test hal

dokumentacja linuxcnc
2026-06-05 18:58:40 +02:00 · 2026-06-05 17:55:39 +02:00
5 changed files with 718 additions and 0 deletions
--- a/hal_configuration.md
+++ b/hal_configuration.md
@@ -0,0 +1,118 @@
+# LinuxCNC HAL Configuration for Vevor D100 VFD via mb2hal
+
+This guide explains how to connect the HAL pins of LinuxCNC to the `mb2hal` component configured in [vfd_d100.ini](file:///home/bartool/local_projects/linuxcnc-modbus/vfd_d100.ini).
+
+## 1. Required Components
+
+To achieve correct speed scaling, rotation control, feedback conversion, and "at-speed" detection, we will load the following standard HAL components:
+*   **`scale`**: Used twice.
+    1. `spindle_speed_scale`: Converts commanded RPM (e.g., 24000 RPM) to Modbus frequency units (tenths of Hz, 400.0 Hz = 4000).
+    2. `spindle_feedback_scale`: Converts actual speed from RPM (from VFD metrics) to RPS (Revolutions Per Second) required by LinuxCNC.
+*   **`mux2`**: Used twice.
+    1. `spindle_dir_mux`: Selects between `2.0` (Forward) and `4.0` (Reverse).
+    2. `spindle_run_mux`: Selects between `8.0` (Stop) and the output of `spindle_dir_mux`.
+*   **`near`**: Compares commanded speed and actual speed to assert `spindle.0.at-speed`.
+
+---
+
+## 2. Speed Scaling Calculations
+
+The VFD expects the given frequency in tenths of Hz (e.g., $400.0 \text{ Hz} = 4000$ in register `0201H`).
+The motor has a maximum speed of $24000 \text{ RPM}$ at $400 \text{ Hz}$.
+
+*   **Commanded Speed Gain:**
+    $$Gain = \frac{4000 \text{ (Modbus Units)}}{24000 \text{ (RPM)}} = \frac{1}{6} \approx 0.16666667$$
+    
+*   **Feedback Speed Gain (RPM to RPS):**
+    $$Gain = \frac{1}{60} \approx 0.01666667$$
+
+---
+
+## 3. HAL Configuration Snippet
+
+Add the following lines to your main `.hal` file (e.g. `custom.hal` or `postgui.hal` depending on your setup):
+
+```hal
+# =====================================================================
+# Vevor D100 VFD Modbus (mb2hal) Integration
+# =====================================================================
+
+# Load the mb2hal component
+loadusr -W mb2hal config=vfd_d100.ini
+
+# Load helper components
+loadrt scale names=spindle_speed_scale,spindle_feedback_scale
+loadrt mux2 names=spindle_dir_mux,spindle_run_mux
+loadrt near names=spindle_at_speed_near
+
+# Add helper components to the servo thread
+addf spindle_speed_scale servo-thread
+addf spindle_feedback_scale servo-thread
+addf spindle_dir_mux servo-thread
+addf spindle_run_mux servo-thread
+addf spindle_at_speed_near servo-thread
+
+# =====================================================================
+# 1. Spindle Run & Direction Logic
+# =====================================================================
+
+# Direction Mux Input Values: 2.0 = Forward Run, 4.0 = Reverse Run
+setp spindle_dir_mux.in0 2.0
+setp spindle_dir_mux.in1 4.0
+
+# Run Mux Input Values: 8.0 = Stop, in1 = value from direction mux
+setp spindle_run_mux.in0 8.0
+
+# Connect selection signals
+net spindle-rev-sig      spindle.0.reverse        => spindle_dir_mux.sel
+net spindle-dir-cmd      spindle_dir_mux.out      => spindle_run_mux.in1
+
+net spindle-on-sig       spindle.0.on             => spindle_run_mux.sel
+net spindle-run-cmd      spindle_run_mux.out      => vfd.control.00.float
+
+# =====================================================================
+# 2. Spindle Commanded Speed Scaling
+# =====================================================================
+
+# Gain = 4000 / 24000 = 0.16666667
+setp spindle_speed_scale.gain 0.16666667
+setp spindle_speed_scale.offset 0.0
+
+# Connect signals
+net spindle-speed-cmd    spindle.0.speed-out-abs  => spindle_speed_scale.in
+net spindle-speed-scaled spindle_speed_scale.out  => vfd.speed.00.float
+
+# =====================================================================
+# 3. Spindle Speed Feedback (RPM to RPS)
+# =====================================================================
+
+# Gain = 1 / 60 = 0.01666667 (converts RPM to RPS)
+setp spindle_feedback_scale.gain 0.01666667
+setp spindle_feedback_scale.offset 0.0
+
+# Connect signals
+net spindle-rpm-feedback vfd.metrics.rpm.float    => spindle_feedback_scale.in
+net spindle-rps-feedback spindle_feedback_scale.out => spindle.0.speed-in
+
+# =====================================================================
+# 4. Spindle "At Speed" Detection
+# =====================================================================
+
+# Configure allowable difference (e.g., within 5% or 300 RPM)
+setp spindle_at_speed_near.difference 300.0
+# We want the speed to be compared on the absolute commanded speed (RPM)
+net spindle-speed-cmd     => spindle_at_speed_near.in1
+net spindle-rpm-feedback  => spindle_at_speed_near.in2
+net spindle-at-speed      spindle_at_speed_near.out => spindle.0.at-speed
+```
+
+---
+
+## 4. Troubleshooting & Tuning Tips
+
+> [!TIP]
+> **Modbus Communication Stability**
+> If you experience CRC errors or timeouts when the spindle motor starts spinning, it is likely due to Electro-Magnetic Interference (EMI).
