59 lines
2.2 KiB
Plaintext
59 lines
2.2 KiB
Plaintext
# Samodzielny plik testowy dla mb2hal i falownika Vevor D100
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# Uruchom w terminalu za pomoca:
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# halrun -I -f vfd_test.hal
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# 1. Tworzymy wirtualny watek czasu rzeczywistego (wymagane w halrun)
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loadrt threads name1=servo-thread period1=1000000
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# 2. Ladujemy mb2hal z nasza konfiguracja
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loadusr -W mb2hal config=vfd_d100.ini
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# 3. Ladujemy komponenty pomocnicze
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loadrt scale names=spindle_speed_scale,spindle_feedback_scale
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loadrt mux2 names=spindle_dir_mux,spindle_run_mux
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loadrt near names=spindle_at_speed_near
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# 4. Dodajemy funkcje do watku
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addf spindle_speed_scale servo-thread
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addf spindle_feedback_scale servo-thread
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addf spindle_dir_mux servo-thread
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addf spindle_run_mux servo-thread
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addf spindle_at_speed_near servo-thread
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# 5. Startujemy watki czasu rzeczywistego
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start
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# =====================================================================
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# LOGIKA STEROWANIA (Symulacja sygnalow wejsciowych z LinuxCNC)
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# =====================================================================
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# Wartosci sterujace: 2.0 = Forward, 4.0 = Reverse, 8.0 = Stop
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setp spindle_dir_mux.in0 2.0
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setp spindle_dir_mux.in1 4.0
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setp spindle_run_mux.in0 8.0
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# Tworzymy sygnaly i podlaczamy je do wejsc logicznych (bez udzialu 'motion')
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net test-spindle-rev spindle_dir_mux.sel
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net test-spindle-dir spindle_dir_mux.out => spindle_run_mux.in1
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net test-spindle-on spindle_run_mux.sel
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net test-spindle-cmd spindle_run_mux.out => vfd.control.00.float
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# Skalowanie zadanej predkosci: 24000 RPM -> 400.0 Hz (wartosc 4000 w Modbus)
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# Gain = 4000 / 24000 = 0.16666667
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setp spindle_speed_scale.gain 0.16666667
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setp spindle_speed_scale.offset 0.0
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net test-speed-rpm spindle_speed_scale.in
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net test-speed-scaled spindle_speed_scale.out => vfd.speed.00.float
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# Skalowanie sprzezenia zwrotnego: RPM z VFD -> RPS dla LinuxCNC
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setp spindle_feedback_scale.gain 0.01666667
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setp spindle_feedback_scale.offset 0.0
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net test-rpm-feedback vfd.metrics.rpm.float => spindle_feedback_scale.in
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net test-rps-feedback spindle_feedback_scale.out
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# Detekcja "At Speed"
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setp spindle_at_speed_near.difference 300.0
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net test-speed-rpm => spindle_at_speed_near.in1
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net test-rpm-feedback => spindle_at_speed_near.in2
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net test-at-speed spindle_at_speed_near.out
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