[Emc-users] Help with STMBL drive needed

[Viesturs L. <vie...@gm...>]

Hello!

It has been quite a long time since I have tried unsuccessfully to get
STMBL drive working with the Yaskawa servomotor. A little context: I
posted here a year or so ago about Biesse retrofit that I was doing
and 8i20 drives that I fitted because original Yaskawa drives were
showing some errors but I kept them to provide normal ABZ encoder
signal because actual encoder output is quadrature signal in AB lines
and commutation pattern in 3rd channel (normally used for index). I
posted about the C channel pattern and asked about possibilities to
decipher it in LinuxCNC and/or Mesa firmware. So I have 8i20 drives
for X and Y motors and original drives providing ABZ signal to
LinuxCNC. The thing is that servodrive for Z axis died completely. So
I got STMBL drive because 8i20 was not available at the moment and
STMBL has a HAL module for Yaskawa encoders (only to discover later
that it is for absolute encoders, not incremental).
I got the drive from a guy in Italy that seems to be making his
version of them
(https://freakontrol.github.io/stmbl/docs/introduction/) and I managed
to contact him on Element but he is not much in to responding to say
the least).
So I have been trying to get STMBL drive to work with that servomotor
at least with A and B channels from encoder without index.
I have connected 24VFC for logics power, 340VDC power for motr, motor
cable and encoder cable to drive and I have plugged USB cable for
Servoterm app. I do not yet have it connected to LinuxCNC (I have not
tried to load smart-serial module in drive config although it is
visible that I have LinuxCNC open in background - that is for enabling
machine power).
First thing I started with was a stmbl config as follows:
link pid
link pmsm
link enc_fb0
link misc
link id_pmsm

And I was having issues with connection of servoterm to stmbl drive.
But I managed to notice in servoterm app suggested values for conf0.r,
conf0.l and conf0.psi (I have not found any datasheet of the motor so
I have to trust the drive to sense/measure for me). Polecount should
be 8 but the app insists that it is 4 so I gave up especially after I
had specified conf0.mot_fb_res to 32768 (it is 8192 PPR encoder) so
then it should be able to detect pole count correctly.
The connection problems looked like this (I had move on from id_pmsm
to id_mot as per suggestion in servoterm app):
https://www.youtube.com/watch?v=SkFTIcRQUL0

I spent a lot of time trying to figure it out and providing separate
24VDC logic power improved a lot (now it did not disconnect in a split
second): https://www.youtube.com/watch?v=pCc_dh2BObo

But it did freeze and I could not do anything but close the app.
And when I restarted the servoterm app, it was this:
https://www.youtube.com/watch?v=z35EzysD0Pk

So I do not understand what am I doing wrong. I would reaalllly
appreciate if there is someone with experience of getting stmbl drive
to work and hopefully poke me in correct direction.
Thank you in advance!

Viesturs