Gearchange comp. - Problem with spindle speed

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Cynas
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30 Dec 2019 12:39 #153548 by Cynas

Gearchange comp. - Problem with spindle speed was created by Cynas

Hello, I'm trying to run a gear change using the component

component gearchangefadal "A component to choose spindle gears according to spindle speed";
pin in float speed-command;
pin in bit spindle-on;
pin in bit manual-low;
pin in bit manual-high;
pin in bit brake-enable;
pin out float motor-speed;
pin out bit low-gear;
pin out bit high-gear;
pin out bit brake;
param rw float low-ratio=3;
param rw float high-ratio=1;
param rw float max-low = 50;

author "andy pugh";
license "GPL";
function _;

;;

FUNCTION(_){
    static int old_M3;

    if (spindle_on) {
        if (!old_M3){ // spindle off to on transition
            if (manual_high) {
                high_gear = 1;
                low_gear = 0;
                brake = 0;
            }
            else if (manual_low){
                high_gear = 0;
                low_gear = 1;
                brake = 0;
            } else if (speed_command <= max_low){
                high_gear = 0;
                low_gear = 1;
                brake = 0;
            } else {
                high_gear = 1;
                low_gear = 0;
                brake = 0;
            }
        }
    } else { //spindle off
        brake = brake_enable;
    }
        
    old_M3 = spindle_on;

    if (high_gear){
        motor_speed = speed_command * high_ratio;
    } else if (low_gear){
        motor_speed = speed_command * low_ratio;
    }
}

everything works fine if it uses:

net spindle-vel-cmd-rpm-abs => gearchange.0.speed-command

however, the value changes when I use the spindle speed potentiometer, and this is incorrect for me.

I found a constant value for the spindle speed

net spindle-speed-cmd-rps <= motion.spindle-speed-cmd-rps
net spindle-speed-cmd-rps =>  gearchange.0.speed-command

unfortunately the gearbox doesn't want to work properly. The spindle always starts in low gear despite the fact that the HAL METER values are correct and visible.

I also tried to use the converter with float-> s32 and s32-> float

Anyone know why this is happening ??
Is there another signal that would be helpful to me?

Thank you for your help

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PCW
Away
Moderator

30 Dec 2019 15:14 #153551 by PCW

Replied by PCW on topic Gearchange comp. - Problem with spindle speed

Can you post your hal file?

The following user(s) said Thank You: Cynas

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Cynas
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New Member

31 Dec 2019 16:56 #153615 by Cynas

Replied by Cynas on topic Gearchange comp. - Problem with spindle speed

Thank you for your interest

I solved the problem. I don't know why when I was sending the ABS value to the component it did not work properly.

I am using now:

net spindle-speed-cmd-rps <= motion.spindle-speed-cmd-rps
net spindle-speed-cmd-rps => gearchangefadal.0.speed-command

and in the component I changed:

else if (speed_command >= (max_low)*(-1) && speed_command <= max_low){
                high_gear = 0;
                low_gear = 1;
                brake = 0;

I tried to add: else if ( absf ( speed_command ) <= max_low), but it displays an error, and I took shortcuts

best regards

ps: I will give it all, maybe someone will be useful

component gearchangefadal "A component to choose spindle gears according to spindle speed";
pin in float speed-command;
pin in bit spindle-on;
pin in bit manual-low;
pin in bit manual-high;
pin in bit brake-enable;
pin out float motor-speed;
pin out bit low-gear;
pin out bit high-gear;
pin out bit brake;
param rw float low-ratio=3;
param rw float high-ratio=1;
param rw float max-low = 50;

author "andy pugh";
license "GPL";
function _;

;;

FUNCTION(_){
    static int old_M3;
	float fabsf;

    if (spindle_on) {
        if (!old_M3){ // spindle off to on transition
            if (manual_high) {
                high_gear = 1;
                low_gear = 0;
                brake = 0;
            }
            else if (manual_low){
                high_gear = 0;
                low_gear = 1;
                brake = 0;
            } else if (speed_command >= (max_low)*(-1) && speed_command <= max_low){
                high_gear = 0;
                low_gear = 1;
                brake = 0;
            } else {
                high_gear = 1;
                low_gear = 0;
                brake = 0;
            }
        }
    } else { //spindle off
        brake = brake_enable;
    }
        
    old_M3 = spindle_on;

    if (high_gear){
        motor_speed = speed_command * high_ratio;
    } else if (low_gear){
        motor_speed = speed_command * low_ratio;
    }
}

The following user(s) said Thank You: J Green

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