С месой и линуксом работаю недавно, но управлять оборотами шпинделя у меня и на мач3 не получалось.
Частотник Delta vfd-m 1,5кВт, базовая частота по мануалу до 15кГц. Крутить хочу до 100Гц, это грубо говоря 6000 об/мин на шпинделе. Управление устанавливаю по напряжению 0-10В.
Теперь что у меня прописано в hal:
Код: Выделить всё
# Generated by PNCconf at Fri May 30 19:29:27 2014
# Все изменения в этом файле будут перезаписаны
# overwritten when you run PNCconf again
loadrt trivkins
loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[TRAJ]AXES
# loadrt probe_parport
loadrt hostmot2
# loadrt hm2_eth board_ip=10.10.10.10 config="num_stepgens=4, num_encoders=0, num_pwmgens=0"
loadrt hm2_eth board_ip=10.10.10.10 config="num_stepgens=4, num_encoders=0, num_pwmgens=1"
setp hm2_7i92.0.pwmgen.pwm_frequency 15000
setp hm2_7i92.0.pwmgen.pdm_frequency 6000000
setp hm2_7i92.0.watchdog.timeout_ns 10000000
loadrt pid names=pid.s
addf hm2_7i92.0.read servo-thread
addf motion-command-handler servo-thread
addf motion-controller servo-thread
addf pid.s.do-pid-calcs servo-thread
addf hm2_7i92.0.write servo-thread
# addf hm2_7i92.0.pet_watchdog servo-thread
# external output signals
# --- MACHINE-IS-ENABLED ---
setp hm2_7i92.0.gpio.001.is_output true
net machine-is-enabled hm2_7i92.0.gpio.001.out
# --- SPINDLE-ON ---
setp hm2_7i92.0.gpio.007.is_output true
net spindle-on hm2_7i92.0.gpio.007.out
# external input signals
# --- PROBE-IN ---
net probe-in <= hm2_7i92.0.gpio.003.in
# --- ESTOP-EXT ---
#net estop-ext <= hm2_7i92.0.gpio.013.in
# --- BOTH-HOME-X ---
#net both-home-x <= hm2_7i92.0.gpio.019.in
# --- BOTH-Y ---
#net both-y <= hm2_7i92.0.gpio.023.in
#*******************
# AXIS X
#*******************
# Step Gen signals/setup
setp hm2_7i92.0.stepgen.00.dirsetup [AXIS_0]DIRSETUP
setp hm2_7i92.0.stepgen.00.dirhold [AXIS_0]DIRHOLD
setp hm2_7i92.0.stepgen.00.steplen [AXIS_0]STEPLEN
setp hm2_7i92.0.stepgen.00.stepspace [AXIS_0]STEPSPACE
setp hm2_7i92.0.stepgen.00.position-scale [AXIS_0]STEP_SCALE
setp hm2_7i92.0.stepgen.00.step_type 0
setp hm2_7i92.0.stepgen.00.control-type 0
setp hm2_7i92.0.stepgen.00.maxaccel [AXIS_0]STEPGEN_MAXACCEL
setp hm2_7i92.0.stepgen.00.maxvel [AXIS_0]STEPGEN_MAXVEL
net x-pos-fb axis.0.motor-pos-fb <= hm2_7i92.0.stepgen.00.position-fb
net x-pos-cmd axis.0.motor-pos-cmd => hm2_7i92.0.stepgen.00.position-cmd
net x-enable axis.0.amp-enable-out => hm2_7i92.0.stepgen.00.enable
# ---setup home / limit switch signals---
# net both-home-x => axis.0.home-sw-in
# net both-home-x => axis.0.neg-lim-sw-in
# net both-home-x => axis.0.pos-lim-sw-in
#*******************
# AXIS Y
#*******************
# Step Gen signals/setup
setp hm2_7i92.0.stepgen.01.dirsetup [AXIS_1]DIRSETUP
setp hm2_7i92.0.stepgen.01.dirhold [AXIS_1]DIRHOLD
setp hm2_7i92.0.stepgen.01.steplen [AXIS_1]STEPLEN
setp hm2_7i92.0.stepgen.01.stepspace [AXIS_1]STEPSPACE
setp hm2_7i92.0.stepgen.01.position-scale [AXIS_1]STEP_SCALE
setp hm2_7i92.0.stepgen.01.step_type 0
setp hm2_7i92.0.stepgen.01.control-type 0
