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This commit is contained in:
Jesse Schoch
2021-08-05 12:55:33 -07:00
parent 68f934d714
commit a26d86f607
2 changed files with 40 additions and 46 deletions
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78
Grbl_Esp32/src/Spindles/TecoL510.cpp
View File

@@ -30,16 +30,14 @@ namespace Spindles {
_parity = Uart::Parity::None; _parity = Uart::Parity::None;
// TODO: should defaults be set here? What happens if the motor settings in the VFD are wrong or default? // TODO: should defaults be set here? What happens if the motor settings in the VFD are wrong or default?
// I think they are overloaded with DEFAULT_SPINDLE_RPM_MAX and DEFAULT_SPINDLE_RPM_MIN // I think they are overloaded with DEFAULT_SPINDLE_RPM_MAX and DEFAULT_SPINDLE_RPM_MIN
_max_rpm = 24000; _max_rpm = 24000;
_min_rpm = 6000; _min_rpm = 6000;
_max_freq = 40000; _max_freq = 40000;
} }
void L510::direction_command(SpindleState mode, ModbusCommand& data) { void L510::direction_command(SpindleState mode, ModbusCommand& data) {
// Note: The direction command is always called on M3,M4, and M5 // Note: The direction command is always called on M3,M4, and M5
// This is where the spindle start/stop should be sent // This is where the spindle start/stop should be sent
// NOTE: data length is excluding the CRC16 checksum. // NOTE: data length is excluding the CRC16 checksum.
data.tx_length = 6; data.tx_length = 6;
@@ -49,7 +47,7 @@ namespace Spindles {
data.msg[2] = 0x25; // Command ID 0x2501 data.msg[2] = 0x25; // Command ID 0x2501
data.msg[3] = 0x01; data.msg[3] = 0x01;
data.msg[4] = 0x00; data.msg[4] = 0x00;
switch(mode){ switch (mode) {
case SpindleState::Disable: case SpindleState::Disable:
//data.msg[4] = 0x00; //data.msg[4] = 0x00;
data.msg[5] = 0x00; data.msg[5] = 0x00;
@@ -64,8 +62,7 @@ namespace Spindles {
} }
void L510::set_speed_command(uint32_t rpm, ModbusCommand& data) { void L510::set_speed_command(uint32_t rpm, ModbusCommand& data) {
// NOTE: data length is excluding the CRC16 checksum.
// NOTE: data length is excluding the CRC16 checksum.
data.tx_length = 6; data.tx_length = 6;
data.rx_length = 6; data.rx_length = 6;
@@ -78,13 +75,13 @@ namespace Spindles {
data.msg[5] = uint8_t(freq & 0xFF); data.msg[5] = uint8_t(freq & 0xFF);
#ifdef VFD_DEBUG_MODE2 #ifdef VFD_DEBUG_MODE2
grbl_msg_sendf(CLIENT_SERIAL,MsgLevel::Info,"setting speed to: %d",speed); grbl_msg_sendf(CLIENT_SERIAL, MsgLevel::Info, "setting speed to: %d", speed);
#endif #endif
} }
uint16_t L510::rpm_to_frequency(uint32_t rpm){ uint16_t L510::rpm_to_frequency(uint32_t rpm) {
auto max_rpm = this->_max_rpm; auto max_rpm = this->_max_rpm;
auto max_freq = this->_max_freq; auto max_freq = this->_max_freq;
uint16_t freq = (uint32_t(rpm) * max_freq) / uint32_t(max_rpm); uint16_t freq = (uint32_t(rpm) * max_freq) / uint32_t(max_rpm);
if (freq < 0) { if (freq < 0) {
freq = 0; freq = 0;
} }
@@ -94,11 +91,11 @@ namespace Spindles {
return freq; return freq;
} }
uint32_t L510::freq_to_rpm(uint16_t freq){ uint32_t L510::freq_to_rpm(uint16_t freq) {
auto max_rpm = this->_max_rpm; auto max_rpm = this->_max_rpm;
auto max_freq = this->_max_freq; auto max_freq = this->_max_freq;
uint32_t rpm = (freq*max_rpm)/max_freq; uint32_t rpm = (freq * max_rpm) / max_freq;
if(rpm < 0){ if (rpm < 0) {
// sometimes it returns -1 which causes an alarm // sometimes it returns -1 which causes an alarm
rpm = 0; rpm = 0;
} }
@@ -111,32 +108,30 @@ namespace Spindles {
data.tx_length = 6; data.tx_length = 6;
data.rx_length = 11; data.rx_length = 11;
// read parameters 02-03..02-06 // read parameters 02-03..02-06
// Send: // Send:
data.msg[1] = 0x03; // READ data.msg[1] = 0x03; // READ
data.msg[2] = 0x02; // 0x0203 = Get max rpm data.msg[2] = 0x02; // 0x0203 = Get max rpm
data.msg[3] = 0x03; data.msg[3] = 0x03;
