Orient component revised

alkabal
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6 years 8 months ago #157082 by alkabal

Replied by alkabal on topic Orient component

Hi

Without the use of ini file i have try to add spindle homing immediatly after axis.0.homed = 1

But i have many trouble understanding what append with the spindle index-enable status and the checking process.

You suggest to check elsewhere in the linuxcnc code regarding to the homing sequence ?

Can i ask what do you think about :
1 - including some new pin for more easy setup in the actual component
2 - changing the command logic like i try to do with orientv4

Br

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andypugh
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6 years 8 months ago #158538 by andypugh

Replied by andypugh on topic Orient component

Sorry, I have been away from the forums for a while.

If you can be sure that the spindle will always turn past the index before the first tool change, then you could simply

sets spindle-index-enable 1

in the HAL file. (but spindle-index-enable should be replaced by whatever the signal that is attached to your spindle index really is called in your config)

A custom HAL component that the spindle speed commands pass through could work. It would also need a HAL pin to toggle and sense the index-enable.
ie, it sees asis.N.home go true, it over-rides the pass-through spindle commands to a low speed and sets the spindle-index-enable. It then returns to passive pass-through mode when the index-enable goes false.

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alkabal
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6 years 8 months ago #158882 by alkabal

Replied by alkabal on topic Orient component

Hi

Sorry for late reply, i'm a little busy converting my lathe from MK to LinuxCNC with mesa 7i76e + rpi4.

I check a little more for this component asap.

Br, thanks for reply

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alkabal
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6 years 7 months ago - 6 years 7 months ago #160238 by alkabal

Replied by alkabal on topic Orient component

Hello

Restarting to work with my component, but i have some trouble for direction calculation, i'm sure it's some simple error but...

Code:

// 100% sure someone can write this calc more cleaner...
       rev = position;                 // converting to int for extract full rev only for internal calc
       tempcalc = (position - rev) * 360.0;      // converting to degree in a -360 to 360 range 
                                             // converting to degree in 0 to 360 to 0 range
       if (tempcalc < 0) scaled_angle_out = 360 + tempcalc; else scaled_angle_out = tempcalc;
       angle_deviation = angle_scaled_out - angle;
// 100% sure someone can write this calc more cleaner...

Code:

                    if (angle_deviation < 0 && fabs angle_deviation > 180) cmd_to_pid_orient = -vel_speed; else cmd_to_pid_orient = vel_speed;
                    if (angle_deviation > 0 && fabs angle_deviation > 180) cmd_to_pid_orient = vel_speed; else cmd_to_pid_orient = vel_speed;

Any help or report proble is really welcom, i will like to be very simple for setup and if i'm not in wrong direction i like to do a accurate orient process.

I have added a automatic spindle homing process immediately after first axis is homed.

Attached is component file

hal setup is here :

Code:

#####################################################################
# Spindle orient mode
#####################################################################
loadrt orientv4 names=orient.orient-spindle
loadrt pid      names=pid.orient-spindle

addf orient.orient-spindle                  servo-thread
addf pid.orient-spindle.do-pid-calcs        servo-thread

# setup Orient Spindle PID
setp pid.orient-spindle.Pgain        [ORIENT]P
setp pid.orient-spindle.Igain        [ORIENT]I
setp pid.orient-spindle.Dgain        [ORIENT]D
setp pid.orient-spindle.FF0          [ORIENT]FF0
setp pid.orient-spindle.FF1          [ORIENT]FF1
setp pid.orient-spindle.FF2          [ORIENT]FF2
setp pid.orient-spindle.bias         [ORIENT]BIAS
setp pid.orient-spindle.deadband     [ORIENT]DEADBAND
setp pid.orient-spindle.maxerror     [ORIENT]MAX_ERROR
setp pid.orient-spindle.maxerrorI    [ORIENT]MAX_ERROR_I
setp pid.orient-spindle.maxoutput    [ORIENT]MAX_OUTPUT

setp orient.orient-spindle.vel-speed [ORIENT]VEL_SPEED
setp orient.orient-spindle.tolerance [ORIENT]AT_ANGLE_TOL

# encoder connections feedback
net spindle-pos          => orient.orient-spindle.position
net spindle-pos-deg      <= orient.orient-spindle.scaled-angle-out

# Index connection
net spindle-index-enable <=> orient.orient-spindle.index-enable
net spindle-index-enable  => pid.orient-spindle.index-enable

# Spindle homing link for homing spindle with machine homing
net machinehomed <= joint.0.homed
net machinehomed => orient.orient-spindle.machine-is-homed

