Recognition of Spindle Emergency Stop
21 Jan 2024 19:55 #291278
by Gnevko
Recognition of Spindle Emergency Stop was created by Gnevko
Hi people!
I'm trying to create the simple hal configuration file for the spindle (servo motor), driwing with step/dir instruction. My problem at the moment is, how to stop programm (or mashine at all), if spindle becomes an error and doesn't rotate anymore ? In the following hal configuration I try to use spindle.0.brake but it seems to be not a good idea.
Thank you in advance!
I'm trying to create the simple hal configuration file for the spindle (servo motor), driwing with step/dir instruction. My problem at the moment is, how to stop programm (or mashine at all), if spindle becomes an error and doesn't rotate anymore ? In the following hal configuration I try to use spindle.0.brake but it seems to be not a good idea.
#*******************
# SPINDLE
#*******************
setp hm2_7i95.0.encoder.05.counter-mode 0
setp hm2_7i95.0.encoder.05.filter 1
setp hm2_7i95.0.encoder.05.index-invert 0
setp hm2_7i95.0.encoder.05.index-mask 0
setp hm2_7i95.0.encoder.05.index-mask-invert 0
setp hm2_7i95.0.encoder.05.scale [SPINDLE_0]ENCODER_SCALE
setp hm2_7i95.0.stepgen.05.dirsetup [SPINDLE_0]DIRSETUP
setp hm2_7i95.0.stepgen.05.dirhold [SPINDLE_0]DIRHOLD
setp hm2_7i95.0.stepgen.05.steplen [SPINDLE_0]STEPLEN
setp hm2_7i95.0.stepgen.05.stepspace [SPINDLE_0]STEPSPACE
setp hm2_7i95.0.stepgen.05.position-scale [SPINDLE_0]OUTPUT_SCALE
setp hm2_7i95.0.stepgen.05.step_type 0 #0 = Step/Dir
setp hm2_7i95.0.stepgen.05.control-type 1 #1 = velocity control mode
setp hm2_7i95.0.stepgen.05.maxaccel [SPINDLE_0]STEPGEN_MAXACCEL
setp hm2_7i95.0.stepgen.05.maxvel [SPINDLE_0]STEPGEN_MAXVEL
#connect the encoder to the spindle
net spindle-velocity-signal hm2_7i95.0.encoder.05.velocity #the hal signal will be used in more places
net spindle-speed-out-signal spindle.0.speed-out #the hal signal will be used in more places
net spindle-pos-encoder hm2_7i95.0.encoder.05.position => spindle.0.revs
net spindle-velocity-signal => spindle.0.speed-in
net spindle-index-enable hm2_7i95.0.encoder.05.index-enable <=> spindle.0.index-enable
#connect the spindle to the step generator
net spindle-enable spindle.0.on => hm2_7i95.0.stepgen.05.enable
net spindle-speed-out-signal => hm2_7i95.0.stepgen.05.velocity-cmd
#*******************
#stopping the program if the spindle fails
#*******************
loadrt near names=near_spindle_stop # spindle stop reset, regardless of the reason
loadrt timedelay names=timedelay_spindle_stop # time delay for switching to emergency shutdown mode
loadrt and2 names=and2_spindle_stop_logic # spindle stop - is the spindle stop planned or is it an emergency?
# Add the new components to the servo thread
addf near_spindle_stop servo-thread
addf timedelay_spindle_stop servo-thread
addf and2_spindle_stop_logic servo-thread
setp near_spindle_stop.scale 1 #default value
setp near_spindle_stop.difference [SPINDLE_0]MAX_ERROR # Threshold for detecting spindle stop
setp timedelay_spindle_stop.on-delay 0 # The time, in seconds, for which in must be true before out becomes true
setp timedelay_spindle_stop.off-delay [SPINDLE_0]DELAY_TIME # Immediate deactivation delay (optional)
net spindle-velocity-signal => near_spindle_stop.in2
net near-spindle-stopped near_spindle_stop.out => timedelay_spindle_stop.in
# Logic to determine if the spindle stop is expected
net spindle-brake-commanded spindle.0.brake => and2_spindle_stop_logic.in0
net and2-spindle-stopped timedelay_spindle_stop.out => and2_spindle_stop_logic.in1
# Only trigger emergency stop if the stop was unexpected
net unexpected-spindle-stop and2_spindle_stop_logic.out => halui.estop.activateThank you in advance!