setp hm2_7i92.0.stepgen.01.maxaccel [AXIS_1]STEPGEN_MAXACCEL
setp hm2_7i92.0.stepgen.01.maxvel [AXIS_1]STEPGEN_MAXVEL
net y-pos-fb axis.1.motor-pos-fb <= hm2_7i92.0.stepgen.01.position-fb
net y-pos-cmd axis.1.motor-pos-cmd => hm2_7i92.0.stepgen.01.position-cmd
net y-enable axis.1.amp-enable-out => hm2_7i92.0.stepgen.01.enable
# ---setup home / limit switch signals---
# net y-home-sw => axis.1.home-sw-in
# net both-y => axis.1.neg-lim-sw-in
# net both-y => axis.1.pos-lim-sw-in
#*******************
# AXIS Z
#*******************
# Step Gen signals/setup
setp hm2_7i92.0.stepgen.02.dirsetup [AXIS_2]DIRSETUP
setp hm2_7i92.0.stepgen.02.dirhold [AXIS_2]DIRHOLD
setp hm2_7i92.0.stepgen.02.steplen [AXIS_2]STEPLEN
setp hm2_7i92.0.stepgen.02.stepspace [AXIS_2]STEPSPACE
setp hm2_7i92.0.stepgen.02.position-scale [AXIS_2]STEP_SCALE
setp hm2_7i92.0.stepgen.02.step_type 0
setp hm2_7i92.0.stepgen.02.control-type 0
setp hm2_7i92.0.stepgen.02.maxaccel [AXIS_2]STEPGEN_MAXACCEL
setp hm2_7i92.0.stepgen.02.maxvel [AXIS_2]STEPGEN_MAXVEL
net z-pos-fb axis.2.motor-pos-fb <= hm2_7i92.0.stepgen.02.position-fb
net z-pos-cmd axis.2.motor-pos-cmd => hm2_7i92.0.stepgen.02.position-cmd
net z-enable axis.2.amp-enable-out => hm2_7i92.0.stepgen.02.enable
# ---setup home / limit switch signals---
# net z-home-sw => axis.2.home-sw-in
# net z-neg-limit => axis.2.neg-lim-sw-in
# net z-pos-limit => axis.2.pos-lim-sw-in
#*******************
# AXIS A
#*******************
# Step Gen signals/setup
setp hm2_7i92.0.stepgen.03.dirsetup [AXIS_3]DIRSETUP
setp hm2_7i92.0.stepgen.03.dirhold [AXIS_3]DIRHOLD
setp hm2_7i92.0.stepgen.03.steplen [AXIS_3]STEPLEN
setp hm2_7i92.0.stepgen.03.stepspace [AXIS_3]STEPSPACE
setp hm2_7i92.0.stepgen.03.position-scale [AXIS_3]STEP_SCALE
setp hm2_7i92.0.stepgen.03.step_type 0
setp hm2_7i92.0.stepgen.03.control-type 0
setp hm2_7i92.0.stepgen.03.maxaccel [AXIS_3]STEPGEN_MAXACCEL
setp hm2_7i92.0.stepgen.03.maxvel [AXIS_3]STEPGEN_MAXVEL
net a-pos-fb axis.3.motor-pos-fb <= hm2_7i92.0.stepgen.03.position-fb
net a-pos-cmd axis.3.motor-pos-cmd => hm2_7i92.0.stepgen.03.position-cmd
net a-enable axis.3.amp-enable-out => hm2_7i92.0.stepgen.03.enable
# ---PWM Generator signals/setup---
setp hm2_7i92.0.pwmgen.00.output-type 1
setp hm2_7i92.0.pwmgen.00.scale [SPINDLE_9]OUTPUT_SCALE
net spindle-vel-cmd-rpm => hm2_7i92.0.pwmgen.00.value
net spindle-enable => hm2_7i92.0.pwmgen.00.enable
# This params was commented before new changes in this file. Do not uncomment if it is no need..
net spindle-vel-cmd-rps <= motion.spindle-speed-out-rps
net spindle-vel-cmd <= motion.spindle-speed-out
net spindle-on <= motion.spindle-on
net spindle-cw <= motion.spindle-forward
net spindle-ccw <= motion.spindle-reverse
net spindle-brake <= motion.spindle-brake
net spindle-revs => motion.spindle-revs
net spindle-at-speed => motion.spindle-at-speed
net spindle-vel-fb => motion.spindle-speed-in
net spindle-index-enable <=> motion.spindle-index-enable
# ---Setup spindle at speed signals---
# sets spindle-at-speed true
#******************************
