G96 CSS problem

####### #Spindle uses encoder.02 and pwmgen.02 ####### #spindle scales addf scale.0 servo-thread addf scale.1 servo-thread #10v/6000rpm=0.001667 setp scale.0.gain -0.0002 # offset for spindle #setp scale.0.offset 0.0001loadrt pwmgen output_type=0 # This creates a 1Hz signal setp scale.1.gain 60 #load abs comp make spindle RPM pos loadrt abs count=3 addf abs.0 servo-thread addf abs.1 servo-thread addf abs.2 servo-thread #spindle speed out limits loadrt limit1 count=1 addf limit1.0 servo-thread setp limit1.0.min -6000 setp limit1.0.max 6000 #set scale and pwm setp hm2_5i20.0.encoder.02.scale -4096 setp hm2_[HOSTMOT2](BOARD).0.pwmgen.02.output-type 1 net spindle-speed-limit motion.spindle-speed-out => limit1.0.in net spindle-speed-limit-out limit1.0.out => scale.0.in net spindle-speed-DAC scale.0.out => hm2_5i20.0.pwmgen.02.value net spindle-rpm => abs.1.in net spindle-speed-abs <= abs.1.out #spindle enable net spindle-enable-req motion.spindle-on => and2.1.in0 net spindle-brake-sensor hm2_5i20.0.gpio.051.in_not => and2.1.in1 net spindle-enable and2.1.out => hm2_5i20.0.pwmgen.02.enable # enable spindle drive net spindle-enable => hm2_5i20.0.gpio.065.out # force spindle lock pin out net spindle-enable => hm2_5i20.0.gpio.042.out # release spindle brake net spindle-brake-prg not.0.out => or2.2.in0 net spindle-brake-logic motion.spindle-brake => not.0.in net spindle-brake hm2_5i20.0.gpio.040.out <= or2.2.out #spindle sync net spindle-index motion.spindle-index-enable <= hm2_5i20.0.encoder.02.index-enable net spindle-velocity motion.spindle-speed-in <= hm2_5i20.0.encoder.02.velocity net spindle-revs motion.spindle-revs <= hm2_5i20.0.encoder.02.position net spindle-velocity => abs.0.in net spindle-v-abs abs.0.out => scale.1.in net spindle-v-abs-out <= scale.1.out # spindle speed net spindle-velocity mult2.0.in0 setp mult2.0.in1 60 net spindle-abs abs.2.in mult2.0.out net spindle-rpm abs.2.out # spindle at speed setp near.0.difference 0.1 net spindle-velocity near.0.in1 net com-spindle-vel near.0.in2 <= motion.spindle-speed-out-rps net spindle-at-speed near.0.out <= motion.spindle-at-speed # trick Axis net trick-axis motion.spindle-reverse ####### #end of spindle ######

#******************* # SPINDLE S #******************* # as I do use a 7i43 we will have to load the stuff for that # you may need to add this to your needs loadrt hostmot2 loadrt hm2_7i43 ioaddr=0xcc00 epp_wide=0 config="firmware=hm2/7i43/SVST4_4S.BIT num_encoders=2 num_pwmgens=2 num_stepgens=0" setp hm2_7i43.0.pwmgen.pwm_frequency 100000 setp hm2_7i43.0.pwmgen.pdm_frequency 100000 setp hm2_7i43.0.watchdog.timeout_ns 10000000 addf hm2_7i43.0.read servo-thread addf hm2_7i43.0.write servo-thread addf hm2_7i43.0.pet_watchdog servo-thread # for closed loop we ned a PID control, so lets load it loadrt pid num_chan=1 addf pid.0.do-pid-calcs servo-thread setp pid.0.Pgain [SPINDLE_9]P setp pid.0.Igain [SPINDLE_9]I setp pid.0.Dgain [SPINDLE_9]D setp pid.0.bias [SPINDLE_9]BIAS setp pid.0.FF0 [SPINDLE_9]FF0 setp pid.0.FF1 [SPINDLE_9]FF1 setp pid.0.FF2 [SPINDLE_9]FF2 setp pid.0.deadband [SPINDLE_9]DEADBAND setp pid.0.maxoutput [SPINDLE_9]MAX_OUTPUT # ---PWM Generator signals/setup--- # no quadratur counting = 1 else 0 setp hm2_7i43.0.pwmgen.01.output-type 1 # Set the spindle's top speed in RPM setp hm2_7i43.0.pwmgen.01.scale 3500 # ---Encoder feedback signals/setup--- setp hm2_7i43.0.encoder.01.counter-mode 1 setp hm2_7i43.0.encoder.01.filter 1 setp hm2_7i43.0.encoder.01.index-invert 0 setp hm2_7i43.0.encoder.01.index-mask 0 setp hm2_7i43.0.encoder.01.index-mask-invert 0 setp hm2_7i43.0.encoder.01.scale [SPINDLE_9]INPUT_SCALE # we need a scale for feedback to the pid loadrt scale names=scale_rps_to_rpm addf scale_rps_to_rpm servo-thread setp scale_rps_to_rpm.gain 60 # ---setup spindle control signals--- net spindle-on hm2_7i43.0.pwmgen.01.enable <= pid.0.enable <= motion.spindle-on net spindle-vel-cmd pid.0.command <= motion.spindle-speed-out net spindle-output pid.0.output => hm2_7i43.0.pwmgen.01.value net spindle-vel-fb-rps hm2_7i43.0.encoder.01.velocity => scale_rps_to_rpm.in net spindle-vel-fb-rpm scale_rps_to_rpm.out => pid.0.feedback net spindle-vel-fb-rpm motion.spindle-speed-in net spindle-index-enable motion.spindle-index-enable <= hm2_7i43.0.encoder.01.index-enable ############################## # spindle at speed detection # ############################## loadrt near names=near_spindle_speed addf near_spindle_speed servo-thread # set the spindle speed inputs to agree if within 3% setp near_spindle_speed.scale 1.03 # connect one input to the commanded spindle speed # we declared above already # net spindle-vel-cmd pid.0.command <= motion.spindle-speed-out net spindle-vel-cmd near_spindle_speed.in1 # and the other input to the encoder-measured spindle speed # we declared above already # net spindle-vel-fb-rpm scale_rps_to_rpm.out => pid.0.feedback net spindle-vel-fb-rpm near_spindle_speed.in2 # connect the output to the spindle-at-speed input net spindle-at-speed motion.spindle-at-speed <= near_spindle_speed.out

loadrt abs names=abs_spindle_feedback addf abs_spindle_feedback servo-thread net spindle-vel-fb-rpm abs_spindle_feedback.in net spindle-speed-rpm abs_spindle_feedback.out => gmoccapy.spindle_feedback_bar net spindle-at-speed gmoccapy.spindle_at_speed_led