16 квітня 2012 р. 22:43 andy pugh <bodge...@gmail.com> написав:
> On 16 April 2012 20:29, Andrew <parallel.kinemat...@gmail.com> wrote: > > > But it can't wait long, now I'll cut the cable and continue setting up > 7i39 > > and asking questions. > > Cable is cheap. > And its every wire proved multi-cored. I thought it's solid. The encoder is connected, as well as X axis motor. I also connected bldc.0.init to estop net estop-out <= iocontrol.0.user-enable-out net estop-out => bldc.0.init net x-is-init => iocontrol.0.emc-enable-in * * I start Linuxcnc and nothing happens. After I push estop button, there's some pause, and that's all. The motor power is connected, but the motor seems dead. Since I enabled 3pwmgens two orange LEDs light on 7i39 when the machine is started. And one green LED is always on. What might be wrong? Here's the beginning of HAL: loadrt trivkins loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[TRAJ]AXES loadrt probe_parport loadrt hostmot2 loadrt hm2_7i43 config="firmware=hm2/7i43-4/SVST4_4_7i39.BIT num_encoders=3 num_pwmgens=0 num_3pwmgens=3 num_stepgens=0" setp hm2_7i43.0.3pwmgen.frequency 20000 setp hm2_7i43.0.watchdog.timeout_ns 10000000 loadrt pid names=pid.x,pid.y,pid.z loadrt bldc cfg=q,q,q addf hm2_7i43.0.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 bldc.0 servo-thread addf bldc.1 servo-thread addf bldc.2 servo-thread addf hm2_7i43.0.write servo-thread addf hm2_7i43.0.pet_watchdog servo-thread #******************* # AXIS X #******************* # -- BLDC setup -- setp bldc.0.drive-offset 0 setp bldc.0.rev 0 setp bldc.0.scale 200 setp bldc.0.poles 4 net x-a-value bldc.0.A-value => hm2_7i43.0.3pwmgen.00.A-value net x-b-value bldc.0.B-value => hm2_7i43.0.3pwmgen.00.B-value net x-c-value bldc.0.C-value => hm2_7i43.0.3pwmgen.00.C-value net x-pos-rawcounts bldc.0.rawcounts #net x-index-enable bldc.0.index-enable net x-bldc-current bldc.0.out net x-meas-angle bldc.0.phase-angle net x-output bldc.0.value #net x-enable bldc.0.init net x-is-init bldc.0.init-done setp pid.x.Pgain [AXIS_0]P setp pid.x.Igain [AXIS_0]I setp pid.x.Dgain [AXIS_0]D setp pid.x.bias [AXIS_0]BIAS setp pid.x.FF0 [AXIS_0]FF0 setp pid.x.FF1 [AXIS_0]FF1 setp pid.x.FF2 [AXIS_0]FF2 setp pid.x.deadband [AXIS_0]DEADBAND setp pid.x.maxoutput [AXIS_0]MAX_OUTPUT #net x-index-enable <=> pid.x.index-enable net x-enable => pid.x.enable net x-output => pid.x.output net x-pos-cmd => pid.x.command net x-vel-fb => pid.x.command-deriv net x-pos-fb => pid.x.feedback # ---TPPWM Generator signals/setup--- setp hm2_7i43.0.3pwmgen.00.scale 200 setp hm2_7i43.0.3pwmgen.00.enable 1 setp hm2_7i43.0.3pwmgen.00.fault-invert 1 # ---Encoder feedback signals/setup--- setp hm2_7i43.0.encoder.00.counter-mode 0 setp hm2_7i43.0.encoder.00.filter 1 #setp hm2_7i43.0.encoder.00.index-invert 0 #setp hm2_7i43.0.encoder.00.index-mask 0 #setp hm2_7i43.0.encoder.00.index-mask-invert 0 setp hm2_7i43.0.encoder.00.scale [AXIS_0]ENCODER_SCALE net x-pos-fb <= hm2_7i43.0.encoder.00.position net x-vel-fb <= hm2_7i43.0.encoder.00.velocity net x-pos-fb => axis.0.motor-pos-fb #net x-index-enable axis.0.index-enable <=> hm2_7i43.0.encoder.02.index-enable net x-pos-rawcounts <= hm2_7i43.0.encoder.00.rawcounts In ini file all PID parameters set to 0, except P = 1. The motors coils looks OK, when I short UVW wires there's significant resistance to move the forcer. I'd appreciate any help, Andrew ------------------------------------------------------------------------------ For Developers, A Lot Can Happen In A Second. Boundary is the first to Know...and Tell You. Monitor Your Applications in Ultra-Fine Resolution. Try it FREE! http://p.sf.net/sfu/Boundary-d2dvs2 _______________________________________________ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