# connect miscellaneous signals
#******************************
# ---HALUI signals---
net joint-select-a halui.joint.0.select
net x-is-homed halui.joint.0.is-homed
net jog-x-pos halui.jog.0.plus
net jog-x-neg halui.jog.0.minus
net jog-x-analog halui.jog.0.analog
net joint-select-b halui.joint.1.select
net y-is-homed halui.joint.1.is-homed
net jog-y-pos halui.jog.1.plus
net jog-y-neg halui.jog.1.minus
net jog-y-analog halui.jog.1.analog
net joint-select-c halui.joint.2.select
net z-is-homed halui.joint.2.is-homed
net jog-z-pos halui.jog.2.plus
net jog-z-neg halui.jog.2.minus
net jog-z-analog halui.jog.2.analog
net jog-selected-pos halui.jog.selected.plus
net jog-selected-neg halui.jog.selected.minus
net spindle-manual-cw halui.spindle.forward
net spindle-manual-ccw halui.spindle.reverse
net spindle-manual-stop halui.spindle.stop
net machine-is-on halui.machine.is-on
net jog-speed halui.jog-speed
net MDI-mode halui.mode.is-mdi
# ---coolant signals---
net coolant-mist <= iocontrol.0.coolant-mist
net coolant-flood <= iocontrol.0.coolant-flood
# ---probe signal---
net probe-in => motion.probe-input
# ---motion control signals---
net in-position <= motion.in-position
net machine-is-enabled <= motion.motion-enabled
# ---digital in / out signals---
# ---estop signals---
net estop-out <= iocontrol.0.user-enable-out
net estop-out => iocontrol.0.emc-enable-in
# ---manual tool change signals---
loadusr -W hal_manualtoolchange
net tool-change-request iocontrol.0.tool-change => hal_manualtoolchange.change
net tool-change-confirmed iocontrol.0.tool-changed <= hal_manualtoolchange.changed
net tool-number iocontrol.0.tool-prep-number => hal_manualtoolchange.number
net tool-prepare-loopback iocontrol.0.tool-prepare => iocontrol.0.tool-prepared
Код: Выделить всё
# Generated by PNCconf at Fri May 30 19:29:27 2014
# Все изменения в этом файле будут перезаписаны
# overwritten when you run PNCconf again
[EMC]
MACHINE = 5i25_prob_rfx2
DEBUG = 0
[DISPLAY]
DISPLAY = axis
POSITION_OFFSET = RELATIVE
POSITION_FEEDBACK = ACTUAL
MAX_FEED_OVERRIDE = 2.000000
MAX_SPINDLE_OVERRIDE = 1.000000
MIN_SPINDLE_OVERRIDE = 0.500000
INTRO_GRAPHIC = linuxcnc.gif
INTRO_TIME = 5
PROGRAM_PREFIX = /home/nick/linuxcnc/nc_files
INCREMENTS = 1mm .5mm .1mm .005mm
POSITION_OFFSET = RELATIVE
POSITION_FEEDBACK = ACTUAL
DEFAULT_LINEAR_VELOCITY = 40
MAX_LINEAR_VELOCITY = 50
MIN_LINEAR_VELOCITY = 0.1
DEFAULT_ANGULAR_VELOCITY = 80
MAX_ANGULAR_VELOCITY = 100
MIN_ANGULAR_VELOCITY = 0.1
EDITOR = gedit
GEOMETRY = xyza
# ДОБАВЛЕНО!!
# добавим GladeVCP панель в виде закладки рядом с Preview/DRO:
EMBED_TAB_NAME=Probe Screen
EMBED_TAB_COMMAND=halcmd loadusr -Wn gladevcp gladevcp -c gladevcp -u python/probe_screen.py -x {XID} probe_icons/probe_screen.glade
# /ДОБАВЛЕНО!!
[FILTER]
PROGRAM_EXTENSION = .png,.gif,.jpg Greyscale Depth Image
PROGRAM_EXTENSION = .py Python Script
png = image-to-gcode
gif = image-to-gcode
jpg = image-to-gcode
py = python
[TASK]
TASK = milltask
CYCLE_TIME = 0.010
[RS274NGC]
