5i25_7i76

[Juro]

Všimni si že 7i76 je na krokové motory a ja ju používam na serva step/dir.

[Kilovolt]

Jede to a to je důležitý

[Juro]

Pouziva niekto opacne (lave) otacky vretena s tymito kartami? Funguje vam to OK, alebo sa vam to roztoci na plne otacky pri zadani minimalnych otacok?

[Max]

Jake mas nastavene hodnoty OUTPUT_MIN_LIMIT, OUTPUT_MAX_LIMIT a OUTPUT_SCALE v INI soubouru?

[Juro]

OUTPUT_MIN_LIMIT 0
OUTPUT_MAX_LIMIT 24000
OUTPUT_SCALE 24000

motorpotenciometer z mesakarty ide 0 az 10V (merané),

ked prepnem opacne otacky tak z neho ide plných 10V

[Max]

Pošli ještě HAL soubor.

[Juro]

HAL





loadrt trivkins
loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[TRAJ]AXES
loadrt probe_parport
loadrt hostmot2
loadrt hm2_pci config=" num_encoders=1 num_pwmgens=0 num_3pwmgens=0 num_stepgens=5 sserial_port_0=0xxxx "
setp hm2_5i25.0.watchdog.timeout_ns 10000000
loadrt pid names=pid.a
loadrt abs names=abs.spindle
loadrt lowpass names=lowpass.spindle

addf hm2_5i25.0.read servo-thread
addf motion-command-handler servo-thread
addf motion-controller servo-thread
addf pid.a.do-pid-calcs servo-thread
addf abs.spindle servo-thread
addf lowpass.spindle servo-thread
addf hm2_5i25.0.write servo-thread
addf hm2_5i25.0.pet_watchdog servo-thread

# external output signals


# --- SPINDLE-CW ---
net spindle-cw hm2_5i25.0.7i76.0.0.output-08

# --- SPINDLE-CCW ---
net spindle-ccw hm2_5i25.0.7i76.0.0.output-09

# --- COOLANT-FLOOD ---
net coolant-flood hm2_5i25.0.7i76.0.0.output-10

# --- COOLANT-MIST ---
net coolant-mist hm2_5i25.0.7i76.0.0.output-11

# --- SPINDLE-ON ---
net spindle-on hm2_5i25.0.7i76.0.0.output-12

# external input signals


# --- ESTOP-EXT ---
net estop-ext <= hm2_5i25.0.7i76.0.0.input-16

# --- HOME-X ---
net home-x <= hm2_5i25.0.7i76.0.0.input-17

# --- HOME-Y ---
net home-y <= hm2_5i25.0.7i76.0.0.input-18

# --- HOME-Z ---
net home-z <= hm2_5i25.0.7i76.0.0.input-19



# --- REMOTE RUN ---
net remrun halui.mode.auto <= hm2_5i25.0.7i76.0.0.input-20
net remrun => halui.program.run



#*******************
# AXIS X
#*******************

# Step Gen signals/setup

setp hm2_5i25.0.stepgen.00.dirsetup [AXIS_0]DIRSETUP
setp hm2_5i25.0.stepgen.00.dirhold [AXIS_0]DIRHOLD
setp hm2_5i25.0.stepgen.00.steplen [AXIS_0]STEPLEN
setp hm2_5i25.0.stepgen.00.stepspace [AXIS_0]STEPSPACE
setp hm2_5i25.0.stepgen.00.position-scale [AXIS_0]STEP_SCALE
setp hm2_5i25.0.stepgen.00.step_type 0
setp hm2_5i25.0.stepgen.00.control-type 0
setp hm2_5i25.0.stepgen.00.maxaccel 800
#[AXIS_0]STEPGEN_MAXACCEL
setp hm2_5i25.0.stepgen.00.maxvel 145.8
#[AXIS_0]STEPGEN_MAXVEL

net x-pos-fb axis.0.motor-pos-fb <= hm2_5i25.0.stepgen.00.position-fb
net x-pos-cmd axis.0.motor-pos-cmd => hm2_5i25.0.stepgen.00.position-cmd
net x-enable axis.0.amp-enable-out => hm2_5i25.0.stepgen.00.enable

# ---setup home / limit switch signals---

net home-x => axis.0.home-sw-in
net x-neg-limit => axis.0.neg-lim-sw-in
net x-pos-limit => axis.0.pos-lim-sw-in

