On Wed, 28 Nov 2012, Viesturs L?cis wrote: > Date: Wed, 28 Nov 2012 18:49:30 +0200 > From: "[UTF-8] Viesturs L?cis" <[email protected]> > Reply-To: "Enhanced Machine Controller (EMC)" > <[email protected]> > To: "Enhanced Machine Controller (EMC)" <[email protected]> > Subject: [Emc-users] 7i39 and brushless servo > > Hello! > > I am having difficulties getting 7i39 card to drive my servos. > Motor datasheet is here: > http://www.cutting.lv/fileadmin/user_upload/motor.pdf > > Motor is attached to first channel (motor 0)of 7i39 card, nothing is > connected to the second channel (motor 1). > > All three jumpers are on the left side. > > I tried to figure out the Hall pattern and I _think_ it is pattern no: > 44 from table in this page: > http://linuxcnc.org/docs/html/man/man9/bldc.9.html > > Datasheet says that motor has 8 poles, and when I tried to turn it by > hand, there were 8 positions that shaft tried to stick into, so that > might be correct. > What is puzzling me is the fact that during one revolution of motor > shaft the Hall signals cycle 4 times. Is that correct? > > I tried to get the motor to spin this way: > 1) disconnected encoder.0.position from axis.0.motor-pos-fb > 2) disconnected bldc.0.value from pid.0.output > 3) issued this command > setp bldc.0.value 0.85 > > Motor did turn, but not really smoothly. But it did turn around > instead of simply jerking back and forth. > Currently there are CR2 and CR12 leds turned on as soon as I power on > machine and CR8 and CR9(?) leds are turned on as soon as I "toggle > machine on" with F2. > > Now I cannot get it to turn. If I turn it by hand, the feeling is that > it has no power, but the 7i39 has motor power supplied. I checked. > Encoder and Hall sensor signals are received - I can see them in HAL > Meter (either bldc.0.hall1, bldc.0.hall2, bldc.0.hall3 or > bldc.0.rawcounts are changing) as I turn motor by hand. > > It has no signs of life even though all the HAL settings are reverted > back to what they were, when motor did turn: > > # BLDC module settings > setp bldc.0.scale 4000 > setp bldc.0.poles 8 > setp bldc.0.pattern 44 > # setp bldc.0.frequency 0 > > # Hall sensor feedback into BLDC module > net motor.0.hall-1 hm2_[HOSTMOT2](BOARD).0.gpio.003.in => bldc.0.hall1 > net motor.0.hall-2 hm2_[HOSTMOT2](BOARD).0.gpio.004.in => bldc.0.hall2 > net motor.0.hall-3 hm2_[HOSTMOT2](BOARD).0.gpio.005.in => bldc.0.hall3 > > # position feedback signals > # net motor.00.pos-fb hm2_[HOSTMOT2](BOARD).0.encoder.00.position => > pid.0.feedback axis.0.motor-pos-fb > net enc.0.raw hm2_[HOSTMOT2](BOARD).0.encoder.00.rawcounts => > bldc.0.rawcounts > > # position command signals > setp hm2_[HOSTMOT2](BOARD).0.3pwmgen.00.scale [AXIS_0]OUTPUT_SCALE > # net motor.00.command pid.0.output => bldc.0.value > setp bldc.0.value 0.85 > > net pwm.00-a bldc.0.A-value => hm2_[HOSTMOT2](BOARD).0.3pwmgen.00.A-value > net pwm.00-b bldc.0.B-value => hm2_[HOSTMOT2](BOARD).0.3pwmgen.00.B-value > net pwm.00-c bldc.0.C-value => hm2_[HOSTMOT2](BOARD).0.3pwmgen.00.C-value > > > I would appreciate any suggestions, what might have happened. > > -- > Viesturs
What you did is not really good, you applied 85% of full motor voltage continously before you had the commutation worked out. This will likely result in overheating and shutdown of the 7I39, since you will get full peak current out of the 7I39 with the motor efecctivly stalled (step motor mode). It could have possibly damaged the 7I39 though this is not too likely. > > If you can't fix it, you don't own it. > http://www.ifixit.com/Manifesto > > ------------------------------------------------------------------------------ > Keep yourself connected to Go Parallel: > INSIGHTS What's next for parallel hardware, programming and related areas? > Interviews and blogs by thought leaders keep you ahead of the curve. > http://goparallel.sourceforge.net > _______________________________________________ > Emc-users mailing list > [email protected] > https://lists.sourceforge.net/lists/listinfo/emc-users > Peter Wallace Mesa Electronics (\__/) (='.'=) This is Bunny. Copy and paste bunny into your (")_(") signature to help him gain world domination. ------------------------------------------------------------------------------ Keep yourself connected to Go Parallel: INSIGHTS What's next for parallel hardware, programming and related areas? Interviews and blogs by thought leaders keep you ahead of the curve. http://goparallel.sourceforge.net _______________________________________________ Emc-users mailing list [email protected] https://lists.sourceforge.net/lists/listinfo/emc-users
