0.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_7i43.0.write servo-thread
addf hm2_7i43.0.pet_watchdog   servo-thread

#***
#  AXIS X
#***

# -- BLDC setup --
setp   bldc.0.drive-offset   0
setp   bldc.0.rev0
setp   bldc.0.scale  200
setp   bldc.0.poles  4
net x-a-value   bldc.0.A-value = hm2_7i43.0.3pwmgen.00.A-value
net x-b-value   bldc.0.B-value = hm2_7i43.0.3pwmgen.00.B-value
net x-c-value   bldc.0.C-value = hm2_7i43.0.3pwmgen.00.C-value

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-anglebldc.0.phase-angle
net x-outputbldc.0.value
#net x-enable   bldc.0.init
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.command-deriv
net x-pos-fb   = pid.x.feedback

# ---TPPWM Generator signals/setup---
setp hm2_7i43.0.3pwmgen.00.scale 200
setp hm2_7i43.0.3pwmgen.00.enable 1
setp hm2_7i43.0.3pwmgen.00.fault-invert 1

# ---Encoder feedback signals/setup---
setphm2_7i43.0.encoder.00.counter-mode 0
setphm2_7i43.0.encoder.00.filter 1
#setphm2_7i43.0.encoder.00.index-invert 0
#setphm2_7i43.0.encoder.00.index-mask 0
#setphm2_7i43.0.encoder.00.index-mask-invert 0
setphm2_7i43.0.encoder.00.scale  [AXIS_0]ENCODER_SCALE

net x-pos-fb   =  hm2_7i43.0.encoder.00.position
net x-vel-fb   =  hm2_7i43.0.encoder.00.velocity
net x-pos-fb   =  axis.0.motor-pos-fb
#net x-index-enableaxis.0.index-enable  =
 hm2_7i43.0.encoder.02.index-enable
net x-pos-rawcounts=  hm2_7i43.0.encoder.00.rawcounts

In ini file all PID parameters set to 0, except P = 1.
The motors coils looks OK, when I short UVW wires there's significant
resistance to move the forcer.

I'd appreciate any help,
Andrew
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Re: [Emc-users] BLDC on 7i43 + 7i39 + linear motors

On 16 April 2012 22:10, Andrew parallel.kinemat...@gmail.com wrote:

 I'd appreciate any help,

I would try:

halrun
source halfilename
unlinkp hm2_7i43.0.3pwmgen.00.A-value
unlinkp hm2_7i43.0.3pwmgen.00.B-value
unlinkp hm2_7i43.0.3pwmgen.00.C-value

setp hm2_7i43.0.3pwmgen.00.A-value 0.1

(and so on)
and see what happens.

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Re: [Emc-users] BLDC on 7i43 + 7i39 + linear motors

On Tue, 17 Apr 2012, Andrew wrote:

loadrt hm2_7i43 config=firmware=hm2/7i43-4/SVST4_4_7i39.BIT num_encoders=3


What bitfile is this? I don have anything similar here...

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Re: [Emc-users] BLDC on 7i43 + 7i39 + linear motors

17 квітня 2012 р. 00:47 Peter C. Wallace p...@mesanet.com написав:

 On Tue, 17 Apr 2012, Andrew wrote:
 
 loadrt hm2_7i43 config=firmware=hm2/7i43-4/SVST4_4_7i39.BIT
 num_encoders=3


 What bitfile is this? I don have anything similar here...

 That's how I renamed svsttp4_4_7I39.bit
Is it what I need?

Andrew
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Re: [Emc-users] BLDC on 7i43 + 7i39 + linear motors

On Tue, 17 Apr 2012, Andrew wrote:

Date: Tue, 17 Apr 2012 00:57:26 +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: Re: [Emc-users] BLDC on 7i43 + 7i39 + linear motors

17  2012 ??. 00:47 Peter C. Wallace p...@mesanet.com 
??:

On Tue, 17 Apr 2012, Andrew wrote:

loadrt hm2_7i43 config=firmware=hm2/7i43-4/SVST4_4_7i39.BIT
num_encoders=3

What bitfile is this? I don have anything similar here...

