How to get Encoder readings and change analog output using Mesa 5i20 + 7i33?

[Shen Bingquan]

Hi, I am new to Ubuntu/Linux. Currently, I am trying to test out my own controller on a Brushed DC Motor. So I borrowed a Mesa 5i20 and a 7i33 Quad Servo Driver card from a friend and attached it to my PC and a DC motor at port 0 of the 7i33.

However, I do not know how can I acquire the encoder readings nor write output analog in Ubuntu. Any guidance would be appreciated. Thanks!

~BQ

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[samco]

take a look a the hm2-servo servo config within the emc2 sampe configs.

It is a 3 axis config using encoder feedback and PID

sam

[Shen Bingquan]

Thanks sam. So theoretically i can modify hm2-servo servo config and change their PID controller to my own?

[samco]

theoretically... What do you mean - change their pid controller to your own?

sam

[Shen Bingquan]

As in remove their PID controller and implement my fuzzy controller.

[andy55]

with the old-school hostmot-4 fpga firmware I was using this kind of pyVCP test panel to try everything out without PID loops and without EMC2:
http://www.anderswallin.net/2007/09/...-4-test-panel/

it may or may not be easily adaptable to the hostmot2 FPGA firmware/driver which is now probably the right choice with the latest EMC2.

Anders

[Shen Bingquan]

Thank you Andy. This seem useful . I was wondering where can i add in my C code inside this environment?

[andy55]

Thank you Andy. This seem useful . I was wondering where can i add in my C code inside this environment?

comp is a tool for writing your own realtime components in a C-like language. you could then replace the standard pid-component with your own component.

see: http://www.linuxcnc.org/docs/2.4/html/hal_comp.html

[samco]

Sounds neat - if you could also add in auto-tuning.....

sam

Thank you Andy. This seem useful . I was wondering where can i add in my C code inside this environment?

[Shen Bingquan]

Hi Andy,

Got one question regarding the pyVCP test panel you linked me earlier. It worked properly, but there are still some problems after some editing.

Being reading up on the codes and I have shorten the XML and HAL files by deleting parts of other motors (etc, "linkpp iotest.enc1 m5i20.0.enc-02-position") .

But the HALmeter still shows those respective PINs and Parameters for other motors 01 02 03. Where are all these parameters define in? And how can I change them? And how can I add other parameters?

I am thinking 'loadrt hal_m5i20 loadFpga=1 dacRate=16666' define all those, but where can find this file and edit it?

Moreover, i cant seem to just add another thread by "addf m5i20.0.digital-in-read tt" into the HAL file.

~BQ

[chester88]

If you just want to do open loop testing you can use pncconf.
Though it sounds like you wish to test your component....