7i80-DB + 7I76 - PWM Spindle ?
20 Jul 2019 12:38 #139960
by mjoconr
Replied by mjoconr on topic 7i80-DB + 7I76 - PWM Spindle ?
So what is the best way of getting a PWM output ?
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20 Jul 2019 12:47 - 20 Jul 2019 13:24 #139961
by PCW
Replied by PCW on topic 7i80-DB + 7I76 - PWM Spindle ?
If slow PWM is OK (say 20 Hz), you could us software PWM, as pl7i92 suggested
and direct it to a field output or a unused stepgen output.
If you need faster (hardware ) PWM you would need a new 7I80DB-16 bitfile that
includes a PWMgen, probably on the last 7I76 step/dir pin set
I did find a manual for the BD1100 but its in Chinese and
doesnt seem to have much in the way of interface details
(if google translate did a decent job)
and direct it to a field output or a unused stepgen output.
If you need faster (hardware ) PWM you would need a new 7I80DB-16 bitfile that
includes a PWMgen, probably on the last 7I76 step/dir pin set
I did find a manual for the BD1100 but its in Chinese and
doesnt seem to have much in the way of interface details
(if google translate did a decent job)
Last edit: 20 Jul 2019 13:24 by PCW.
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20 Jul 2019 13:37 - 20 Jul 2019 13:42 #139965
by PCW
Replied by PCW on topic 7i80-DB + 7I76 - PWM Spindle ?
freeby.mesanet.com/7i80db_16_7i76x3D3p.bit
Bitfile for 7I80DB-16 with up to 3 7I76's
Each 7I76 has the last stepgen replaced with a pwmgen
Bitfile for 7I80DB-16 with up to 3 7I76's
Each 7I76 has the last stepgen replaced with a pwmgen
Last edit: 20 Jul 2019 13:42 by PCW.
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20 Jul 2019 13:55 #139966
by mjoconr
Replied by mjoconr on topic 7i80-DB + 7I76 - PWM Spindle ?
That's cool, does this need the hal line configured as per my message from before ?
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20 Jul 2019 16:00 #139975
by PCW
Replied by PCW on topic 7i80-DB + 7I76 - PWM Spindle ?
Yes, you would need to enable at least one pwmgen in the driver command line
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21 Jul 2019 04:20 #140042
by mjoconr
Replied by mjoconr on topic 7i80-DB + 7I76 - PWM Spindle ?
So how would I change the following config to configure and connect the PWM to this.
Note I had to comment out and bypass the spindle gain as config as it caused a load error
Note I had to comment out and bypass the spindle gain as config as it caused a load error
loadrt [KINS]KINEMATICS
#autoconverted trivkins
loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS
loadrt hostmot2
loadrt hm2_eth board_ip="10.10.10.10" config=" num_encoders=1 num_pwmgens=1 num_stepgens=4 sserial_port_0=00xxxx"
setp hm2_7i80.0.watchdog.timeout_ns 5000000
loadrt pid names=pid.x,pid.y,pid.z,pid.s
addf hm2_7i80.0.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 pid.s.do-pid-calcs servo-thread