#*******************
# AXIS Y
#*******************

# Step Gen signals/setup

setp hm2_5i25.0.stepgen.01.dirsetup [AXIS_1]DIRSETUP
setp hm2_5i25.0.stepgen.01.dirhold [AXIS_1]DIRHOLD
setp hm2_5i25.0.stepgen.01.steplen [AXIS_1]STEPLEN
setp hm2_5i25.0.stepgen.01.stepspace [AXIS_1]STEPSPACE
setp hm2_5i25.0.stepgen.01.position-scale [AXIS_1]STEP_SCALE
setp hm2_5i25.0.stepgen.01.step_type 0
setp hm2_5i25.0.stepgen.01.control-type 0
setp hm2_5i25.0.stepgen.01.maxaccel 625
#[AXIS_1]STEPGEN_MAXACCEL
setp hm2_5i25.0.stepgen.01.maxvel 84
#[AXIS_1]STEPGEN_MAXVEL

net y-pos-fb axis.1.motor-pos-fb <= hm2_5i25.0.stepgen.01.position-fb
net y-pos-cmd axis.1.motor-pos-cmd => hm2_5i25.0.stepgen.01.position-cmd
net y-enable axis.1.amp-enable-out => hm2_5i25.0.stepgen.01.enable

# ---setup home / limit switch signals---

net home-y => axis.1.home-sw-in
net y-neg-limit => axis.1.neg-lim-sw-in
net y-pos-limit => axis.1.pos-lim-sw-in

#*******************
# AXIS Z
#*******************

# Step Gen signals/setup

setp hm2_5i25.0.stepgen.02.dirsetup [AXIS_2]DIRSETUP
setp hm2_5i25.0.stepgen.02.dirhold [AXIS_2]DIRHOLD
setp hm2_5i25.0.stepgen.02.steplen [AXIS_2]STEPLEN
setp hm2_5i25.0.stepgen.02.stepspace [AXIS_2]STEPSPACE
setp hm2_5i25.0.stepgen.02.position-scale [AXIS_2]STEP_SCALE
setp hm2_5i25.0.stepgen.02.step_type 0
setp hm2_5i25.0.stepgen.02.control-type 0
setp hm2_5i25.0.stepgen.02.maxaccel 625
#[AXIS_2]STEPGEN_MAXACCEL
setp hm2_5i25.0.stepgen.02.maxvel 97
#[AXIS_2]STEPGEN_MAXVEL

net z-pos-fb axis.2.motor-pos-fb <= hm2_5i25.0.stepgen.02.position-fb
net z-pos-cmd axis.2.motor-pos-cmd => hm2_5i25.0.stepgen.02.position-cmd
net z-enable axis.2.amp-enable-out => hm2_5i25.0.stepgen.02.enable

# ---setup home / limit switch signals---

net home-z => axis.2.home-sw-in
net z-neg-limit => axis.2.neg-lim-sw-in
net z-pos-limit => axis.2.pos-lim-sw-in

#*******************
# AXIS A
#*******************

setp pid.a.Pgain [AXIS_3]P
setp pid.a.Igain [AXIS_3]I
setp pid.a.Dgain [AXIS_3]D
setp pid.a.bias [AXIS_3]BIAS
setp pid.a.FF0 [AXIS_3]FF0
setp pid.a.FF1 [AXIS_3]FF1
setp pid.a.FF2 [AXIS_3]FF2
setp pid.a.deadband [AXIS_3]DEADBAND
setp pid.a.maxoutput [AXIS_3]MAX_OUTPUT

net a-index-enable <=> pid.a.index-enable
net a-enable => pid.a.enable
net a-output => pid.a.output
net a-pos-cmd => pid.a.command
net a-vel-fb => pid.a.feedback-deriv
net a-pos-fb => pid.a.feedback

# Step Gen signals/setup

setp hm2_5i25.0.stepgen.03.dirsetup [AXIS_3]DIRSETUP
setp hm2_5i25.0.stepgen.03.dirhold [AXIS_3]DIRHOLD
setp hm2_5i25.0.stepgen.03.steplen [AXIS_3]STEPLEN
setp hm2_5i25.0.stepgen.03.stepspace [AXIS_3]STEPSPACE
setp hm2_5i25.0.stepgen.03.position-scale [AXIS_3]STEP_SCALE
setp hm2_5i25.0.stepgen.03.step_type 0
setp hm2_5i25.0.stepgen.03.control-type 1
setp hm2_5i25.0.stepgen.03.maxaccel [AXIS_3]STEPGEN_MAXACCEL
setp hm2_5i25.0.stepgen.03.maxvel [AXIS_3]STEPGEN_MAXVEL

# ---closedloop stepper signals---

net a-pos-cmd axis.3.motor-pos-cmd
net a-output => hm2_5i25.0.stepgen.03.velocity-cmd
net a-enable axis.3.amp-enable-out => hm2_5i25.0.stepgen.03.enable