+> * Ensure your RS485 twisted-pair cable is shielded, and the shield is grounded **only at one end** (usually at the VFD or controller side, not both).
+> * Add a $120\ \Omega$ termination resistor across the RX+/TX+ and RX-/TX- terminals at the VFD if it's at the end of the bus.
+> * If the VFD takes too long to process requests, you can increase `SERIAL_DELAY_MS` in [vfd_d100.ini](file:///home/bartool/local_projects/linuxcnc-modbus/vfd_d100.ini) to `70` or `100`.
--- a/hal_motion.md
+++ b/hal_motion.md
@@ -0,0 +1,30 @@
+pełna instrukcja -> [MOTMOD](https://linuxcnc.org/docs/stable/html/man/man9/motion.9.html#SPINDLE%20PINS)
+
+## SPINDLE PINS
+
+(M is the spindle number (0 ... num_spindles-1))
+
+| name | dir | format | description |
+|:-----|:---:|:------:|:------------|
+| spindle.M.amp-fault-in | IN | BIT | Should be driven TRUE if an external fault is detected with the amplifier for this spindle. |
+| spindle.M.at-speed | IN | BIT | Motion will pause until this pin is TRUE, under the following conditions: before the first feed move after each spindle start or speed change; before the start of every chain of spindle-synchronized moves; and if in CSS mode, at every rapid->feed transition. |
+| spindle.M.brake | OUT | BIT | TRUE when the spindle brake should be applied. |
+| spindle.M.forward | OUT | BIT | TRUE when the spindle should rotate forward. |
+| spindle.M.index-enable | I/O | BIT | For correct operation of spindle synchronized moves, this signal must be hooked to the index-enable pin of the spindle encoder. |
+| spindle.M.inhibit | IN | BIT | When TRUE, the spindle speed is set and held to 0. |
+| spindle.M.is-oriented | IN | BIT | Acknowledge pin for spindle-orient. Completes orient cycle. If spindle-orient was true when spindle-is-oriented was asserted, the spindle-orient pin is cleared and the spindle-locked pin is asserted. Also, the spindle-brake pin is asserted. |
+| spindle.M.locked | OUT | BIT | Spindle orient complete pin. Cleared by any of M3,M4,M5. |
+| spindle.M.on | OUT | BIT | TRUE when spindle should rotate. |
+| spindle.M.orient | OUT | BIT | Indicates start of spindle orient cycle. Set by M19. Cleared by any of M3,M4,M5.<br>If spindle-orient-fault is not zero during spindle-orient true, the M19 command fails with an error message. |
+| spindle.M.orient-angle | OUT | FLOAT | Desired spindle orientation for M19. Value of the M19 R word parameter plus the value of the [RS274NGC]ORIENT_OFFSET INI parameter. |
+| spindle.M.orient-fault | IN | S32 | Fault code input for orient cycle. Any value other than zero will cause the orient cycle to abort. |
+| spindle.M.orient-mode | OUT | BIT | Desired spindle rotation mode. Reflects M19 P parameter word. |
+| spindle.M.reverse | OUT | BIT | TRUE when the spindle should rotate backward. |
+| spindle.M.revs | IN | FLOAT | For correct operation of spindle synchronized moves, this signal must be hooked to the position pin of the spindle encoder. |
+| spindle.M.speed-cmd-rps | FLOAT | OUT | Commanded spindle speed in units of revolutions per second. |
+| spindle.M.speed-in | IN | FLOAT | Actual spindle speed feedback in revolutions per second; used for G96 (constant surface speed) and G95 (feed per revolution) modes. |
+| spindle.M.speed-out | OUT | FLOAT | Desired spindle speed in rotations per minute. |
+| spindle.M.speed-out-abs | OUT | FLOAT | Desired spindle speed in rotations per minute, always positive regardless of spindle direction. |
+| spindle.M.speed-out-rps | OUT | FLOAT | Desired spindle speed in rotations per second. |
+| spindle.M.speed-out-rps-abs | OUT | FLOAT | Desired spindle speed in rotations per second, always positive regardless of spindle direction. |
+
--- a/mb2hal.md
+++ b/mb2hal.md
@@ -0,0 +1,424 @@
+
+## 1. Introduction
+
+MB2HAL is a generic non-realtime HAL component to communicate with one or more Modbus devices. So far, there are two options to communicate with a Modbus device:
+
+1. One option is to create a HAL component as a driver see VFD Modbus.