# Set asked mode from M19 P0/1/2
net spindle-orient-mode <= spindle.0.orient-mode
net spindle-orient-mode => orient.orient-spindle.mode

# If spindle is not homed report error and cancel orient process
net spindle-orient-error <= orient.orient-spindle.error-not-homed
net spindle-orient-error => spindle.0.orient-fault 

# Spindle orient enable control signals
net spindle-orient-enable     <= spindle.0.orient
net spindle-orient-enable     => orient.orient-spindle.enable

# Pid enable from orient component 
net spindle-orient-pid-ena <= orient.orient-spindle.ena-out-pid-muxed
net spindle-orient-pid-ena => pid.orient-spindle.enable

# enable out for controler from regular spindle or orient mode
net spindle-enable             => orient.orient-spindle.ena-from-velocity
net spindle-orient-enable-out  <= orient.orient-spindle.ena-out-muxed
# moved in the orient input/output but initially in spindle setup
net spindle-orient-enable-out  => [HMOT](CARD0).7i83.0.0.analogena0 

# Is oriented near signal + link position asked to component
net spindle-orient-degree-cmd <= spindle.0.orient-angle
net spindle-orient-degree-cmd => orient.orient-spindle.angle
net spindle-is-oriented <= orient.orient-spindle.is-oriented
net spindle-is-oriented => spindle.0.is-oriented

# Command to pid from component by velocity and velocity feedback
net spindle-orient-vel   <= orient.orient-spindle.cmd-to-pid-orient
net spindle-orient-vel   => pid.orient-spindle.command
net spindle-vel-rpm      => pid.orient-spindle.feedback                # feedback velocity mode

# Input speed velocity from normal mode inside component
# the component passthru the spindle velocity to the Card signal generator or send orient velocity
net spindle-orient-pid-in-out <= pid.orient-spindle.output
net spindle-orient-pid-in-out => orient.orient-spindle.cmd-from-pid-orient
net spindle-vel-cmd-out       => orient.orient-spindle.cmd-from-pid-velocity
net spindle-orient-ctrl-out   <= orient.orient-spindle.cmd-out-muxed
 # moved in the orient input/output but initially in spindle setup
net spindle-orient-ctrl-out   => [HMOT](CARD0).7i83.0.0.analogout0

Last edit: 6 years 7 months ago by alkabal.

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andypugh
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6 years 7 months ago - 6 years 7 months ago #160778 by andypugh

Replied by andypugh on topic Orient component

Code:

                    if (angle_deviation < 0 && fabs angle_deviation > 180) cmd_to_pid_orient = -vel_speed; else cmd_to_pid_orient = vel_speed;
                    if (angle_deviation > 0 && fabs angle_deviation > 180) cmd_to_pid_orient = vel_speed; else cmd_to_pid_orient = vel_speed;

- else +
+ else +

That seems inconsistent.
Also, doesn't it need to be fabs(something) ?

Consider angle_deviation = 100. Both conditions are false, so cmd_to_orient_pid is not set. Is that what you want?

I think I would have something like.

Code:

if ( angle_deviation > 0){
    if (fabs(angle_deviation) > 180){
        command_to_orient_pid = -vel_speed;
    } else {
        command_to_orient_pid = vel_speed;
    }
} else {
    if (fabs(angle_deviation) > 180){
        command_to_orient_pid = vel_speed;
    } else {
        command_to_orient_pid = -vel_speed;
    }
}

Last edit: 6 years 7 months ago by andypugh.

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alkabal
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6 years 7 months ago - 6 years 7 months ago #160792 by alkabal

Replied by alkabal on topic Orient component

Yes sorry this is a tipo mistake inside last attempt, but unfortunatly nothing work 100% from this way else without this error

angle_deviation can be positive or negative and if more than 180% need to reverse direction.

Maybee i'm thinking about bad initialised variable because with your more cleaner solution this does not work fine from 0 as 120 and spindle go reverse, from 120 to 140 run reverse, from 140 to 120 run reverse (but is ok for this one lol)

also try

Code:

                if (fabs(angle_deviation) > 180){
                    if (angle_deviation > 0){
                        cmd_to_pid_orient = vel_speed;
                    } else {
                        cmd_to_pid_orient = -vel_speed;
                    }
                } else {
                    if (angle_deviation > 0){
                        cmd_to_pid_orient = -vel_speed;
                    } else {
                        cmd_to_pid_orient = vel_speed;
                    }
                }

Thanks

Last edit: 6 years 7 months ago by alkabal.

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