# ---Encoder feedback signals/setup---

setp hm2_5i25.0.encoder.00.counter-mode 0
setp hm2_5i25.0.encoder.00.filter 0
setp hm2_5i25.0.encoder.00.index-invert 0
setp hm2_5i25.0.encoder.00.index-mask 0
setp hm2_5i25.0.encoder.00.index-mask-invert 0
setp hm2_5i25.0.encoder.00.scale 44.4444444

net a-pos-fb <= hm2_5i25.0.encoder.00.position
net a-vel-fb <= hm2_5i25.0.encoder.00.velocity
net a-pos-fb => axis.3.motor-pos-fb
net a-index-enable axis.3.index-enable <=> hm2_5i25.0.encoder.00.index-enable
net a-pos-rawcounts <= hm2_5i25.0.encoder.00.rawcounts

# ---setup home / limit switch signals---

net a-home-sw => axis.3.home-sw-in
net a-neg-limit => axis.3.neg-lim-sw-in
net a-pos-limit => axis.3.pos-lim-sw-in

#*******************
# SPINDLE S
#*******************

# ---digital potentionmeter output signals/setup---

setp hm2_5i25.0.7i76.0.0.spinout-minlim [SPINDLE_9]OUTPUT_MIN_LIMIT
setp hm2_5i25.0.7i76.0.0.spinout-maxlim [SPINDLE_9]OUTPUT_MAX_LIMIT
setp hm2_5i25.0.7i76.0.0.spinout-scalemax [SPINDLE_9]OUTPUT_SCALE

net spindle-vel-cmd => hm2_5i25.0.7i76.0.0.spinout
net machine-is-enabled => hm2_5i25.0.7i76.0.0.spinena
net spindle-ccw => hm2_5i25.0.7i76.0.0.spindir

# ---setup spindle control signals---

net spindle-vel-cmd-rps <= motion.spindle-speed-out-rps
net spindle-vel-cmd <= motion.spindle-speed-out
net spindle-on <= motion.spindle-on
net spindle-cw <= motion.spindle-forward
net spindle-ccw <= motion.spindle-reverse
net spindle-brake <= motion.spindle-brake
net spindle-revs => motion.spindle-revs
net spindle-at-speed => motion.spindle-at-speed
net spindle-vel-fb => motion.spindle-speed-in
net spindle-index-enable <=> motion.spindle-index-enable

# ---Setup spindle at speed signals---

sets spindle-at-speed true

# Use COMMANDED spindle velocity from LinuxCNC because no spindle encoder was specified
# COMMANDED velocity is signed so we use absolute component to remove sign

net spindle-vel-cmd => abs.spindle.in
net absolute-spindle-vel <= abs.spindle.out

#******************************
# connect miscellaneous signals
#******************************

# ---HALUI signals---

net joint-select-a halui.joint.0.select
net x-is-homed halui.joint.0.is-homed
net jog-x-pos halui.jog.0.plus
net jog-x-neg halui.jog.0.minus
net jog-x-analog halui.jog.0.analog
net joint-select-b halui.joint.1.select
net y-is-homed halui.joint.1.is-homed
net jog-y-pos halui.jog.1.plus
net jog-y-neg halui.jog.1.minus
net jog-y-analog halui.jog.1.analog
net joint-select-c halui.joint.2.select
net z-is-homed halui.joint.2.is-homed
net jog-z-pos halui.jog.2.plus
net jog-z-neg halui.jog.2.minus
net jog-z-analog halui.jog.2.analog
net joint-select-d halui.joint.3.select
net a-is-homed halui.joint.3.is-homed
net jog-a-pos halui.jog.3.plus
net jog-a-neg halui.jog.3.minus
net jog-a-analog halui.jog.3.analog
net jog-selected-pos halui.jog.selected.plus
net jog-selected-neg halui.jog.selected.minus
net spindle-manual-cw halui.spindle.forward
net spindle-manual-ccw halui.spindle.reverse
net spindle-manual-stop halui.spindle.stop
net machine-is-on halui.machine.is-on
net jog-speed halui.jog-speed
net MDI-mode halui.mode.is-mdi

# ---coolant signals---

net coolant-mist <= iocontrol.0.coolant-mist
net coolant-flood <= iocontrol.0.coolant-flood

# ---probe signal---

net probe-in => motion.probe-input

# ---motion control signals---

net in-position <= motion.in-position
net machine-is-enabled <= motion.motion-enabled

# ---digital in / out signals---

# ---estop signals---

net estop-out <= iocontrol.0.user-enable-out
net estop-ext => iocontrol.0.emc-enable-in

