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Merge pull request #877 from jschoch/L510VFD

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L510 vfd spindle code
This commit is contained in:
Mitch Bradley
2021-08-06 10:15:27 -10:00
committed by GitHub
parent 6c5c4b5671 38d1c88bc2
commit ce45298590
5 changed files with 298 additions and 2 deletions
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10
Grbl_Esp32/src/Spindles/Spindle.cpp
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@@ -39,10 +39,12 @@
#include "BESCSpindle.h"
#include "10vSpindle.h"
#include "YL620Spindle.h"
#include "TecoL510.h"
namespace Spindles {
// An instance of each type of spindle is created here.
// This allows the spindle to be dynamicly switched
Null null;
PWM pwm;
Relay relay;
@@ -52,7 +54,8 @@ namespace Spindles {
H2A h2a;
BESC besc;
_10v _10v;
YL620 yl620;
YL620 yl620;
L510 l510;
void Spindle::select() {
switch (static_cast<SpindleType>(spindle_type->get())) {
@@ -83,6 +86,9 @@ namespace Spindles {
case SpindleType::YL620:
spindle = &yl620;
break;
case SpindleType::L510:
spindle = &l510;
break;
case SpindleType::NONE:
default:
spindle = &null;
@@ -109,4 +115,4 @@ namespace Spindles {
void Spindle::deinit() { stop(); }
}
Spindles::Spindle* spindle;
Spindles::Spindle* spindle;

1
Grbl_Esp32/src/Spindles/Spindle.h
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@@ -39,6 +39,7 @@ enum class SpindleType : int8_t {
_10V,
H2A,
YL620,
L510
};
#include "../Grbl.h"

210
Grbl_Esp32/src/Spindles/TecoL510.cpp Normal file
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@@ -0,0 +1,210 @@
#include "TecoL510.h"
/*
TecoL510.cpp
Part of Grbl_ESP32
2021 - Jesse Schoch
Grbl is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
Grbl is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with Grbl. If not, see <http://www.gnu.org/licenses/>.
WARNING!!!!
VFDs are very dangerous. They have high voltages and are very powerful
Remove power before changing bits.
See TecoL510.md for details
*/
namespace Spindles {
L510::L510() : VFD() {
_baudrate = 9600;
_parity = Uart::Parity::None;
// 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
_max_rpm = 24000;
_min_rpm = 6000;
_max_freq = 40000;
}
void L510::direction_command(SpindleState mode, ModbusCommand& data) {
// Note: The direction command is always called on M3,M4, and M5
// This is where the spindle start/stop should be sent
// NOTE: data length is excluding the CRC16 checksum.
data.tx_length = 6;
data.rx_length = 6;
data.msg[1] = 0x06; // WRITE
data.msg[2] = 0x25; // Command ID 0x2501
data.msg[3] = 0x01;
data.msg[4] = 0x00;
switch (mode) {
case SpindleState::Disable:
//data.msg[4] = 0x00;
data.msg[5] = 0x00;
break;
case SpindleState::Cw:
data.msg[5] = 0x01;
break;
case SpindleState::Ccw:
data.msg[5] = 0x03;
break;
}
}
void L510::set_speed_command(uint32_t rpm, ModbusCommand& data) {
// NOTE: data length is excluding the CRC16 checksum.
data.tx_length = 6;
data.rx_length = 6;
uint16_t freq = rpm_to_frequency(rpm);
data.msg[1] = 0x06; // WRITE
data.msg[2] = 0x25; // Command ID 0x2502
data.msg[3] = 0x02;
data.msg[4] = uint8_t(freq >> 8); // RPM
data.msg[5] = uint8_t(freq & 0xFF);
#ifdef VFD_DEBUG_MODE2
grbl_msg_sendf(CLIENT_SERIAL, MsgLevel::Info, "setting speed to: %d", speed);
#endif
}
uint16_t L510::rpm_to_frequency(uint32_t rpm) {
auto max_rpm = this->_max_rpm;
auto max_freq = this->_max_freq;
uint16_t freq = (uint32_t(rpm) * max_freq) / uint32_t(max_rpm);
if (freq < 0) {
freq = 0;
}
if (freq > max_freq) {
freq = max_freq;
}
return freq;
}
uint32_t L510::freq_to_rpm(uint16_t freq) {
auto max_rpm = this->_max_rpm;
auto max_freq = this->_max_freq;
uint32_t rpm = (freq * max_rpm) / max_freq;
if (rpm < 0) {
// sometimes it returns -1 which causes an alarm
rpm = 0;
}
return rpm;
}
VFD::response_parser L510::initialization_sequence(int index, ModbusCommand& data) {
if (index == -1) {
// NOTE: data length is excluding the CRC16 checksum.
data.tx_length = 6;
data.rx_length = 11;
// read parameters 02-03..02-06
// Send:
data.msg[1] = 0x03; // READ
data.msg[2] = 0x02; // 0x0203 = Get max rpm
data.msg[3] = 0x03;
data.msg[4] = 0x00; // Read 4 values
data.msg[5] = 0x04;
// Recv: ??
return [](const uint8_t* response, Spindles::VFD* vfd) -> bool {
uint32_t rpm = (response[3] << 8) | response[4];
// NOTE: the frequency is stored xxx.x but the input command is frequency * 100;
uint16_t freq = ((uint16_t)response[9] << 8) | (uint16_t)response[10];
freq = freq * 10;
auto l510 = static_cast<L510*>(vfd);
l510->_max_rpm = rpm;
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);
return true;
};
} else {
return nullptr;
}
}
VFD::response_parser L510::get_status_ok(ModbusCommand& data) {
// NOTE: data length is excluding the CRC16 checksum.
data.tx_length = 6;
data.rx_length = 5;
// Send:
data.msg[1] = 0x03; // READ
data.msg[2] = 0x25; // 0x2520 = Get state
data.msg[3] = 0x20;
data.msg[4] = 0x00; // Read 1 value
data.msg[5] = 0x01;
return [](const uint8_t* response, Spindles::VFD* vfd) -> bool {
uint16_t vfd_state = ((uint16_t)response[3] << 8) | (uint16_t)response[4];
if (bitRead(vfd_state, 3)) {
grbl_msg_sendf(CLIENT_SERIAL, MsgLevel::Info, "L510 Fault detected");
return false;
}
return true;
};
}
VFD::response_parser L510::get_current_rpm(ModbusCommand& data) {
// NOTE: data length is excluding the CRC16 checksum.
data.tx_length = 6;
data.rx_length = 5;
// Send: 01 03 700C 0002
data.msg[1] = 0x03; // READ
data.msg[2] = 0x25; // 0x2524 = Get output frequency
data.msg[3] = 0x24;
data.msg[4] = 0x00; // Read 1 value
data.msg[5] = 0x01;
return [](const uint8_t* response, Spindles::VFD* vfd) -> bool {
uint16_t freq = ((uint16_t)response[3] << 8) | (uint16_t)response[4];
auto l510 = static_cast<L510*>(vfd);
vfd->_sync_rpm = l510->freq_to_rpm(freq);
return true;
};
}
VFD::response_parser L510::get_current_direction(ModbusCommand& data) {
// does this run ever??
// NOTE: data length is excluding the CRC16 checksum.
data.tx_length = 6;
data.rx_length = 5;
// Send: 01 03 30 00 00 01
data.msg[1] = 0x03; // READ
data.msg[2] = 0x25; // 0x2520
data.msg[3] = 0x20;
data.msg[4] = 0x00; // Message ID
data.msg[5] = 0x01;
// Receive: 01 03 00 02 00 02
// ----- status
return [](const uint8_t* response, Spindles::VFD* vfd) -> bool {
uint16_t got = (uint16_t(response[3]) << 8) | uint16_t(response[4]);
bool dir = bitRead(got, 1);
return true;
};
}
}