+2. Another option is to use Classic Ladder which has Modbus built in, see ClassicLadder.
+3. Now there is a third option that consists of a "generic" driver configured by text file, this is called MB2HAL.
+
+Why MB2HAL? Consider using MB2HAL if:
+
+1. You have to write a new driver and you don’t know anything about programming.
+2. You need to use Classic Ladder "only" to manage the Modbus connections.
+3. You have to discover and configure first time the Modbus transactions. MB2HAL have debug levels to facilitate the low level protocol debug.
+4. You have more than one device to connect. MB2HAL is very efficiently managing multiple devices, transactions and links. Currently I am monitoring two axis drivers using a Rs232 port, a VFD driver using another Rs232 port, and a remote I/O using TCP/IP.
+5. You want a protocol to connect your Arduino to HAL. Look the included sample configuration file, sketch and library for Arduino Modbus.
+
+## 2. Usage
+
+1. Create a config file from the example below
+
+    - Set component name (optional)
+        
+        Set HAL_MODULE_NAME=mymodule (default HAL_MODULE_NAME=mb2hal)
+
+    - Load the modbus HAL non-realtime component
+
+2. Default component name: loadusr -W mb2hal config=config_file.ini
+
+3. Custom component name: loadusr -Wn mymodule mb2hal config=config_file.ini
+
+## 3. Options
+
+### 3.1 Init Section
+
+[MB2HAL_INIT]
+|Value|Type|Required|Description|
+|-----|----|--------|-----------|
+|INIT_DEBUG|Integer|No|Debug level of init and INI file parsing<br>.0 = silent<br>1 = error messages (default)<br>2 = OK confirmation messages<br>3 = debugging messages<br>4 = maximum debugging messages (only in transactions)
+|VERSION|String|No|Version number in the format N.N[NN]. Defaults to 1.0.|
+|HAL_MODULE_NAME|String|No|HAL module (component) name. Defaults to "mb2hal".|
+|SLOWDOWN|Float|No|Insert a delay of "FLOAT seconds" between transactions in order to not to have a lot of logging and facilitate the debugging. Useful when using DEBUG=3 (NOT INIT_DEBUG=3). It affects ALL transactions. Use "0.0" for normal activity.|
+|TOTAL_TRANSACTIONS|Integer|Yes|The number of total Modbus transactions. There is no maximum.|
+
+### 3.2 Transaction Sections
+
+One transaction section is required per transaction, starting at [TRANSACTION_00] and counting up sequentially. If there is a new link (not transaction), you must provide the REQUIRED parameters 1st time. Warning: Any OPTIONAL parameter not specified are copied from the previous transaction.
+|Value|Type|Required|Description|
+|-----|----|--------|-----------|
+|LINK_TYPE|String|Yes|You must specify either a "serial" or "tcp" link for the first transaction. Later transactions will use the previous transaction link if not specified.|
+|TCP_IP|IP address|If LINK_TYPE=tcp|The Modbus slave device IP address. Ignored if LINK_TYPE=serial.|
+|TCP_PORT|Integer|No|The Modbus slave device TCP port. Defaults to 502. Ignored if LINK_TYPE=serial.|
+|SERIAL_PORT|String|If LINK_TYPE=serial|The serial port. For example "/dev/ttyS0". Ignored if LINK_TYPE=tcp.|
+|SERIAL_BAUD|Integer|If LINK_TYPE=serial|The baud rate. Ignored if LINK_TYPE=tcp.|
+|SERIAL_BITS|Integer|If LINK_TYPE=serial|Data bits. One of 5, 6, 7, 8. Ignored if LINK_TYPE=tcp.|
+|SERIAL_PARITY|String|If LINK_TYPE=serial|Data parity. One of: even, odd, none. Ignored if LINK_TYPE=tcp.|
+|SERIAL_STOP|Integer|If LINK_TYPE=serial|Stop bits. One of 1, 2. Ignored if LINK_TYPE=tcp.|
+|SERIAL_DELAY_MS|Integer|If LINK_TYPE=serial|Serial port delay between transactions of this section only. In ms. Defaults to 0. Ignored if LINK_TYPE=tcp.|
+|MB_SLAVE_ID|Integer|Yes|Modbus slave number.|
+|FIRST_ELEMENT|Integer|Yes|The first element address.|
+|NELEMENTS|Integer|Unless PIN_NAMES is specified|The number of elements. It is an error to specify both NELEMENTS and PIN_NAMES. The pin names will be sequential numbers, e.g. mb2hal.plcin.01.|
+|PIN_NAMES|List|Unless NELEMENTS is specified|A list of element names. These names will be used for the pin names, e.g. mb2hal.plcin.cycle_start.<br>**NOTE:** There must be no white space characters in the list. Example: PIN_NAMES=cycle_start,stop,feed_hold|
