Orient component revised

alkabal wrote:

Hi you can you try with this edited version ?

with this, the hal spindle does not turn on at all

alkabal wrote:

VEL_SPEED =

what is in this meaning? maximum spindle speed? or orientation speed?

What signal is the basis for activating the drive for index mark search? Homed?

VEL_SPEED = base speed cmd from orient

on my machine for orient i can ask 12rpm, this value is parsed to pid in and pid work from 0 to 80rpm

The spindle speed management need to be RPM

My spindle setup use limit2 from speed cmd to pid input with min max 3600rpm
Spindle pid and pwm/analog need to be configured accordingly to something like 0 to 3900rpm for scaling

So in this situation your spindle pid can work from 0 to 3900rpm, and the orient pid can only work from 0 to 80rpm but using the same scale pwm/analog (0/3900)


for other question about homing :

If you have linked this signal, the orient homing process start immediately after joint.2.homed is homed
net machinehomed <= joint.2.homed # or other one
net machinehomed => orient.orient-spindle.machine-is-homed
net machine.is-on => orient.orient-spindle.machine-is-on

Or homing is done automatically when you ask first spinlde move, or orient move

For me the first things to do is configure spindle for work in RPM with original output from spindle config
Second things to do is found value for pid allowing spindle to rotate very slowly and put this value in the orient ini
Third things make spindle working with the passthru orient process

after that i think you are more close to make it work

Hi

I'm in the process to rewrite the code but i have some questions

What did you think ?

Is better to mix orient with the possibility to connect a C axis and in this way this is possible to use both command M19PxRxxx or G1CxxxFxxx.
This also add the possibility to jog spindle using internal pin for jog signals. (possible to use GUI or halui or MPG for jog)
I think in this way we can use internal pin for homing.
(this option add some trouble for use only 0>360>0)


Or is better to have Orient only by M19 and keep axis C free for other purpose ? (only possible to jog with external MPG, imo impossible from GUI without some pyvcp panel)
In this way the component manage all the stuff.

Br

Thanks for reply

I'm not sure that help me for choose the best direction lool

extending the component for C axis add more complication than excepted
-need to study WRAPPED_ROTARY
-homing process with ini value set all to 0 does not trigger the pin joint.4.homing and with ini value add more problem.
-the C axis can be asked to move even with spindle rotating and i does not found other way than comparing actual angle vs C axis position for replacing missing enable signal-etc etc

So the best question is possibly : Did you see any application for a C axis using a standard spindle motor driven by analog/pwm that i think is always slow and torque less ?

work in progress code with fake C axis management as beta state

I think my setup is near that you try with this man.

Spindle component for ramp up and ramp down before stop and ramp down before changing direction

Orient with jog mode and homing facility

I do not need to reset index when i switch mode because i do first a homing spindle with always the same speed, so the index position stay allways the same.