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21 Jan 2024 20:28 #291283
by spumco
Replied by spumco on topic Recognition of Spindle Emergency Stop
Assuming your servo amp has a fault output, I would use motion.spindle.N.amp-fault-in.
linuxcnc.org/docs/devel/html/man/man9/mo....html#SPINDLE%20PINS
You will likely need to check and perhaps edit how 'fault' is defined in your drive and make sure that definition covers everything you consider a fault. Like over-current, following error, etc.
Keep in mind that halui pins don't work while the machine in running a program (auto mode), so halui.estop.activate won't work like I think you want.
Bonus: if you have other components you want to trigger an estop (or similar fault condition), a somewhat recent addition to LCnC are motion.misc-error-NN pins. These are defined in the same HAL line as your digital-in/analog-in values. Thusly:
num_dio=[EMCMOT](DIO) num_aio=[EMCMOT](AIO) num_misc_error=[EMCMOT](MISC_ERRORS)
linuxcnc.org/docs/devel/html/man/man9/mo....html#SPINDLE%20PINS
You will likely need to check and perhaps edit how 'fault' is defined in your drive and make sure that definition covers everything you consider a fault. Like over-current, following error, etc.
Keep in mind that halui pins don't work while the machine in running a program (auto mode), so halui.estop.activate won't work like I think you want.
Bonus: if you have other components you want to trigger an estop (or similar fault condition), a somewhat recent addition to LCnC are motion.misc-error-NN pins. These are defined in the same HAL line as your digital-in/analog-in values. Thusly:
num_dio=[EMCMOT](DIO) num_aio=[EMCMOT](AIO) num_misc_error=[EMCMOT](MISC_ERRORS)
The following user(s) said Thank You: Gnevko, smc.collins
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22 Jan 2024 10:35 #291330
by Gnevko
Replied by Gnevko on topic Recognition of Spindle Emergency Stop
Thank you for your response; it was truly helpful!
My initial idea was to compare the stepgen command and encoder input to identify spindle motor faults. However, using an AMP signal is a more effective approach, despite the drawback of requiring the installation of an additional signal cable.
My initial idea was to compare the stepgen command and encoder input to identify spindle motor faults. However, using an AMP signal is a more effective approach, despite the drawback of requiring the installation of an additional signal cable.
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22 Jan 2024 17:49 #291350
by Gnevko
Replied by Gnevko on topic Recognition of Spindle Emergency Stop
Now it looks like this:and it works! thank you!
#*******************
#stopping the program if the spindle fails
#*******************
net servo-amplifier-fault hm2_7i95.0.inmux.00.input-07-not => spindle.0.amp-fault-inPlease Log in or Create an account to join the conversation.
23 Jan 2024 18:44 #291445
by Gnevko
Replied by Gnevko on topic Recognition of Spindle Emergency Stop
I understand that my question might not directly relate to the topic name, but what is the best practice for accelerating (and more importantly, decelerating) the hm2 stepgen in velocity mode?
I ask because I found a parameter like this - hm2_7i95.0.stepgen.05.maxaccel - but I couldn't find anything about deceleration.
Thank you in advance!
I ask because I found a parameter like this - hm2_7i95.0.stepgen.05.maxaccel - but I couldn't find anything about deceleration.
Thank you in advance!
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23 Jan 2024 20:01 #291460
by Aciera
Replied by Aciera on topic Recognition of Spindle Emergency Stop
The 'maxaccel' value also applies to deceleration.
For more exposure about best practice when using hm2 stepgen in velocity mode you may want to start a new topic.
For more exposure about best practice when using hm2 stepgen in velocity mode you may want to start a new topic.
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24 Jan 2024 07:01 #291496
by Gnevko
Replied by Gnevko on topic Recognition of Spindle Emergency Stop
thank you, you are right - the new topic is
hier
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