Mill atc configuration

growing to next index pulse and set to 0.

Yes but does 'orient.pid-.feedback' grow from 0 to 1 in one revolution? Theoretically it should get to 1.0 and then go to 0.0 but that may be difficult to do by hand.

Now with scale go from 0 to 0.00434782 and set to 0

so there is clearly a problem but I'm a bit confused now.

If you look at 'hm2_5i25.0.encoder.04.position', what value does it count to in one revolution of the spindle?

 

Ah ok, thanks for the edit, because that had me really confused
 

I'm sorry there seems to have been a misunderstanding at some time because
if your hm2_5i25.0.encoder.04.position already counts from 0..1 we don't want the
'scale.orient' component.

So in your hal file change this:

# Encoder position into orient component and orient pid
setp scale.orient.gain 0.004347826
net spindle-revs scale.orient.in
net spindle-revs-scaled <= scale.orient.out orient.position orient-pid.feedback


to this:

# Encoder position into orient component and orient pid
net spindle-revs orient.position orient-pid.feedback

You can also remove the 'loadrt' and 'addf' for scale.orient.

Hm, not sure, could you add 'orient.poserr' to the halshow?

Ok, it's taken me a long time but I think I found the problem:

Try and add this to all the 'addf' lines in your ini:

addf orient servo-thread