+|MB_TX_CODE|String|Yes|Modbus transaction function code (see specifications):<ul><li> fnct_01_read_coils</li><li>fnct_02_read_discrete_inputs</li><li>fnct_03_read_holding_registers</li><li>fnct_04_read_input_registers</li><li>fnct_05_write_single_coil</li><li>fnct_06_write_single_register</li><li>fnct_15_write_multiple_coils</li><li>fnct_16_write_multiple_registers</li>|
+|MB_RESPONSE_TIMEOUT_MS|Integer|No|Response timeout for this transaction. In ms. Defaults to 500 ms. This is how much to wait for 1st byte before raise an error.|
+|MB_BYTE_TIMEOUT_MS|Integer|No|Byte timeout for this transaction. In ms. Defaults to 500 ms. This is how much to wait from byte to byte before raise an error.|
+|HAL_TX_NAME|String|No|Instead of giving the transaction number, use a name. Example: mb2hal.00.01 could become mb2hal.plcin.01. The name must not exceed 28 characters. NOTE: when using names be careful that you don’t end up with two transactions using the same name.|
+|MAX_UPDATE_RATE|Float|No|Maximum update rate in Hz. Defaults to 0.0 (0.0 = as soon as available = infinite). NOTE: This is a maximum rate and the actual rate may be lower. If you want to calculate it in ms use (1000 / required_ms). Example: 100 ms = MAX_UPDATE_RATE=10.0, because 1000.0 ms / 100.0 ms = 10.0 Hz.|
+|DEBUG|String|No|Debug level for this transaction only. See INIT_DEBUG parameter above.|
+
+### 3.3. Error codes
+
+While debugging transactions, note the returned "ret[]" value correspond to:
+
+Modbus protocol exceptions:
+
+- 0x01 - ILLEGAL_FUNCTION - the FUNCTION code received in the query is not allowed or invalid.
+
+- 0x02 - ILLEGAL_DATA_ADDRESS - the DATA ADDRESS received in the query is not an allowable address for the slave or is invalid.
+
+- 0x03 - ILLEGAL_DATA_VALUE - a VALUE contained in the data query field is not an allowable value or is invalid.
+
+- 0x04 - SLAVE_DEVICE_FAILURE - SLAVE (or MASTER) device unrecoverable FAILURE while attempting to perform the requested action.
+
+- 0x04 - SERVER_FAILURE - (see above).
+
+- 0x05 - ACKNOWLEDGE - This response is returned to PREVENT A TIMEOUT in the master. A long duration of time is required to process the request in the slave.
+
+- 0x06 - SLAVE_DEVICE_BUSY - The slave (or server) is BUSY. Retransmit the request later.
+
+- 0x06 - SERVER_BUSY - (see above).
+
+- 0x07 - NEGATIVE_ACKNOWLEDGE - Unsuccessful programming request using function code 13 or 14.
+
+- 0x08 - MEMORY_PARITY_ERROR - SLAVE parity error in MEMORY.
+
+- 0x0A (-10) - GATEWAY_PROBLEM_PATH - Gateway path(s) not available.
+
+- 0x0B (-11) - GATEWAY_PROBLEM_TARGET - The target device failed to respond (generated by master, not slave).
+
+Program or connection:
+
+- 0x0C (-12) - COMM_TIME_OUT
+
+- 0x0D (-13) - PORT_SOCKET_FAILURE
+
+- 0x0E (-14) - SELECT_FAILURE
+
+- 0x0F (-15) - TOO_MANY_DATAS
+
+- 0x10 (-16) - INVALID_CRC
+
+- 0x11 (-17) - INVALID_EXCEPTION_CODE
+
+## 4. Example config file
+```ini
+#This .INI file is also the HELP, MANUAL and HOW-TO file for mb2hal.
+
+#Load the Modbus HAL userspace module as the examples below,
+#change to match your own HAL_MODULE_NAME and INI file name
+#Using HAL_MODULE_NAME=mb2hal or nothing (default): loadusr -W mb2hal config=config_file.ini
+#Using HAL_MODULE_NAME=mymodule: loadusr -Wn mymodule mb2hal config=config_file.ini
+
+# ++++++++++++++++++++++++
+# Common section
+# ++++++++++++++++++++++++
+[MB2HAL_INIT]
+
+#OPTIONAL: Debug level of init and INI file parsing.
+# 0 = silent.
+# 1 = error messages (default).
+# 2 = OK confirmation messages.
+# 3 = debugging messages.
+# 4 = maximum debugging messages (only in transactions).
+INIT_DEBUG=3
+
+#OPTIONAL: Set to 1.1 to enable the new functions:
+# - fnct_01_read_coils
+# - fnct_05_write_single_coil
+# - changed pin names (see https://linuxcnc.org/docs/2.9/html/drivers/mb2hal.html#_pins).
+VERSION=1.1
+
+#OPTIONAL: HAL module (component) name. Defaults to "mb2hal".
+HAL_MODULE_NAME=mb2hal
+
+#OPTIONAL: Insert a delay of "FLOAT seconds" between transactions in order
+#to not to have a lot of logging and facilitate the debugging.