# ---manual tool change signals---

loadusr -W hal_manualtoolchange
net tool-change-request iocontrol.0.tool-change => hal_manualtoolchange.change
net tool-change-confirmed iocontrol.0.tool-changed <= hal_manualtoolchange.changed
net tool-number iocontrol.0.tool-prep-number => hal_manualtoolchange.number
net tool-prepare-loopback iocontrol.0.tool-prepare => iocontrol.0.tool-prepared





INI
-----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------
# Generated by PNCconf at Sat Oct 25 19:54:00 2014
# If you make changes to this file, they will be
# overwritten when you run PNCconf again

[EMC]
MACHINE = FREZA
DEBUG = 0

[DISPLAY]
DISPLAY = axis
EMBED_TAB_NAME = GladeVCP
EMBED_TAB_COMMAND = halcmd loadusr -Wn gladevcp gladevcp -c gladevcp -t Industrial -H gvcp_call_list.hal -x {XID} gvcp-panel.ui
POSITION_OFFSET = RELATIVE
POSITION_FEEDBACK = ACTUAL
MAX_FEED_OVERRIDE = 2.000000
MAX_SPINDLE_OVERRIDE = 2.000000
MIN_SPINDLE_OVERRIDE = 0.000000
INTRO_GRAPHIC = linuxcnc.gif
INTRO_TIME = 1
PROGRAM_PREFIX = /mnt/DATA/G-codes
PYVCP = pyvcp-panel.xml
INCREMENTS = 10mm 5mm 1mm .5mm .1mm .05mm .01mm .005mm
POSITION_OFFSET = RELATIVE
POSITION_FEEDBACK = ACTUAL
DEFAULT_LINEAR_VELOCITY = 5.000000
MAX_LINEAR_VELOCITY = 116.666667
MIN_LINEAR_VELOCITY = 0.000000
DEFAULT_ANGULAR_VELOCITY = 1000
MAX_ANGULAR_VELOCITY = 5000
MIN_ANGULAR_VELOCITY = 0.000000
EDITOR = gedit
GEOMETRY = xyza

[FILTER]
PROGRAM_EXTENSION = .png,.gif,.jpg Greyscale Depth Image
PROGRAM_EXTENSION = .py Python Script
png = image-to-gcode
gif = image-to-gcode
jpg = image-to-gcode
py = python
dxf = dxf2gcode.py
[TASK]
TASK = milltask
CYCLE_TIME = 0.010

[RS274NGC]
PARAMETER_FILE = linuxcnc.var

[EMCMOT]
EMCMOT = motmod
COMM_TIMEOUT = 1.0
COMM_WAIT = 0.010
SERVO_PERIOD = 1000000

[HOSTMOT2]
# **** This is for info only ****
# DRIVER0=hm2_pci
# BOARD0=5i25

[HAL]
HALUI = halui
HALFILE = FREZA.hal
HALFILE = custom.hal
POSTGUI_HALFILE = postgui_call_list.hal
SHUTDOWN = shutdown.hal

[HALUI]

[TRAJ]
AXES = 4
COORDINATES = X Y Z A
MAX_ANGULAR_VELOCITY = 5000
DEFAULT_ANGULAR_VELOCITY = 60
LINEAR_UNITS = mm
ANGULAR_UNITS = degree
CYCLE_TIME = 0.010
DEFAULT_VELOCITY = 11.67
MAX_LINEAR_VELOCITY = 116.67

[EMCIO]
EMCIO = io
CYCLE_TIME = 0.100
TOOL_TABLE = tool.tbl

#********************
# Axis X
#********************
[AXIS_0]
TYPE = LINEAR
HOME = 550.0
FERROR = 0.05
MIN_FERROR = 0.05
MAX_VELOCITY = 116.66666
MAX_ACCELERATION = 600.0
# The values below should be 25% larger than MAX_VELOCITY and MAX_ACCELERATION
# If using BACKLASH compensation STEPGEN_MAXACCEL should be 100% larger.
#STEPGEN_MAXVEL = 145.8
#STEPGEN_MAXACCEL = 750.0
# these are in nanoseconds
DIRSETUP = 1000
DIRHOLD = 1000
STEPLEN = 1000
STEPSPACE = 1000
STEP_SCALE = 600
MIN_LIMIT = -30.0
MAX_LIMIT = 550.1
HOME_OFFSET = 550.000000
HOME_SEARCH_VEL = 30
HOME_LATCH_VEL = -2
HOME_FINAL_VEL = 2
HOME_USE_INDEX = NO
HOME_SEQUENCE = 1