addf hm2_7i80.0.write servo-thread
setp pid.s.Pgain [SPINDLE_9]P
setp pid.s.Igain [SPINDLE_9]I
setp pid.s.Dgain [SPINDLE_9]D
setp pid.s.bias [SPINDLE_9]BIAS
setp pid.s.FF0 [SPINDLE_9]FF0
setp pid.s.FF1 [SPINDLE_9]FF1
setp pid.s.FF2 [SPINDLE_9]FF2
setp pid.s.deadband [SPINDLE_9]DEADBAND
setp pid.s.maxoutput [SPINDLE_9]MAX_OUTPUT
setp pid.s.error-previous-target true
setp pid.s.maxerror .0005
net spindle-index-enable <=> pid.s.index-enable
net spindle-enable => pid.s.enable
net spindle-vel-cmd-rpm-abs => pid.s.command
net spindle-vel-fb-rpm-abs => pid.s.feedback
net spindle-output <= pid.s.output
# ---digital potentionmeter output signals/setup---
setp hm2_7i80.0.7i76.0.0.spinout-minlim [SPINDLE_9]OUTPUT_MIN_LIMIT
setp hm2_7i80.0.7i76.0.0.spinout-maxlim [SPINDLE_9]OUTPUT_MAX_LIMIT
setp hm2_7i80.0.7i76.0.0.spinout-scalemax [SPINDLE_9]OUTPUT_SCALE
#net spindle-vel-cmd-abs => hm2_7i80.0.7i76.0.0.spinout
net spindle-vel-cmd-rpm-abs => hm2_7i80.0.7i76.0.0.spinout
net machine-is-enabled => hm2_7i80.0.7i76.0.0.spinena
net spindle-ccw => hm2_7i80.0.7i76.0.0.spindir
# ---Encoder feedback signals/setup---
setp hm2_7i80.0.encoder.00.counter-mode 1
setp hm2_7i80.0.encoder.00.filter 1
setp hm2_7i80.0.encoder.00.index-invert 0
setp hm2_7i80.0.encoder.00.index-mask 0
setp hm2_7i80.0.encoder.00.index-mask-invert 0
setp hm2_7i80.0.encoder.00.scale [SPINDLE_9]ENCODER_SCALE
net spindle-revs <= hm2_7i80.0.encoder.00.position
net spindle-vel-fb-rps <= hm2_7i80.0.encoder.00.velocity
net spindle-index-enable <=> hm2_7i80.0.encoder.00.index-enable
# ---setup spindle control signals---
net spindle-vel-cmd-rps <= spindle.0.speed-out-rps
net spindle-vel-cmd-rps-abs <= spindle.0.speed-out-rps-abs
net spindle-vel-cmd-rpm <= spindle.0.speed-out
net spindle-vel-cmd-rpm-abs <= spindle.0.speed-out-abs
net spindle-enable <= spindle.0.on
net spindle-cw <= spindle.0.forward
net spindle-ccw <= spindle.0.reverse
net spindle-brake <= spindle.0.brake
net spindle-revs => spindle.0.revs
net spindle-at-speed => spindle.0.at-speed
net spindle-vel-fb-rps => spindle.0.speed-in
net spindle-index-enable <=> spindle.0.index-enable
# ---Setup spindle at speed signals---
sets spindle-at-speed true
# Use ACTUAL spindle velocity from spindle encoder
# spindle-velocity bounces around so we filter it with lowpass
# spindle-velocity is signed so we use absolute component to remove sign
# ACTUAL velocity is in RPS not RPM so we scale it.
#setp scale.spindle.gain 60
#setp lowpass.spindle.gain 1.000000
#net spindle-vel-fb-rps => scale.spindle.in
#net spindle-fb-rpm scale.spindle.out => abs.spindle.in
#net spindle-fb-rpm-abs abs.spindle.out => lowpass.spindle.in
#net spindle-fb-rpm-abs-filtered lowpass.spindle.outPlease Log in or Create an account to join the conversation.
25 Jul 2019 22:58 #140582
by andypugh
Replied by andypugh on topic 7i80-DB + 7I76 - PWM Spindle ?
Probably changetolinuxcnc.org/docs/2.7/html/man/man9/hostmot2.9.html#pwmgen
You will also need to enable the pwmgen and set the scale using the appropriate pins.
Have you flashed the new firmware?
You can get a list of the actual pin names by typing this at the command line. (You might recognise some of it)Copy and paste the output to a text file for reference
net spindle-vel-cmd-rpm-abs => hm2_7i80.0.7i76.0.0.spinoutnet spindle-vel-cmd-rpm-abs => hm2_7i80.0.7i76.0.0.pwmgen.00.valueYou will also need to enable the pwmgen and set the scale using the appropriate pins.
Have you flashed the new firmware?
You can get a list of the actual pin names by typing this at the command line. (You might recognise some of it)
halrun
loadrt hostmot2
loadrt hm2_eth board_ip="10.10.10.10" config=" num_encoders=1 num_pwmgens=1 num_stepgens=4 sserial_port_0=00xxxx"
show pin
show param
show funct
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26 Jul 2019 01:04 #140601
by mjoconr
Replied by mjoconr on topic 7i80-DB + 7I76 - PWM Spindle ?
Thanks Andy
Yes I've flashed the firmware and updated the hal with the correct loadrt.
I do recognise the commands, but did not know I could do this by hand. Very useful.
Thanks for the reference page for the pwmgen.
Will take a little testing to work out what the frequency should be.
Yes I've flashed the firmware and updated the hal with the correct loadrt.
I do recognise the commands, but did not know I could do this by hand. Very useful.
Thanks for the reference page for the pwmgen.
Will take a little testing to work out what the frequency should be.
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15 Nov 2019 07:23 #150406
by mjoconr
Replied by mjoconr on topic 7i80-DB + 7I76 - PWM Spindle ?
Hi All
Just wanted to update on this issue. The firmware provided by PCW worked a treat.
There is an issue with the direction ie I can only go M3 not M4, I'm assuming I got the wiring messed up but did not have time to check with a multimeter.
Did find out the drive sends out rotation pulse so I'm going to see if I can get LinuxCNC to estimate the RPM and feed this back in to a control loop. (might need help in another topic with this)
Thanks
Just wanted to update on this issue. The firmware provided by PCW worked a treat.
There is an issue with the direction ie I can only go M3 not M4, I'm assuming I got the wiring messed up but did not have time to check with a multimeter.
Did find out the drive sends out rotation pulse so I'm going to see if I can get LinuxCNC to estimate the RPM and feed this back in to a control loop. (might need help in another topic with this)
Thanks
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15 Nov 2019 13:21 #150421
by PCW
Replied by PCW on topic 7i80-DB + 7I76 - PWM Spindle ?
The 7i80db_16_7i76x3D3p.bit firmware leaves the PWMs direction pins unconnected
I did this because if you don't need the direction pin, its free for general purpose use
and if you do need it, you can generate a direction signal in hal and drive the proper GPIO bit
7i80db_16_7i76x3D3p.bits PWM direction pins (wired to DIR4 on all 7I76s) are
on GPIOs 08, 25,42 for the first,second and third 7I76
I did this because if you don't need the direction pin, its free for general purpose use
and if you do need it, you can generate a direction signal in hal and drive the proper GPIO bit
7i80db_16_7i76x3D3p.bits PWM direction pins (wired to DIR4 on all 7I76s) are
on GPIOs 08, 25,42 for the first,second and third 7I76
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