That's how I renamed svsttp4_4_7I39.bit

Is it what I need?

Andrew

Its funny because it has the stepgen outputs but otherwise it should work

Peter Wallace
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Re: [Emc-users] BLDC on 7i43 + 7i39 + linear motors

17 квітня 2012 р. 00:40 andy pugh bodge...@gmail.com написав:

 halrun
 source halfilename
 unlinkp hm2_7i43.0.3pwmgen.00.A-value
 unlinkp hm2_7i43.0.3pwmgen.00.B-value
 unlinkp hm2_7i43.0.3pwmgen.00.C-value

 setp hm2_7i43.0.3pwmgen.00.A-value 0.1

 (and so on)
 and see what happens.


It's not so simple, because ini file is not loaded.
But I started entering first relevant strings from HAL, and when it came to
3pwmgen.00.A-value 0.1 , nothing happens again.

I seem to do some big stupid mistake, but which?
Again, any working config would be appreciated. I can even try config with
index or something. Let it at least start moving on init, then it will be
better.

Andrew

Andrew
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Re: [Emc-users] BLDC on 7i43 + 7i39 + linear motors

17 квітня 2012 р. 01:48 Andrew parallel.kinemat...@gmail.com написав:

 It's not so simple, because ini file is not loaded.
 But I started entering first relevant strings from HAL, and when it came
 to 3pwmgen.00.A-value 0.1 , nothing happens again.



Well, I created very simplified HAL

loadrt trivkins
loadrt motmod servo_period_nsec=100 num_joints=3
loadrt probe_parport
loadrt hostmot2
loadrt hm2_7i43 config=firmware=hm2/7i43-4/SVST4_4_7i39.BIT num_encoders=1
num_pwmgens=0 num_3pwmgens=1 num_stepgens=0
setp hm2_7i43.0.3pwmgen.frequency 1
setp hm2_7i43.0.watchdog.timeout_ns 1000

addf hm2_7i43.0.read servo-thread
addf motion-command-handler servo-thread
addf motion-controller servo-thread
addf hm2_7i43.0.write servo-thread
addf hm2_7i43.0.pet_watchdog   servo-thread

#***
#  AXIS X
#***

setp hm2_7i43.0.3pwmgen.00.scale 200
setp hm2_7i43.0.3pwmgen.00.enable 1
setp hm2_7i43.0.3pwmgen.00.fault-invert 1
setp hm2_7i43.0.3pwmgen.00.A-value 0.5
setp hm2_7i43.0.3pwmgen.00.B-value 0.3
setp hm2_7i43.0.3pwmgen.00.C-value 0.6

And nothing happens at all. Does it mean 3pwmgen is not working?
The only noticeable thing is when the machine starts, it becomes a little
bit harder to move the forcer. When it shuts down - it releases.
BTW I work with 2.5.0 from the flash drive.

Andrew
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Re: [Emc-users] BLDC on 7i43 + 7i39 + linear motors

On 17 April 2012 00:08, Andrew parallel.kinemat...@gmail.com wrote:

 Well, I created very simplified HAL

 loadrt trivkins
 loadrt motmod servo_period_nsec=100 num_joints=3
 loadrt probe_parport
 loadrt hostmot2
 loadrt hm2_7i43 config=firmware=hm2/7i43-4/SVST4_4_7i39.BIT num_encoders=1
 num_pwmgens=0 num_3pwmgens=1 num_stepgens=0
 setp     hm2_7i43.0.3pwmgen.frequency 1
 setp     hm2_7i43.0.watchdog.timeout_ns 1000

 addf hm2_7i43.0.read servo-thread
 addf motion-command-handler servo-thread
 addf motion-controller servo-thread
 addf hm2_7i43.0.write         servo-thread
 addf hm2_7i43.0.pet_watchdog   servo-thread

Anything in dmesg?

When I do that sort of thing, I don't use motomod, I loadrt threads
and addf thread1.

