Ursviken Pullmax Optima 130 press brake retrofit with 4 axis backgage

Found my AND8 hal component again! Will post it here for reference.

I might start a separate thread for the project of writing up a complete reusable custom single axis hal component. I think it would have a lot of uses.

At the moment I am preparing to drive Y axis up/down with the footpedal. This is what I've been able to learn so far:

1: The proportional valve sets the tonnage, and also provides the open-center? flow from the fixed displacement pump back to the tank. If there was any tonnage feedback originally, it had to be measured from the coil's armature position by analyzing the a.c. component of the coil drive pwm, I think. I see no other electronic connection to that hydraulic circuit. If I end up needing tonnage feedback, I will use a pressure sensor.

2: The servo valves provide directional variable speed control of the left and right side independently

3: 4.0 and 5.0 are labeled 'servo valve', 8.4 is labeled 'proportional valve' The valve bank also has 6 spool valves (listed in the order shown in the manual.  They are only numbered but appear to be common spool valves with 24VDC coils.) I label the servo valves with polarity markings. The book displays up and down pointers instead, so I'm guessing at polarity.

They operate in combinations to produce these hydraulic 'modes':

| Motion                   | Valves Active                                  |
|-|-|
| high speed down   | 9.1, 10.1, 6.1, 7.1, -4.0, -5.0           |
| press speed down | 8.5, 8.1, 8.4, -4.0, -5.0                    |
| pressure holding   | 8.5, 8.1, 8.4, -4.0, +4.0, -5.0, +5.0 |
| pressure relief       | 8.1, +4.0, +5.0                               |
| creep up                | 8.1, 8.4, +4.0, +5.0                        |
| high speed up       | 9.1, 10.1, 8.4, +4.0, +5.0               |

I see I do not need to individually power every single solenoid; some are connected to the same control relays; I list only the 24VDC solenoids here with their relays; the pwm controlled valves do not have relays, they have a power disconnect (e-stop circuit) contactor right after the 24VDC power supply unit:

| Relay | Solenoids |
|-|-|
| 200   | 9.1, 10.1  |
| 201   | 6.1, 7.1    |
| 202   | 8.5           |
| 203   | 8.1           |

For the pwm driving the coils, after some studying, it appears all three need essentially the same kind of power to activate them. (except the proportional is not reversible) PWM is listed as 300HZ, but from what I found so far, higher is totally fine. The important gotcha is for accurate control, it needs to dither by nn% at maybe 30Hz. So I think instead of superimposing a slow pwm on the fast hardware pwmgens, I will use a software siggen running at 30HZ and the offset component to superimpose dither upon my hardware pwmgen.value command.

Just tried out my 7i54 pwm output for the first time. Something's not right somewhere. Encoders are correctly counting on each axis when I nudge them. The motor power connector gets 24VDC, but the pwm outputs to the 3 valve coils remain at 0V.

This is using my custom firmware PIN_SV10_7I36_7I54_NWE_72.vhd on a 7i80hdt. PCW helped me a bit with that.

I have yet to determine whether the problem is with my hal config or the firmware. Everything on the 7i36 seems to just work.

LED CR5 illuminates when motor power is applied, and CR2 is illuminated while P5 receives 5V power.

7i54 Jumpers
W4 is down to select external 5V power
W1,2,3,6,8,10,11,12,13,15,17,19 are up to select current mode
W5,7,9,14,16,18 are down to select 1 amp max output per motor
W21,22,24,25,27,28,30,31,33,34,36,37 are to the right to select differential encoder input
W20,23,26,29,32,35 are to the left to select single ended encoder input.
Checked again, I think I got them all straight. Everything is backwards because the location in the cabinet wanted the board upside down.

The servo valve for Y1 is connected to 7i54 connector P4 pins 18, 19 (Motor0) The coil is rated /-15V 0-300mA and measures 30 ohms
The servo valve for Y2 is connected to 7i54 connector P4 pins 22, 23 (Motor1) The coil is rated /-15V 0-300mA and measures 30 ohms
The above two solenoids actually consist of two 60 ohm coils each that can be wired series/parallel. The above numbers are with the original configuration of parallel connection.
The proportional valve for Y is connected to 7i54 connector P3 pins 18, 19 (Motor2) The coil is rated 24V 0-700mA and measures 22 ohms

I am attaching some hal dumps with everything energized expecting output on the pwm.

is

hm2_7i80.0.pwmgen.00.enable <== j6-amp-enable

true when you expect PWM output?

Your firmware has PWMGEN 0 enabling all 7I54 PWMgens
If this is not desirable you leave the enables as GPIO
bits.

Thanks so much! I used to know that, but totally forgot it this project. For once I started a project without first reading the mesa manual from cover to cover... my error has come to light.