+#Useful when using DEBUG=3 (NOT INIT_DEBUG=3)
+#It affects ALL transactions.
+#Use "0.0" for normal activity.
+SLOWDOWN=0.0
+
+#REQUIRED: The number of total Modbus transactions. There is no maximum.
+TOTAL_TRANSACTIONS=9
+
+# ++++++++++++++++++++++++
+# Transactions
+# ++++++++++++++++++++++++
+#One transaction section is required per transaction, starting at 00 and counting up sequentially.
+#If there is a new link (not transaction), you must provide the REQUIRED parameters 1st time.
+#Warning: Any OPTIONAL parameter not specified are copied from the previous transaction.
+[TRANSACTION_00]
+
+#REQUIRED: You must specify either a "serial" or "tcp" link for the first transaction.
+#Later transaction will use the previous transaction link if not specified.
+LINK_TYPE=tcp
+
+#if LINK_TYPE=tcp then REQUIRED (only 1st time): The Modbus slave device ip address.
+#if LINK_TYPE=serial then IGNORED
+TCP_IP=192.168.2.10
+
+#if LINK_TYPE=tcp then OPTIONAL.
+#if LINK_TYPE=serial then IGNORED
+#The Modbus slave device tcp port. Defaults to 502.
+TCP_PORT=502
+
+#if LINK_TYPE=serial then REQUIRED (only 1st time).
+#if LINK_TYPE=tcp then IGNORED
+#The serial port.
+SERIAL_PORT=/dev/ttyS0
+
+#if LINK_TYPE=serial then REQUIRED (only 1st time).
+#if LINK_TYPE=tcp then IGNORED
+#The baud rate.
+SERIAL_BAUD=115200
+
+#if LINK_TYPE=serial then REQUIRED (only 1st time).
+#if LINK_TYPE=tcp then IGNORED
+#Data bits. One of 5,6,7,8.
+SERIAL_BITS=8
+
+#if LINK_TYPE=serial then REQUIRED (only 1st time).
+#if LINK_TYPE=tcp then IGNORED
+#Data parity. One of: even, odd, none.
+SERIAL_PARITY=none
+
+#if LINK_TYPE=serial then REQUIRED (only 1st time).
+#if LINK_TYPE=tcp then IGNORED
+#Stop bits. One of 1, 2.
+SERIAL_STOP=2
+
+#if LINK_TYPE=serial then OPTIONAL:
+#if LINK_TYPE=tcp then IGNORED
+#Serial port delay between for this transaction only.
+#In ms. Defaults to 0.
+SERIAL_DELAY_MS=10
+
+#REQUIRED (only 1st time).
+#Modbus slave number.
+MB_SLAVE_ID=1
+
+#REQUIRED: The first element address (decimal integer).
+FIRST_ELEMENT=0
+
+#REQUIRED unless PIN_NAMES is specified: The number of elements.
+#It is an error to specify both NELEMENTS and PIN_NAMES
+#The pin names will be sequential numbers e.g mb2hal.plcin.01
+#NELEMENTS=4
+
+#REQUIRED unless NELEMENTS is specified: A list of element names.
+#these names will be used for the pin names, e.g mb2hal.plcin.cycle_start
+#NOTE: there must be no white space characters in the list
+PIN_NAMES=cycle_start,stop,feed_hold
+
+#REQUIRED: Modbus transaction function code (see www.modbus.org specifications).
+#    fnct_01_read_coils               (01 = 0x01) (new in 1.1)
+#    fnct_02_read_discrete_inputs     (02 = 0x02)
+#    fnct_03_read_holding_registers   (03 = 0x03)
+#    fnct_04_read_input_registers     (04 = 0x04)
+#    fnct_05_write_single_coil        (05 = 0x05) (new in 1.1)
+#    fnct_06_write_single_register    (06 = 0x06)
+#    fnct_15_write_multiple_coils     (15 = 0x0F)
+#    fnct_16_write_multiple_registers (16 = 0x10)
+#
+# Created pins:
+# fnct_01_read_coils:
+# fnct_02_read_discrete_inputs:
+#     mb2hal.m.n.bit     (output)
+#     mb2hal.m.n.bit-inv (output)
+# fnct_03_read_holding_registers:
+# fnct_04_read_input_registers:
+#     mb2hal.m.n.float   (output)
+#     mb2hal.m.n.int     (output)
+# fnct_05_write_single_coil:
+#     mb2hal.m.n.bit     (input)
+#         NELEMENTS needs to be 1 or PIN_NAMES must contain just one name.
+# fnct_06_write_single_register:
+#     mb2hal.m.n.float   (input)
+#     mb2hal.m.n.int     (input)
+#     NELEMENTS needs to be 1 or PIN_NAMES must contain just one name.
+#     Both pin values are added and limited to 65535 (UINT16_MAX). Normally use one and let the other open (read as 0).
+# fnct_15_write_multiple_coils:
+#     mb2hal.m.n.bit     (input)
+# fnct_16_write_multiple_registers:
+#     mb2hal.m.n.float   (input)
+#     mb2hal.m.n.int     (input)
+#     Both pin values are added and limited to 65535 (UINT16_MAX). Normally use one and let the other open (read as 0).