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Re: [Emc-users] BLDC on 7i43 + 7i39 + linear motors

show parameters might indicate any fault statuses…


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Re: [Emc-users] BLDC on 7i43 + 7i39 + linear motors

17 квітня 2012 р. 02:27 Peter C. Wallace p...@mesanet.com написав:

 What is the 7I39 motor voltage ?

 What are the motor ratings (current /voltage)?

 Do the encoders work now (because not working  encoders suggests a
 wiring/cable error)


I give 44V to 7i39. But tomorrow I better use 24V PSU.
Calculated motor voltage is near 45-50V at 1m/s, peak current is 4.5A.
The motor jerks very strong when I touch its wires to power line.
Encoders work (not in this short config, of course).

Along with strange encoders that might look like 7i39 malfunction, but 2
broken cards... not probable.

17 квітня 2012 р. 02:27 andy pugh bodge...@gmail.com написав:

 Anything in dmesg?


Nothing particular. No errors, just pins and usual loading messages.

Thanks Andy and Peter. I'll try again tomorrow.

Andrew
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Re: [Emc-users] BLDC on 7i43 + 7i39 + linear motors

On Tue, 17 Apr 2012, Andrew wrote:

Date: Tue, 17 Apr 2012 03:00:48 +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: Re: [Emc-users] BLDC on 7i43 + 7i39 + linear motors

17  2012 ??. 02:27 Peter C. Wallace p...@mesanet.com 
??:

What is the 7I39 motor voltage ?

What are the motor ratings (current /voltage)?

Do the encoders work now (because not working  encoders suggests a
wiring/cable error)

I give 44V to 7i39. But tomorrow I better use 24V PSU.
Calculated motor voltage is near 45-50V at 1m/s, peak current is 4.5A.
The motor jerks very strong when I touch its wires to power line.
Encoders work (not in this short config, of course).

I would not start at a voltage so close to the limits when first testing

Along with strange encoders that might look like 7i39 malfunction, but 2
broken cards... not probable.

What I am asking is if the 7I39 encoder inputs work normally now
If not, this still suggests a wiring error of some kind.

Peter Wallace
Mesa Electronics--
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Re: [Emc-users] BLDC on 7i43 + 7i39 + linear motors

2012-04-16 Thread rob c

In the case the 7I39 motor is a stepper?, you should never hook a stepper motor 
up directly to a power supply it will destroy the motor. If you have encoders 
you need a micro-controller. Using the encoder in your circuit is called a 
closed loop system you need to read back to something like Arduino, you are 
correct if the encoder is not working you can troubleshoot by checking your 
wire connections. 

 From: parallel.kinemat...@gmail.com
 Date: Tue, 17 Apr 2012 03:00:48 +0300
 To: emc-users@lists.sourceforge.net
 Subject: Re: [Emc-users] BLDC on 7i43 + 7i39 + linear motors

 17 квітня 2012 р. 02:27 Peter C. Wallace p...@mesanet.com написав:

  What is the 7I39 motor voltage ?

  What are the motor ratings (current /voltage)?

  Do the encoders work now (because not working  encoders suggests a
  wiring/cable error)

 I give 44V to 7i39. But tomorrow I better use 24V PSU.
 Calculated motor voltage is near 45-50V at 1m/s, peak current is 4.5A.
 The motor jerks very strong when I touch its wires to power line.
 Encoders work (not in this short config, of course).

 Along with strange encoders that might look like 7i39 malfunction, but 2
 broken cards... not probable.

 17 квітня 2012 р. 02:27 andy pugh bodge...@gmail.com написав:

  Anything in dmesg?

 Nothing particular. No errors, just pins and usual loading messages.

 Thanks Andy and Peter. I'll try again tomorrow.

 Andrew
 --
 Better than sec? Nothing is better than sec when it comes to
 monitoring Big Data applications. Try Boundary one-second 
 resolution app monitoring today. Free.
 http://p.sf.net/sfu/Boundary-dev2dev
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 Emc-users mailing list
 Emc-users@lists.sourceforge.net
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Re: [Emc-users] BLDC on 7i43 + 7i39 + linear motors