Hello, I got troubles setting up my machine. Three small HIWIN linear motors (no Hall sensors, just UVW inputs and temperature sensor output), linear encoders, 7i43 with 2x7i39, and I'd like to put it all together. I also have SVSTTP4_4_7i39 firmware. Andy Pugh answered my first questions already.
15 квітня 2012 р. 09:16 andy pugh <bodge...@gmail.com> написав: > Does the encoder have index pulses, and do they have a fixed > correspondence to the motor phases? > > Thanks for your answer, Andy! It has, and the index position can be set anywhere. > You might also try "qi" mode, where it will try to run in one direction until it sees an encoder index. This could be a physical > switch on the end-stop, if you can afford to run full-travel during > homing. You would then need to adjust the "encoder-offset" parameter > to suit. > > In both cases the encoder scale parameter needs to be correct, and is > equally likely to need to be negative as positive. > > Now I'd like magnetic init. Then I can find the offset and switch to index homing. > I think everything else is mentioned in the manpage. > Now the problem for me is to properly connect bldc and 3pwmgen. I seem to have it done but nothing happens. If you load bldc in "q" mode then you will get an "init" input pin and > an "init-done" output pin. When "init" goes high then the component > will produce output a homing pattern to the motor phase outputs, and > will measure the encoder offset. When it is finished it will set > "init-done" high. Normally you would insert these into the emc-enable > loopback in the HAL so that there is no f-error raised during the > homing sequence. But the question is when to enable 3pwmgen. Now I just set it always enabled. Please look at my configs (based on pncconf output, all strings with "index" disabled, bldc to 3pwngen connection added). That's what I have with this config. Encoders behave strange, only +-0.005mm change with any movement, like only A or B is working. But I checked 7i39 receives both A and B signals, and the signals look OK. Should check the second 7i39. The motor seems not powered at all, though two orange LEDs on 7i39 light when the machine starts. If you have any working configs 7i43+7i39 please share. Thanks a lot, Andrew
Linear.hal
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Linear.ini
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