+#
+# m = HAL_TX_NAME or transaction number if not set, n = element number (NELEMENTS) or name from PIN_NAMES
+# Example: mb2hal.00.01.<type> (transaction=00, second register=01 (00 is the first one))
+#          mb2hal.TxName.01.<type> (HAL_TX_NAME=TxName, second register=01 (00 is the first one))
+MB_TX_CODE=fnct_03_read_holding_registers
+
+#OPTIONAL: Response timeout for this transaction. In INTEGER ms. Defaults to 500 ms.
+#This is how much to wait for 1st byte before raise an error.
+MB_RESPONSE_TIMEOUT_MS=500
+
+#OPTIONAL: Byte timeout for this transaction. In INTEGER ms. Defaults to 500 ms.
+#This is how much to wait from byte to byte before raise an error.
+MB_BYTE_TIMEOUT_MS=500
+
+#OPTIONAL: Instead of giving the transaction number, use a name.
+#Example: mb2hal.00.01 could become mb2hal.plcin.01
+#The name must not exceed 28 characters.
+#NOTE: when using names be careful that you dont end up with two transactions
+#using the same name.
+HAL_TX_NAME=remoteIOcfg
+
+#OPTIONAL: Maximum update rate in HZ. Defaults to 0.0 (0.0 = as soon as available = infinite).
+#NOTE: This is a maximum rate and the actual rate may be lower.
+#If you want to calculate it in ms use (1000 / required_ms).
+#Example: 100 ms = MAX_UPDATE_RATE=10.0, because 1000.0 ms / 100.0 ms = 10.0 Hz
+MAX_UPDATE_RATE=0.0
+
+#OPTIONAL: Debug level for this transaction only.
+#See INIT_DEBUG parameter above.
+DEBUG=2
+
+#While DEBUGGING transactions note the returned "ret[]" value correspond to:
+#/* Modbus protocol exceptions */
+#ILLEGAL_FUNCTION        -0x01 the FUNCTION code received in the query is not allowed or invalid.
+#ILLEGAL_DATA_ADDRESS    -0x02 the DATA ADDRESS received in the query is not an allowable address for the slave or is invalid.
+#ILLEGAL_DATA_VALUE      -0x03 a VALUE contained in the data query field is not an allowable value or is invalid.
+#SLAVE_DEVICE_FAILURE    -0x04 SLAVE (or MASTER) device unrecoverable FAILURE while attempting to perform the requested action.
+#SERVER_FAILURE          -0x04 (see above).
+#ACKNOWLEDGE             -0x05 This response is returned to PREVENT A TIMEOUT in the master.
+#                              A long duration of time is required to process the request in the slave.
+#SLAVE_DEVICE_BUSY       -0x06 The slave (or server) is BUSY. Retrasmit the request later.
+#SERVER_BUSY             -0x06 (see above).
+#NEGATIVE_ACKNOWLEDGE    -0x07 Unsuccessful programming request using function code 13 or 14.
+#MEMORY_PARITY_ERROR     -0x08 SLAVE parity error in MEMORY.
+#GATEWAY_PROBLEM_PATH    -0x0A (-10) Gateway path(s) not available.
+#GATEWAY_PROBLEM_TARGET  -0x0B (-11) The target device failed to repond (generated by master, not slave).
+#/* Program or connection */
+#COMM_TIME_OUT           -0x0C (-12)
+#PORT_SOCKET_FAILURE     -0x0D (-13)
+#SELECT_FAILURE          -0x0E (-14)
+#TOO_MANY_DATAS          -0x0F (-15)
+#INVALID_CRC             -0x10 (-16)
+#INVALID_EXCEPTION_CODE  -0x11 (-17)
+
+[TRANSACTION_01]
+MB_TX_CODE=fnct_01_read_coils
+FIRST_ELEMENT=1024
+NELEMENTS=24
+HAL_TX_NAME=remoteIOin
+MAX_UPDATE_RATE=0.0
+DEBUG=1
+
+[TRANSACTION_02]
+MB_TX_CODE=fnct_02_read_discrete_inputs
+FIRST_ELEMENT=1280
+NELEMENTS=8
+HAL_TX_NAME=readStatus
+MAX_UPDATE_RATE=0.0
+
+[TRANSACTION_03]
+MB_TX_CODE=fnct_05_write_single_coil
+FIRST_ELEMENT=100
+NELEMENTS=1
+HAL_TX_NAME=setEnableout
+MAX_UPDATE_RATE=0.0
+
+[TRANSACTION_04]
+MB_TX_CODE=fnct_15_write_multiple_coils
+FIRST_ELEMENT=150
+NELEMENTS=10
+HAL_TX_NAME=remoteIOout
+MAX_UPDATE_RATE=0.0
+
+[TRANSACTION_05]
+LINK_TYPE=serial
+SERIAL_PORT=/dev/ttyS0
+SERIAL_BAUD=115200
+SERIAL_BITS=8
+SERIAL_PARITY=none
+SERIAL_STOP=2
+SERIAL_DELAY_MS=50
+MB_SLAVE_ID=1
+MB_TX_CODE=fnct_03_read_holding_registers
+FIRST_ELEMENT=1
+NELEMENTS=2
+HAL_TX_NAME=XDrive01
+MAX_UPDATE_RATE=0.0
+DEBUG=1
+
+[TRANSACTION_06]
+MB_TX_CODE=fnct_04_read_input_registers
+FIRST_ELEMENT=12
+NELEMENTS=3
+HAL_TX_NAME=XDrive02
+MAX_UPDATE_RATE=10.0
+DEBUG=1
+
+[TRANSACTION_07]
+MB_TX_CODE=fnct_06_write_single_register
+FIRST_ELEMENT=20
+NELEMENTS=1
+HAL_TX_NAME=XDrive03
+MAX_UPDATE_RATE=0.0
+DEBUG=1
+
+[TRANSACTION_08]
+MB_TX_CODE=fnct_16_write_multiple_registers
+FIRST_ELEMENT=55
+NELEMENTS=8
+HAL_TX_NAME=XDrive04
+MAX_UPDATE_RATE=10.0
+DEBUG=1
+```
+## 5. Pins
+**Note:** `sample` = New in MB2HAL 1.1 (LinuxCNC 2.9) To use these new features you have to set VERSION = 1.1.
