Hi Gene,
It should run on any RT flavour. I have used it on both RT-Preempt and
RTAI. I'm not sure how well it will work on your dc motor. It is
designed to run with separate speed + direction outputs. The output
speed command never goes negative.
By the way, if the spindle keeps twitching instead of running up to
speed you probably have fwd/reverse swapped somewhere.
Les
On 18/08/2017 20:04, Gene Heskett wrote:
This looks like it could be useful on my sheldon, or even on TLM as its 1
hp dc motor is being controlled by one of the Pico pwm-servo's. Both
have fairly high count encoders, so that data is available.
This I am assuming could replace the currently used PID module on TLM.
On TLM, only 2 gears, but 8 on the sheldon even if I have yet to actually
do any work with the backgear engaged as I've found the motor doesn't
seem to overheat when not subjected to any huge torque boost, it can run
at 7.5 Hertz, pulling well enough to get the job done. Even at that low
frequency, the slow rise past that point, set in the vfd, results in a
fairly brutal start.
However I see an RTAPI call used, and that current Jessie install is
running the Sheldon just fine with a -uspace build running on
the "4.4.4-rt9-v7+ #7 SMP PREEMPT RT" kernel. I only have 2 threads, the
usual 1 millisecond servo-thread, and a 100 Hertz jog-thread. Can this
be adjusted to build and run in the jessie preempt-rt environment?
And, will it build and run as is on the wheezy installs running the
3.4-9-rtai-686-pae #1 SMP PREEMPT Debian 3.4.55-4linuxcnc i686 GNU/Linux
kernel?
Thank you, Les.
Cheers, Gene Heskett
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