#********************
# Axis Y
#********************
[AXIS_1]
TYPE = LINEAR
HOME = 200.0
FERROR = 0.05
MIN_FERROR = 0.05
MAX_VELOCITY = 81.9999
MAX_ACCELERATION = 500.0
# The values below should be 25% larger than MAX_VELOCITY and MAX_ACCELERATION
# If using BACKLASH compensation STEPGEN_MAXACCEL should be 100% larger.
#STEPGEN_MAXVEL = 102.1
#STEPGEN_MAXACCEL = 625.0
# these are in nanoseconds
DIRSETUP = 1000
DIRHOLD = 1000
STEPLEN = 1000
STEPSPACE = 1000
STEP_SCALE = 5714.2857
MIN_LIMIT = -20.0
MAX_LIMIT = 200.01
HOME_OFFSET = 200.000000
HOME_SEARCH_VEL = 30
HOME_LATCH_VEL = -2
HOME_FINAL_VEL = 2
HOME_USE_INDEX = NO
HOME_SEQUENCE = 2

#********************
# Axis Z
#********************
[AXIS_2]
TYPE = LINEAR
HOME = 168.924
FERROR = 0.05
MIN_FERROR = 0.05
MAX_VELOCITY = 81.6666666667
MAX_ACCELERATION = 500.0
# The values below should be 25% larger than MAX_VELOCITY and MAX_ACCELERATION
# If using BACKLASH compensation STEPGEN_MAXACCEL should be 100% larger.
#STEPGEN_MAXVEL = 102.1
#STEPGEN_MAXACCEL = 625.0
# these are in nanoseconds
DIRSETUP = 1000
DIRHOLD = 1000
STEPLEN = 1000
STEPSPACE = 1000
STEP_SCALE = -4571.4284
MIN_LIMIT = -50
MAX_LIMIT = 168.934
HOME_OFFSET = 168.924
HOME_SEARCH_VEL = 30
HOME_LATCH_VEL = 2
HOME_FINAL_VEL = 2
HOME_USE_INDEX = NO
HOME_SEQUENCE = 0

#********************
# Axis A
#********************
[AXIS_3]
TYPE = ANGULAR
#HOME = 0.0
FERROR = 1
MIN_FERROR = 10000
MAX_VELOCITY = 2500
MAX_ACCELERATION = 25000
# The values below should be 25% larger than MAX_VELOCITY and MAX_ACCELERATION
# If using BACKLASH compensation STEPGEN_MAXACCEL should be 100% larger.
STEPGEN_MAXVEL = 5000
STEPGEN_MAXACCEL = 3000
P = 2.5
I = 0
D = 0
FF0 = 0
FF1 = 0
FF2 =0
BIAS = 0
DEADBAND =0
MAX_OUTPUT =0
ENCODER_SCALE = -1
# these are in nanoseconds
DIRSETUP = 1000
DIRHOLD = 1000
STEPLEN = 1000
STEPSPACE = 1000
#STEP_SCALE = -9.485
STEP_SCALE = -100
MIN_LIMIT = -99999999.0
MAX_LIMIT = 99999999.0
HOME_OFFSET = 0.0

#********************
# Spindle
#********************
[SPINDLE_9]
#OUTPUT_SCALE =4920
#OUTPUT_MIN_LIMIT = -8000
#OUTPUT_MAX_LIMIT = 8000
OUTPUT_SCALE =2444
OUTPUT_MIN_LIMIT = -3000
OUTPUT_MAX_LIMIT = 3000

[Tomis]

Ahoj, PC konfiguraci jsem ještě nezjistil,
ale více o stroji je v nově založeném vlákně
http://www.c-n-c.cz/viewtopic.php?f=15&t=18094" onclick="window.open(this.href);return false;
T.

[Juro]

Tvoj prispevok asi nepatri sem. Ja musim do halu dopisat nejake podmienky, zatial , pokial mam cas, tak hladam nejaky manual a snazim sa pochopit ,ako by mala vyzerat nejaka syntaxa podmienky.

[Juro]

Pusti na tvojom stroji opacne otacky vretena a ak idu korektne, tak daj cem tvoj hal a ini subory.

[Tomis]

Ahoj, PC konfiguraci jsem ještě nezjistil,
ale více o stroji je v nově založeném vlákně
http://www.c-n-c.cz/viewtopic.php?f=15&t=18094" onclick="window.open(this.href);return false;
T.

Sorry, tento příspěvek patří někam jinam

[Juro]

Pusti na tvojom stroji opacne otacky vretena a ak idu korektne, tak daj cem tvoj hal a ini subory.

Tak co skusal si to?