+
+- m = Value of HAL_TX_NAME if set or transaction number
+- n = Element number (NELEMENTS) or name from PIN_NAMES
+
+Example:
+- mb2hal.00.01.int (TRANSACTION_00, second register)
+- mb2hal.readStatus.01.bit (HAL_TX_NAME=readStatus, first bit)
+
+**5.1. `fnct_01_read_coils`**
+- `mb2hal.m.n.bit` bit out
+- `mb2hal.m.n.bit-inv` bit out
+
+**5.2. fnct_02_read_discrete_inputs**
+- mb2hal.m.n.`bit` bit out
+- `mb2hal.m.n.bit-inv` bit out
+
+**5.3. fnct_03_read_holding_registers**
+- mb2hal.m.n.float float out
+- mb2hal.m.n.int s32 out
+
+**5.4. fnct_04_read_input_registers**
+- mb2hal.m.n.float float out
+- mb2hal.m.n.int s32 out
+
+**5.5. `fnct_05_write_single_coil`**
+- `mb2hal.m.n.bit` bit in
+    
+    NELEMENTS needs to be 1 or PIN_NAMES must contain just one name.
+
+**5.6. fnct_06_write_single_register**
+- mb2hal.m.n.`float` float in
+- `mb2hal.m.n.int s32` in
+
+    NELEMENTS needs to be 1 or PIN_NAMES must contain just one name. Both pin values are added and limited to 65535 (UINT16_MAX). Use one and let the other open (read as 0).
+
+**5.7. fnct_15_write_multiple_coils**
+- mb2hal.m.n.`bit` bit in
+
+**5.8. fnct_16_write_multiple_registers**
+- mb2hal.m.n.float `float` in
+- `mb2hal.m.n.int` s32 in
+
+    Both pin values are added and limited to 65535 (UINT16_MAX). Use one and let the other open (read as 0).
--- a/vfd_d100.ini
+++ b/vfd_d100.ini
@@ -0,0 +1,88 @@
+# Configuration file for mb2hal to communicate with Vevor D100 VFD
+# via Modbus RTU (RS485)
+#
+# Load component using:
+# loadusr -W mb2hal config=vfd_d100.ini
+
+[MB2HAL_INIT]
+
+# Debug level: 0 = silent, 1 = errors, 2 = OK messages, 3 = debugging, 4 = max debug
+INIT_DEBUG=3
+
+# Set to 1.1 to enable float/int pin options and specific features
+VERSION=1.1
+
+# HAL module (component) name. Pins will be prefixed with this name.
