configuring gearchange

I didn't set it up to automatically change gears, and yes we do use CSS.

It would be pretty violent if we did a gearchange under load.

I use M41 for low range and M42 for hi range, with 20-500 rpms for low end and 50-3000 on the high end set in my hal file.

That was the "norm" for Cincinnati Milacron, of which we have a shop full.


Thanks

Rick

#*******************
# SPINDLE S
#*******************

# pid feedback spindle
setp pid.s.Pgain 0.0
setp pid.s.Igain 0.0
setp pid.s.Dgain 0.0
setp pid.s.bias 0
setp pid.s.FF0 4.8
setp pid.s.FF1 0
setp pid.s.FF2 0
setp pid.s.deadband 1.0
setp pid.s.maxoutput 1200

net s-output => pid.s.output
net s-pos-cmd => pid.s.command <= motion.spindle-speed-out
net s-vel-fb => pid.s.command-deriv


# ---PWM Generator signals/setup---


setp hm2_5i20.0.pwmgen.03.output-type 3
setp hm2_5i20.0.pwmgen.03.scale [SPINDLE_9]OUTPUT_SCALE


net s-output => hm2_5i20.0.pwmgen.03.value

net machine-is-enabled => hm2_5i20.0.pwmgen.03.enable pid.s.enable

# ---Encoder feedback signals/setup---

setp hm2_5i20.0.encoder.03.counter-mode 1
setp hm2_5i20.0.encoder.03.filter 1
setp hm2_5i20.0.encoder.03.index-invert 0
setp hm2_5i20.0.encoder.03.index-mask 0
setp hm2_5i20.0.encoder.03.index-mask-invert 0
setp hm2_5i20.0.encoder.03.scale [SPINDLE_9]ENCODER_SCALE


net spindle-revs <= hm2_5i20.0.encoder.03.position
net spindle-vel-fb <= hm2_5i20.0.encoder.03.velocity
net spindle-index-enable <=> hm2_5i20.0.encoder.03.index-enable

# ---setup spindle control signals---

net spindle-vel-cmd-rps <= motion.spindle-speed-out-rps
net spindle-on <= motion.spindle-on
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 => motion.spindle-speed-in
net spindle-index-enable <=> motion.spindle-index-enable

# ---Setup spindle at speed signals---

net s-pos-cmd => near.0.in1
net spindle-fb-filtered-abs-rpm => near.0.in2
net spindle-at-speed <= near.0.out
setp near.0.scale 1.000000
setp near.0.difference 5.333333

# Use ACTUAL spindle velocity from spindle encoder
# spindle-velocity bounces around so we filter it with lowpass
# spindle-velocity is signed so we use absolute component to remove sign
# ACTUAL velocity is in RPS not RPM so we scale it.

setp scale.spindle.gain 60
setp lowpass.spindle.gain 1.000000
net spindle-vel-fb => lowpass.spindle.in
net spindle-fb-filtered-rps lowpass.spindle.out => abs.spindle.in
net spindle-fb-filtered-abs-rps abs.spindle.out => scale.spindle.in
net spindle-fb-filtered-abs-rpm scale.spindle.out <= pid.s.feedback



Where should i link gearchange.0.speed-in ? ( encoder or commanded )
Where should i link gearchange.0.speed-out ?

You should have a "motion.spindle-speed-out", connect that to the "gearchange.0.speed-in ", then for the "gearchange.0.speed-out" connect that to "spindle-vel-cmd ===> hm2_5i23.0.pwmgen.00.value".

Here is my hal data,

net spindle-junk <=== motion.spindle-speed-out
net spindle-junk ===> gearchange.0.speed-in

net spindle-vel-cmd ===> hm2_5i23.0.pwmgen.00.value
net spindle-vel-cmd <=== gearchange.0.speed-out


Thanks

Rick

I tryed this code but i get error message because i have already linked it to pid. How to fix problem?

net s-output => pid.s.output => hm2_5i20.0.pwmgen.03.value
net s-output <= gearchange.0.speed-out ( linked to pid out ??? )
net s-pos-cmd => pid.s.command <= motion.spindle-speed-out
net s-pos-cmd => gearchange.0.speed-in ( linked to motion.spindle-speed-out ??? )
net s-vel-fb => pid.s.command-deriv

what should i do then with gearchange.0.speed-out and speed-in ?

do i have to use another scale component ??