Spindle PID 5i25+7i77
19 Aug 2016 11:42 #79046
by dinkata
Spindle PID 5i25+7i77 was created by dinkata
LinuxCNC 2.7.6 , configuration 5i25+7i77 Lathe X,Z ,spindle encoder. with PnCConf Wizard :
net spindle-vel-fb-rps <= hm2_5i25.0.encoder.02.velocity #### ???
net spindle-vel-fb-rpm => pid.s.feedback ##### ?????
net spindle-vel-fb-rpm ### Where can i find it
#*******************
# SPINDLE S
#*******************
setp pid.s.Pgain [SPINDLE_9]P
setp pid.s.Igain [SPINDLE_9]I
setp pid.s.Dgain [SPINDLE_9]D
setp pid.s.bias [SPINDLE_9]BIAS
setp pid.s.FF0 [SPINDLE_9]FF0
setp pid.s.FF1 [SPINDLE_9]FF1
setp pid.s.FF2 [SPINDLE_9]FF2
setp pid.s.deadband [SPINDLE_9]DEADBAND
setp pid.s.maxoutput [SPINDLE_9]MAX_OUTPUT
setp pid.s.error-previous-target true
net spindle-index-enable <=> pid.s.index-enable
net spindle-enable => pid.s.enable
net spindle-vel-cmd-rpm => pid.s.command
net spindle-vel-fb-rpm => pid.s.feedback
net spindle-output <= pid.s.output
# ---PWM Generator signals/setup---
setp hm2_5i25.0.7i77.0.1.analogout5-scalemax [SPINDLE_9]OUTPUT_SCALE
setp hm2_5i25.0.7i77.0.1.analogout5-minlim [SPINDLE_9]OUTPUT_MIN_LIMIT
setp hm2_5i25.0.7i77.0.1.analogout5-maxlim [SPINDLE_9]OUTPUT_MAX_LIMIT
net spindle-output => hm2_5i25.0.7i77.0.1.analogout5
net spindle-enable => hm2_5i25.0.7i77.0.1.spinena
# ---Encoder feedback signals/setup---
setp hm2_5i25.0.encoder.02.counter-mode 0
setp hm2_5i25.0.encoder.02.filter 1
setp hm2_5i25.0.encoder.02.index-invert 0
setp hm2_5i25.0.encoder.02.index-mask 0
setp hm2_5i25.0.encoder.02.index-mask-invert 0
setp hm2_5i25.0.encoder.02.scale [SPINDLE_9]ENCODER_SCALE
net spindle-revs <= hm2_5i25.0.encoder.02.position
net spindle-vel-fb-rps <= hm2_5i25.0.encoder.02.velocity
net spindle-index-enable <=> hm2_5i25.0.encoder.02.index-enable
# ---setup spindle control signals---
net spindle-vel-cmd-rps <= motion.spindle-speed-out-rps
net spindle-vel-cmd-rps-abs <= motion.spindle-speed-out-rps-abs
net spindle-vel-cmd-rpm <= motion.spindle-speed-out
net spindle-vel-cmd-rpm-abs <= motion.spindle-speed-out-abs
net spindle-enable <= motion.spindle-on => parport.0.pin-01-out
net spindle-cw <= motion.spindle-forward
net spindle-ccw <= motion.spindle-reverse
net spindle-brake <= motion.spindle-brake
net spindle-revs => motion.spindle-revs
net spindle-at-speed => motion.spindle-at-speed
net spindle-vel-fb-rps => motion.spindle-speed-in
net spindle-index-enable <=> motion.spindle-index-enable
# ---Setup spindle at speed signals---
net spindle-vel-cmd-rps => near.0.in1
net spindle-vel-fb-rps => near.0.in2
net spindle-at-speed <= near.0.out
setp near.0.scale 1.000000
setp near.0.difference 20.00net spindle-vel-fb-rps <= hm2_5i25.0.encoder.02.velocity #### ???
net spindle-vel-fb-rpm => pid.s.feedback ##### ?????
net spindle-vel-fb-rpm ### Where can i find it
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19 Aug 2016 14:09 - 19 Aug 2016 14:10 #79076
by andypugh
It's a signal. Signal names have no special meaning, you can use any names you want. (feel free to use your native language for them, for example).
However, as this is a PnCConf config, the names have not been chosen by you.
I don't know why PnCConf has configured things that way. The PID component ought to work perfectly with both command and feedback using the -rps signal.
Is there a "scale" component created anywhere in the HAL?
Replied by andypugh on topic Spindle PID 5i25+7i77
net spindle-vel-fb-rpm ### Where can i find it
It's a signal. Signal names have no special meaning, you can use any names you want. (feel free to use your native language for them, for example).
However, as this is a PnCConf config, the names have not been chosen by you.
I don't know why PnCConf has configured things that way. The PID component ought to work perfectly with both command and feedback using the -rps signal.
Is there a "scale" component created anywhere in the HAL?
Last edit: 19 Aug 2016 14:10 by andypugh.
The following user(s) said Thank You: dinkata
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19 Aug 2016 16:16 #79079
by dinkata
maybe this will help :
Replied by dinkata on topic Spindle PID 5i25+7i77
aha ,I remembered PnCConf in Linuxcnc2.7.3Is there a "scale" component created anywhere in the HAL?
loadrt scale names=scale.spindle
addf scale.spindle servo-thread
setp scale.spindle.gain 60
........................ loadrt scale names=scale.spindle
addf scale.spindle servo-thread
setp scale.spindle.gain 60
net spindle-vel-fb-rps <= hm2_5i25.0.encoder.02.velocity => scale.spindle.in
net spindle-fb-rpm <= scale.spindle.out => pid.s.feedbackPlease Log in or Create an account to join the conversation.
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