48
Grbl_Esp32/src/Spindles/TecoL510.h Normal file
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@@ -0,0 +1,48 @@
#pragma once
#include "VFDSpindle.h"
/*
TecoL510.h
Part of Grbl_ESP32
2021 - Jesse Schoch
Grbl is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
Grbl is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with Grbl. If not, see <http://www.gnu.org/licenses/>.
*/
namespace Spindles {
class L510 : public VFD {
protected:
void direction_command(SpindleState mode, ModbusCommand& data) override;
void set_speed_command(uint32_t rpm, ModbusCommand& data) override;
response_parser initialization_sequence(int index, ModbusCommand& data) override;
response_parser get_current_rpm(ModbusCommand& data) override;
response_parser get_current_direction(ModbusCommand& data) override;
// what is this, what should it do?
bool supports_actual_rpm() const override { return true; }
bool safety_polling() const override { return true; }
response_parser get_status_ok(ModbusCommand& data) override;
uint16_t rpm_to_frequency(uint32_t rpm);
uint32_t freq_to_rpm(uint16_t);
//uint32_t set_rpm(uint32_t rpm) override;
void start_spindle();
public:
L510();
uint16_t _max_freq;
};
}

31
Grbl_Esp32/src/Spindles/TecoL510_README.md Normal file
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@@ -0,0 +1,31 @@
# VFD setup
Change these values:
1) 00-02, Main Run Command Source Selection, Default = 0 Change to 2
2) 00-05, Main Freq Command Source Selection, Default = 0 Change to 5
Check that these are set to the default factory values:
3) 00-07, Main and Alternative Freq Cmnd Source Selection, Default = 0
4) 09-00, Assigned Communication Number, Default = 1 this is defined as VFD_RS485_ADDR
5) 09-01, RTU/ASCII Code Selection, Default = 0 Should be 0 (We are using hex "RTU" commands, not ASCII commands)
6) 09-02, Baud Rate Setting, Default = 1 Should be 1 (9600 baud) but can be changed in the TecoL510.cpp
7) 09-03, Stop Bit Selection, Default = 0 Should be 0 (1 stop bit)
8) 09-04, Parity Selection, Default = 0 Should be 0 (Without parity)
9) 09-05, Data Format Selection, Default = 0 Should be 0 (8 data bits)
# Implementation details
this was tested with pin 16 RX and 26 TX mapped in the machine config file. Pin 4 was used for RTS but it is not used on the rs485 module I tested with.
```
#define VFD_RS485_TXD_PIN GPIO_NUM_26
#define VFD_RS485_RTS_PIN GPIO_NUM_4
#define VFD_RS485_RXD_PIN GPIO_NUM_16
// Not sure why this isn't a setting
#define DEFAULT_SPINDLE_RPM_MAX 24000.0 // rpm
#define DEFAULT_SPINDLE_RPM_MIN 6000.0 // rpm
```
not sure how to detect and parse error messages
max frequency is currenly hardcode