+HAL_MODULE_NAME=vfd
+
+# Delay between transactions in seconds (use 0.0 for normal speed)
+SLOWDOWN=0.0
+
+# Number of transactions defined below
+TOTAL_TRANSACTIONS=4
+
+
+# =====================================================================
+# TRANSACTION 00: Write Main Control Register (0200H / 512 dec)
+# =====================================================================
+[TRANSACTION_00]
+LINK_TYPE=serial
+SERIAL_PORT=/dev/ttyUSB0
+SERIAL_BAUD=9600
+SERIAL_BITS=8
+SERIAL_PARITY=none
+SERIAL_STOP=1
+# Delay after transmission in ms (helps with VFD response processing and EMI)
+SERIAL_DELAY_MS=50
+MB_SLAVE_ID=1
+
+MB_TX_CODE=fnct_06_write_single_register
+FIRST_ELEMENT=512
+NELEMENTS=1
+HAL_TX_NAME=control
+MAX_UPDATE_RATE=10.0
+MB_RESPONSE_TIMEOUT_MS=500
+MB_BYTE_TIMEOUT_MS=500
+DEBUG=1
+
+
+# =====================================================================
+# TRANSACTION 01: Write Given Frequency (0201H / 513 dec)
+# =====================================================================
+[TRANSACTION_01]
+# Link settings (PORT, BAUD, etc.) are inherited from TRANSACTION_00
+MB_TX_CODE=fnct_06_write_single_register
+FIRST_ELEMENT=513
+NELEMENTS=1
+HAL_TX_NAME=speed
+MAX_UPDATE_RATE=10.0
+DEBUG=1
+
+
+# =====================================================================
+# TRANSACTION 02: Read Main Control Status (0210H / 528 dec)
+# =====================================================================
+[TRANSACTION_02]
+MB_TX_CODE=fnct_03_read_holding_registers
+FIRST_ELEMENT=528
+NELEMENTS=1
+HAL_TX_NAME=status
+MAX_UPDATE_RATE=10.0
+DEBUG=1
+
+
+# =====================================================================
+# TRANSACTION 03: Read Operating Parameters (0220H - 0223H / 544 - 547 dec)
+# =====================================================================
+[TRANSACTION_03]
+MB_TX_CODE=fnct_03_read_holding_registers
+FIRST_ELEMENT=544
+# Receptors:
+# 544 (0220H) = Output Frequency (Hz * 10)
+# 545 (0221H) = Set Frequency (Hz * 10)
+# 546 (0222H) = Output Current (A * 10)
+# 547 (0223H) = Output Speed (RPM)
+PIN_NAMES=freq_out,freq_set,current,rpm
+HAL_TX_NAME=metrics
+MAX_UPDATE_RATE=5.0
+DEBUG=1
--- a/vfd_test.hal
+++ b/vfd_test.hal
@@ -0,0 +1,58 @@
+# Samodzielny plik testowy dla mb2hal i falownika Vevor D100
+# Uruchom w terminalu za pomoca:
+# halrun -I -f vfd_test.hal
+
+# 1. Tworzymy wirtualny watek czasu rzeczywistego (wymagane w halrun)
+loadrt threads name1=servo-thread period1=1000000
+
+# 2. Ladujemy mb2hal z nasza konfiguracja
+loadusr -W mb2hal config=vfd_d100.ini
+
+# 3. Ladujemy komponenty pomocnicze
+loadrt scale names=spindle_speed_scale,spindle_feedback_scale
+loadrt mux2 names=spindle_dir_mux,spindle_run_mux
+loadrt near names=spindle_at_speed_near
+
+# 4. Dodajemy funkcje do watku
+addf spindle_speed_scale servo-thread
+addf spindle_feedback_scale servo-thread
+addf spindle_dir_mux servo-thread
+addf spindle_run_mux servo-thread
+addf spindle_at_speed_near servo-thread
+
+# 5. Startujemy watki czasu rzeczywistego
+start
+
+# =====================================================================
+# LOGIKA STEROWANIA (Symulacja sygnalow wejsciowych z LinuxCNC)
+# =====================================================================
+
+# Wartosci sterujace: 2.0 = Forward, 4.0 = Reverse, 8.0 = Stop
+setp spindle_dir_mux.in0 2.0
+setp spindle_dir_mux.in1 4.0
+setp spindle_run_mux.in0 8.0
+
+# Tworzymy sygnaly i podlaczamy je do wejsc logicznych (bez udzialu 'motion')
+net test-spindle-rev   spindle_dir_mux.sel
+net test-spindle-dir   spindle_dir_mux.out     => spindle_run_mux.in1
+net test-spindle-on    spindle_run_mux.sel
+net test-spindle-cmd   spindle_run_mux.out     => vfd.control.00.float
+
+# Skalowanie zadanej predkosci: 24000 RPM -> 400.0 Hz (wartosc 4000 w Modbus)
+# Gain = 4000 / 24000 = 0.16666667
+setp spindle_speed_scale.gain 0.16666667
+setp spindle_speed_scale.offset 0.0
+net test-speed-rpm     spindle_speed_scale.in
+net test-speed-scaled  spindle_speed_scale.out  => vfd.speed.00.float
+
+# Skalowanie sprzezenia zwrotnego: RPM z VFD -> RPS dla LinuxCNC
+setp spindle_feedback_scale.gain 0.01666667
+setp spindle_feedback_scale.offset 0.0
+net test-rpm-feedback  vfd.metrics.rpm.float    => spindle_feedback_scale.in
+net test-rps-feedback  spindle_feedback_scale.out
+
+# Detekcja "At Speed"
+setp spindle_at_speed_near.difference 300.0
+net test-speed-rpm     => spindle_at_speed_near.in1
+net test-rpm-feedback  => spindle_at_speed_near.in2
+net test-at-speed      spindle_at_speed_near.out
Author	SHA1	Message	Date
bartool	8a7fbdee90	test hal	2026-06-05 18:58:40 +02:00
bartool	47fc54647d	dokumentacja linuxcnc	2026-06-05 17:55:39 +02:00