diff --git a/Grbl_Esp32/src/Spindles/Spindle.cpp b/Grbl_Esp32/src/Spindles/Spindle.cpp index 7dfd8f6b..bc15ab96 100644 --- a/Grbl_Esp32/src/Spindles/Spindle.cpp +++ b/Grbl_Esp32/src/Spindles/Spindle.cpp @@ -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(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; diff --git a/Grbl_Esp32/src/Spindles/Spindle.h b/Grbl_Esp32/src/Spindles/Spindle.h index 200e99cd..ff2ea5d4 100644 --- a/Grbl_Esp32/src/Spindles/Spindle.h +++ b/Grbl_Esp32/src/Spindles/Spindle.h @@ -39,6 +39,7 @@ enum class SpindleType : int8_t { _10V, H2A, YL620, + L510 }; #include "../Grbl.h" diff --git a/Grbl_Esp32/src/Spindles/TecoL510.cpp b/Grbl_Esp32/src/Spindles/TecoL510.cpp new file mode 100644 index 00000000..aa6c3d36 --- /dev/null +++ b/Grbl_Esp32/src/Spindles/TecoL510.cpp @@ -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 . + + 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(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(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; + }; + } +} diff --git a/Grbl_Esp32/src/Spindles/TecoL510.h b/Grbl_Esp32/src/Spindles/TecoL510.h new file mode 100644 index 00000000..f89de262 --- /dev/null +++ b/Grbl_Esp32/src/Spindles/TecoL510.h @@ -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 . + + +*/ + +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; + }; +} diff --git a/Grbl_Esp32/src/Spindles/TecoL510_README.md b/Grbl_Esp32/src/Spindles/TecoL510_README.md new file mode 100644 index 00000000..9cdfd6e9 --- /dev/null +++ b/Grbl_Esp32/src/Spindles/TecoL510_README.md @@ -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