Lathe Question

Is your spindle configured as a spindle or a rotating axis?

John

I don't think this is possible... but I might be wrong. Normally commands that move axis when combined with a rotary all want to end up at the end point at the same time AFAIK.

John

It is possible to have both a velocity-mode and position mode stepgen running in HAL, and to swap which one is connected to the parallel port (or other IO card)
This HAL file does it by using a set of "and" "not" and "or" functions to swap the connected stepgen under the control of motion.spindle.is-on.
unconventional parts in green

loadrt trivkins
loadrt [EMCMOT]EMCMOT base_period_nsec=[EMCMOT]BASE_PERIOD servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[TRAJ]AXES
loadrt probe_parport
loadrt hal_parport cfg="0x378 out "
setp parport.0.reset-time 5000
loadrt stepgen step_type=0,0,0,0 ctrl_type=p,p,v,p
loadrt pwmgen output_type=0
loadrt scale
loadrt and2 count=5
loadrt or2 count=2
loadrt not count=1
loadrt comp count=1
loadrt conv_s32_float count=1

addf parport.0.read base-thread
addf stepgen.make-pulses base-thread
addf parport.0.write base-thread
addf parport.0.reset base-thread

addf and2.0 base-thread
addf and2.1 base-thread
addf and2.2 base-thread
addf and2.3 base-thread
addf and2.4 servo-thread
addf or2.0 base-thread
addf or2.1 base-thread
addf not.0 servo-thread
addf comp.0 servo-thread
addf conv-s32-float.0 servo-thread

addf stepgen.capture-position servo-thread
addf motion-command-handler servo-thread
addf motion-controller servo-thread
addf stepgen.update-freq servo-thread

#net remstart halui.mode.auto halui.program.pause <= parport.0.pin-12-in

#net estop-out => parport.0.pin-01-out
net xstep => parport.0.pin-03-out
setp parport.0.pin-03-out-reset 1
net xdir => parport.0.pin-04-out
net zstep => parport.0.pin-05-out
setp parport.0.pin-05-out-reset 1
net zdir => parport.0.pin-06-out
net astep => parport.0.pin-01-out
setp parport.0.pin-01-out-reset 0
net adir => parport.0.pin-02-out
net lower-mill-spindle => parport.0.pin-07-out

setp stepgen.0.position-scale [AXIS_0]SCALE
setp stepgen.0.steplen 1
setp stepgen.0.stepspace 0
setp stepgen.0.dirhold 35000
setp stepgen.0.dirsetup 35000
setp stepgen.0.maxaccel [AXIS_0]STEPGEN_MAXACCEL
net xpos-cmd axis.0.motor-pos-cmd => stepgen.0.position-cmd
net xpos-fb stepgen.0.position-fb => axis.0.motor-pos-fb
net xstep <= stepgen.0.step
net xdir <= stepgen.0.dir
net xenable axis.0.amp-enable-out => stepgen.0.enable

setp stepgen.1.position-scale [AXIS_1]SCALE
setp stepgen.1.steplen 1
setp stepgen.1.stepspace 0
setp stepgen.1.dirhold 35000
setp stepgen.1.dirsetup 35000
setp stepgen.1.maxaccel [AXIS_1]STEPGEN_MAXACCEL
net zpos-cmd axis.2.motor-pos-cmd => stepgen.1.position-cmd
net zpos-fb stepgen.1.position-fb => axis.2.motor-pos-fb
net zstep <= stepgen.1.step
net zdir <= stepgen.1.dir
net zenable axis.2.amp-enable-out => stepgen.1.enable

#####Spindle stepgen, velocity mode#######
setp stepgen.2.position-scale [AXIS_2]SCALE
setp stepgen.2.steplen 1
setp stepgen.2.stepspace 0
setp stepgen.2.dirhold 35000
setp stepgen.2.dirsetup 35000
setp stepgen.2.maxaccel [AXIS_2]STEPGEN_MAXACCEL
net avel-cmd motion.spindle-speed-out => stepgen.2.velocity-cmd
net vstep <= stepgen.2.step
net vdir <= motion.spindle-reverse
net aenable axis.3.amp-enable-out => stepgen.2.enable

setp stepgen.3.position-scale [AXIS_3]SCALE
setp stepgen.3.steplen 1
setp stepgen.3.stepspace 0
setp stepgen.3.dirhold 35000
setp stepgen.3.dirsetup 35000
setp stepgen.3.maxaccel [AXIS_3]STEPGEN_MAXACCEL
net apos-cmd axis.3.motor-pos-cmd => stepgen.3.position-cmd
net apos-fb stepgen.3.position-fb => axis.3.motor-pos-fb
net pstep <= stepgen.3.step
net pdir <= stepgen.3.dir
net aenable axis.3.amp-enable-out => stepgen.3.enable


net vmode motion.spindle-on => not.0.in and2.1.in1 and2.3.in1
net pmode not.0.out => and2.0.in1 and2.2.in1
net pstep => and2.0.in0
net vstep => and2.1.in0
net pdir => and2.2.in0
net vdir => and2.3.in0
net pstep-sw and2.0.out => or2.0.in0
net vstep-sw and2.1.out => or2.0.in1
net pdir-sw and2.2.out => or2.1.in0
net vdir-sw and2.3.out => or2.1.in1

net astep <= or2.0.out
net adir <= or2.1.out

net estop-out <= iocontrol.0.user-enable-out
net estop-out => iocontrol.0.emc-enable-in

loadusr -W hal_manualtoolchange
setp comp.0.in0 1.5
net tool-change iocontrol.0.tool-change => hal_manualtoolchange.change
net tool-changed iocontrol.0.tool-changed <= hal_manualtoolchange.changed
net tool-number iocontrol.0.tool-prep-number => hal_manualtoolchange.number
net tool-prepare-loopback iocontrol.0.tool-prepare => iocontrol.0.tool-prepared
net tool-installed-s32 iocontrol.0.tool-number => conv-s32-float.0.in
net tool-installed-float conv-s32-float.0.out => comp.0.in1
net lower-mill-spindle <= comp.0.out

Andy,

That is pretty neat... took me a bit to grasp it all at first.

I assume that if you have a rotary and spindle g code together the spindle takes charge?

John