PARAMETER_FILE = linuxcnc.var
# RS274NGC_STARTUP_CODE=G64_P0.1_Q0.01
# ДОБАВЛЕНО!
# Возможность чтения INI и HAL переменных из gcode и др.
FEATURES=30
# Папка для подпрограмм
SUBROUTINE_PATH = macros
# /ДОБАВЛЕНО!
[EMCMOT]
EMCMOT = motmod
COMM_TIMEOUT = 1.0
COMM_WAIT = 0.010
SERVO_PERIOD = 1000000
BASE_PERIOD = 40000
[HOSTMOT2]
# **** This is for info only ****
# DRIVER0=hm2_pci
# BOARD0=7i92
[HAL]
HALUI = halui
HALFILE = 5i25_prob_rfx2.hal
HALFILE = custom.hal
POSTGUI_HALFILE = postgui_call_list.hal
SHUTDOWN = shutdown.hal
[HALUI]
[TRAJ]
AXES = 4
COORDINATES = X Y Z A
LINEAR_UNITS = mm
ANGULAR_UNITS = degree
CYCLE_TIME = 0.010
DEFAULT_VELOCITY = 10
MAX_LINEAR_VELOCITY = 60
[EMCIO]
EMCIO = io
CYCLE_TIME = 0.100
TOOL_TABLE = tool.tbl
#********************
# Axis X
#********************
[AXIS_0]
TYPE = LINEAR
HOME = 0.0
FERROR = 1
MIN_FERROR = 0.01
MAX_VELOCITY = 40
STEPGEN_MAXVEL = 60
MAX_ACCELERATION = 300
STEPGEN_MAXACCEL = 360
# these are in nanoseconds
DIRSETUP = 5000
DIRHOLD = 5000
STEPLEN = 5000
STEPSPACE = 5000
STEP_SCALE = 533.333333
MIN_LIMIT = -480
MAX_LIMIT = 480.0
HOME_OFFSET = 0.000000
HOME_SEARCH_VEL = 0.0
HOME_LATCH_VEL = 0.0
#********************
# Axis Y
#********************
[AXIS_1]
TYPE = LINEAR
HOME = 0.0
FERROR = 1
MIN_FERROR = 0.01
MAX_VELOCITY = 40
STEPGEN_MAXVEL = 60
MAX_ACCELERATION = 300
STEPGEN_MAXACCEL = 360
# these are in nanoseconds
DIRSETUP = 5000
DIRHOLD = 5000
STEPLEN = 5000
STEPSPACE = 5000
STEP_SCALE = 533.333333
MIN_LIMIT = -280
MAX_LIMIT = 280.0
HOME_OFFSET = 0.000000
HOME_SEARCH_VEL = 0.0
HOME_LATCH_VEL = 0.0
#********************
# Axis Z
#********************
[AXIS_2]
TYPE = LINEAR
HOME = 0.0
FERROR = 1
MIN_FERROR = 0.01
MAX_VELOCITY = 40
STEPGEN_MAXVEL = 60
MAX_ACCELERATION = 200
STEPGEN_MAXACCEL = 250
# these are in nanoseconds
DIRSETUP = 5000
DIRHOLD = 5000
STEPLEN = 5000
STEPSPACE = 5000
STEP_SCALE = 533.333333
MIN_LIMIT = -320
MAX_LIMIT = 320
HOME_OFFSET = 0.000000
HOME_SEARCH_VEL = 0.0
HOME_LATCH_VEL = 0.0
[AXIS_3]
TYPE = ANGULAR
#WRAPPED_ROTARY = 1
HOME = 0.0
MAX_VELOCITY = 50
STEPGEN_MAXVEL = 70
MAX_ACCELERATION = 180.0
STEPGEN_MAXACCEL = 220.5
DIRSETUP = 5000
DIRHOLD = 5000
STEPLEN = 5000
STEPSPACE = 5000
STEP_SCALE = 35.5555555556
FERROR = 20
MIN_FERROR = 15
MIN_LIMIT = -9999.0
MAX_LIMIT = 9999.0
HOME_OFFSET = 0.0
HOME_SEARCH_VEL = 0.0
HOME_LATCH_VEL = 0.0
HOME_SEQUENCE = -1
#********************
# Spindle
#********************
[SPINDLE_9]
P = 0
I = 0
D = 0
FF0 = 1
FF1 = 0
FF2 = 0
BIAS = 0
DEADBAND = 0
MAX_OUTPUT = 6000
# ДОБАВЛЕНО!
[TOOLSENSOR]
# скорость холостых перемещений
RAPID_SPEED = 600
# /ДОБАВЛЕНО!
1) с месы сигнал spindle_on подам на ББ пин 17–DIR B/управление реле, а с реле сигнал подам на контакты включения ПЧ (направление вращения неизменное).
2) с месы сигнал pwm_gen подаю на ББ пин 1-Шим, а с выхода ББ 0-10V output подам на управление частотой ПЧ.
3) с датчика касания сигнал подается на ББ P11 probe tool, а оттуда на месу пин probe in
Если кому не сложно, пожалуйста проверьте правильно ли эти функции вписаны в конфигурации.
Не совсем понимаю где взять данные для этой колонки:
setp hm2_7i92.0.pwmgen.pwm_frequency 15000 (это значение с мануала на ПЧ)
setp hm2_7i92.0.pwmgen.pdm_frequency 6000000
setp hm2_7i92.0.watchdog.timeout_ns 10000000
Буду очень благодарен любым подсказкам.