On Fri, 15 Dec 2006, ali sayed wrote: > Date: Fri, 15 Dec 2006 17:51:31 -0800 (PST) > From: ali sayed <[EMAIL PROTECTED]> > Reply-To: "Enhanced Machine Controller (EMC)" > <[email protected]> > To: "Enhanced Machine Controller (EMC)" <[email protected]> > Subject: Re: [Emc-users] Help with Mesa 5i20 Card (Configuration Issues) > > Hi all- > > OK, so I think I might have found the answer in the > HAL Docs ...but I welcome further input from the list > members. > > Eric: > > All of this is already configured correctly in the > m5i20 configuration that is included in 2.0.5, but I > checked it anyway to make sure, thanks for the > response. > > Peter: > > I swapped the 12V supply with the 30V and checked the > pins, they are low after hitting the F1, F2 sequence > to turn on the machine. Thanks, the 7i31 is a big > help. > > Here is the part that made it work ...(HAL Handbook > June 17, page 59) > > (BIT) dac-<channel>-interlaced ==> FALSE. > > I have no idea what this really does but it seems to > work, so I set these at the command line:
Yes, for driving HBridges, interlace should be turned off! Interlace is only for those applications where the PWM is filtered to generate an analog voltage (like the 7I33). Interlace on a HBridge will switch much too many times per cycle (ending up with an average frequency of 100s of KHz) Interlace is just to make the PWM easier to filter in PWM-ANALOG applications. > > # set offset and scale so that +/-1.00 on output > # signals is +/-10V at the physical DAC pins > halcmd setp m5i20.0.dac-00-gain 10 > halcmd setp m5i20.0.dac-01-gain 10 > halcmd setp m5i20.0.dac-02-gain 10 > halcmd setp m5i20.0.dac-00-offset 0 > halcmd setp m5i20.0.dac-01-offset 0 > halcmd setp m5i20.0.dac-02-offset 0 > halcmd setp m5i20.0.dac-00-interlaced 0 > halcmd setp m5i20.0.dac-01-interlaced 0 > halcmd setp m5i20.0.dac-02-interlaced 0 > > I can jog the axis, except for X, might be a wiring > issue, but no more following errors on Y and Z axis. > > So in theory I should have gain set to 30 since I have > a 30V supply ? or is that a bad idea. > Actually with the 7I30 (a straight voltage mode HBridge) your motor gain goes up with voltage so you might need to lower EMCs gain (if it was OK with 12V motor power). > > > --- "Eric H. Johnson" <[EMAIL PROTECTED]> wrote: > >> Ali, >> >> By default, do you mean you are using the >> configuration files in >> /config/m5i20, or something else? One of the things >> you have to do with the >> m5i20 board is to enable the PWM. That is found in >> the m5i20 configuration >> in the m5i20_io.hal file, here: >> >> # Connect amp enables to m5i20 dac enables >> linksp Xenable => m5i20.0.dac-00-enable >> linksp Yenable => m5i20.0.dac-01-enable >> linksp Zenable => m5i20.0.dac-02-enable >> >> The enables are in turn set in core_servo.hal here: >> # connect the signals to the motion controller >> linksp Xenable <= axis.0.amp-enable-out >> linksp Yenable <= axis.1.amp-enable-out >> linksp Zenable <= axis.2.amp-enable-out >> >> If you are not getting TRUE on the amp-enable-out, >> then you will not be able >> to enable the m5i20 DACs (you can check this with >> halcmd show pin). For the >> time being, you could comment out the above lines >> and then add: >> >> sets Xenable TRUE >> sets Yenable TRUE >> sets Zenable TRUE >> >> Also it looks to me (someone more familiar with >> using this board for servo >> control might correct me) as though 1.0 is the >> maximum you will see on >> halscope, because the OUTPUT_SCALE is set to 1.0. >> Thus 0.0 => 0% duty cycle, >> and 1.0 => 100% duty cycle. >> >> Regards, >> Eric >> >>> Thanks for the response ... >>> >>> What I meant was that the power is conncted to the >> 7i30 motor >>> power connector and it is turned on. The >>> +5V for the encoders comes from the 50 pin >> connector >>> and that is why the encoders will always have >> power. >>> >>> So yes the power to the motors is on but the PWM >> signal is >>> not going to the motors or is too low. Also for >> testing >>> purposes I have the 7i30 set to the 1A max. >> setting. >>> >>> As Peter mentioned in his response, 12V might be >> too low, I >>> will try with 30V but I am affraid the results >> will not be >>> too diffrent. I suspect there is an issue with >> the INI file >>> (I am using the default one for now). >>> >>> I've been reading the HAL docs and there are some >> things that >>> I will look at when I get back to my lab later. >> Something >>> about setting OUTPUT SCALE for PWM drives. >>> >>> I still don't get why halscope won't register a >> signal >>> greated that 1V/div if I have MAX_OUTPUT set to 10 >> ? >> >> >> >> > ------------------------------------------------------------------------- >> Take Surveys. Earn Cash. 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