dodalem obsluge vfd

custom.hal

@@ -1,4 +1,76 @@
 # Include your custom HAL commands here
 # This file will not be overwritten when you run stepconf again
 
-net spindle-on <= spindle.0.on
+#net spindle-on <= spindle.0.on
+
+# =====================================================================
+# Vevor D100 VFD Modbus (mb2hal) Integration
+# =====================================================================
+
+# Load the mb2hal component
+loadusr -Wn vfd 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

probe_basic_postgui.hal

@@ -22,4 +22,4 @@ net tool-number             =>  qtpyvcp_manualtoolchange.number
 net probe-in  <=  qtpyvcp.probe-led.on
 
 # *** Set line below for actual spindle readout from your hal file ***
-# net spindle-rpm-filtered scale_to_rpm.out  =>  qtpyvcp.spindle-encoder-rpm.in
+net spindle-rpm-feedback   =>  qtpyvcp.spindle-encoder-rpm.in

vfd_d100.ini

@@ -0,0 +1,96 @@
+# 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=1
+
+# 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 (helps slower VFDs process requests)
+SLOWDOWN=0.1
+
+# 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=2.0
+MB_RESPONSE_TIMEOUT_MS=1000
+MB_BYTE_TIMEOUT_MS=1000
+DEBUG=1
+
+
+# =====================================================================
+# TRANSACTION 01: Write Given Frequency (0201H / 513 dec)
+# =====================================================================
+[TRANSACTION_01]
+MB_SLAVE_ID=1
+MB_TX_CODE=fnct_06_write_single_register
+FIRST_ELEMENT=513
+NELEMENTS=1
+HAL_TX_NAME=speed
+MAX_UPDATE_RATE=2.0
+MB_RESPONSE_TIMEOUT_MS=1000
+MB_BYTE_TIMEOUT_MS=1000
+DEBUG=1
+
+
+# =====================================================================
+# TRANSACTION 02: Read Main Control Status (0210H / 528 dec)
+# =====================================================================
+[TRANSACTION_02]
+MB_SLAVE_ID=1
+MB_TX_CODE=fnct_03_read_holding_registers
+FIRST_ELEMENT=528
+NELEMENTS=1
+HAL_TX_NAME=status
+MAX_UPDATE_RATE=2.0
+MB_RESPONSE_TIMEOUT_MS=1000
+MB_BYTE_TIMEOUT_MS=1000
+DEBUG=1
+
+
+# =====================================================================
+# TRANSACTION 03: Read Operating Parameters (0220H - 0223H / 544 - 547 dec)
+# =====================================================================
+[TRANSACTION_03]
+MB_SLAVE_ID=1
+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=2.0
+MB_RESPONSE_TIMEOUT_MS=1000
+MB_BYTE_TIMEOUT_MS=1000
+DEBUG=1