data.msg[4] = 0x00; // Read 4 values data.msg[4] = 0x00; // Read 4 values
data.msg[5] = 0x04; data.msg[5] = 0x04;
// Recv: ?? // Recv: ??
return [](const uint8_t* response, Spindles::VFD* vfd) -> bool { return [](const uint8_t* response, Spindles::VFD* vfd) -> bool {
uint32_t rpm = (response[3] << 8) | response[4]; uint32_t rpm = (response[3] << 8) | response[4];
// NOTE: the frequency is stored xxx.x but the input command is frequency * 100; // NOTE: the frequency is stored xxx.x but the input command is frequency * 100;
uint16_t freq = (response[9] << 8) | response[10]; uint16_t freq = (response[9] << 8) | response[10];
freq = freq * 10; freq = freq * 10;
auto l510 = static_cast<L510*>(vfd); auto l510 = static_cast<L510*>(vfd);
l510->_max_rpm = rpm; l510->_max_rpm = rpm;
l510->_max_freq = freq; l510->_max_freq = freq;
grbl_msg_sendf(CLIENT_SERIAL, MsgLevel::Info, "L510 initialized: spindle max_rpm %d max_freq %d", vfd->_max_rpm,l510->_max_freq); grbl_msg_sendf(
CLIENT_SERIAL, MsgLevel::Info, "L510 initialized: spindle max_rpm %d max_freq %d", vfd->_max_rpm, l510->_max_freq);
return true; return true;
}; };
@@ -144,13 +139,12 @@ namespace Spindles {
return nullptr; return nullptr;
} }
} }
VFD::response_parser L510::get_status_ok(ModbusCommand& data){ VFD::response_parser L510::get_status_ok(ModbusCommand& data) {
// NOTE: data length is excluding the CRC16 checksum. // NOTE: data length is excluding the CRC16 checksum.
data.tx_length = 6; data.tx_length = 6;
data.rx_length = 5; data.rx_length = 5;
// Send:
// Send:
data.msg[1] = 0x03; // READ data.msg[1] = 0x03; // READ
data.msg[2] = 0x25; // 0x2520 = Get state data.msg[2] = 0x25; // 0x2520 = Get state
data.msg[3] = 0x20; data.msg[3] = 0x20;
@@ -158,14 +152,14 @@ namespace Spindles {
data.msg[5] = 0x01; data.msg[5] = 0x01;
return [](const uint8_t* response, Spindles::VFD* vfd) -> bool { return [](const uint8_t* response, Spindles::VFD* vfd) -> bool {
uint32_t vfd_state = (response[3] << 8) | response[4]; uint32_t vfd_state = (response[3] << 8) | response[4];
if(bitRead(vfd_state,3)){ if (bitRead(vfd_state, 3)) {
grbl_msg_sendf(CLIENT_SERIAL,MsgLevel::Info,"L510 Fault detected"); grbl_msg_sendf(CLIENT_SERIAL, MsgLevel::Info, "L510 Fault detected");
return false; return false;
} }
return true; return true;
}; };
} }
VFD::response_parser L510::get_current_rpm(ModbusCommand& data) { VFD::response_parser L510::get_current_rpm(ModbusCommand& data) {
@@ -206,10 +200,10 @@ namespace Spindles {
// Receive: 01 03 00 02 00 02 // Receive: 01 03 00 02 00 02
// ----- status // ----- status
return [](const uint8_t* response, Spindles::VFD* vfd) -> bool { return [](const uint8_t* response, Spindles::VFD* vfd) -> bool {
uint16_t got = (uint16_t(response[3]) << 8) | uint16_t(response[4]); uint16_t got = (uint16_t(response[3]) << 8) | uint16_t(response[4]);
bool dir = bitRead(got,1); bool dir = bitRead(got, 1);
return true; return true;
}; };
} }
} }

8
Grbl_Esp32/src/Spindles/TecoL510.h
View File

@@ -32,11 +32,11 @@ namespace Spindles {
response_parser get_current_direction(ModbusCommand& data) override; response_parser get_current_direction(ModbusCommand& data) override;
// what is this, what should it do? // what is this, what should it do?
bool supports_actual_rpm() const override { return true; } bool supports_actual_rpm() const override { return true; }
bool safety_polling() const override { return true; } bool safety_polling() const override { return true; }
response_parser get_status_ok(ModbusCommand& data) override; response_parser get_status_ok(ModbusCommand& data) override;
uint16_t rpm_to_frequency(uint32_t rpm); uint16_t rpm_to_frequency(uint32_t rpm);
uint32_t freq_to_rpm(uint16_t); uint32_t freq_to_rpm(uint16_t);
//uint32_t set_rpm(uint32_t rpm) override; //uint32_t set_rpm(uint32_t rpm) override;
void start_spindle(); void start_spindle();