Spinx1 to 7i85
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30 Nov 2015 17:28 #66121
by OT-CNC
Replied by OT-CNC on topic Spinx1 to 7i85
I changed it in the hal to counter-mode 1, now it looks like the pid should work. 
Is there a way to get the axis calibration to display the 2 spindle pids?
Is there a way to get the axis calibration to display the 2 spindle pids?
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30 Nov 2015 17:41 #66123
by OT-CNC
Replied by OT-CNC on topic Spinx1 to 7i85
Interesting. Is my counter mode off?? The spindle bounces back and fourth violently. Lol didn't think it could be this responsive. Reduced my p values,no change.
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30 Nov 2015 18:15 #66125
by andypugh
I wouldn't expect that to be right.
Do you have a full quadrature encoder?
You need the system to read positive clockwise and negative anticlockwise, and you need to be using a spindle speed setpoint that also varies between positive and negative.
counter-mode = 1 only ever reads positive velocities.
Replied by andypugh on topic Spinx1 to 7i85
I changed it in the hal to counter-mode 1, now it looks like the pid should work.
I wouldn't expect that to be right.
Do you have a full quadrature encoder?
You need the system to read positive clockwise and negative anticlockwise, and you need to be using a spindle speed setpoint that also varies between positive and negative.
counter-mode = 1 only ever reads positive velocities.
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30 Nov 2015 19:03 #66128
by OT-CNC
Replied by OT-CNC on topic Spinx1 to 7i85
Yes, A/A B/B Z/Z
I change the mode back to counter-mode 0
I was missing the Setp hm2_5i25.0.encoder.03.scale [SPINDLE] ENCODER_SCALE
Looks like its working! Need to tune now unless I'm still missing something. There are oscillations on the slow rpm, I see the cw/ccw leds on the spinx pulse at super low rpm. I also get pulsation at max rpm.
The M19 R180 works!!!
Amazing!
Thanks Andy and Peter for the help!
I change the mode back to counter-mode 0
I was missing the Setp hm2_5i25.0.encoder.03.scale [SPINDLE] ENCODER_SCALE
Looks like its working! Need to tune now unless I'm still missing something. There are oscillations on the slow rpm, I see the cw/ccw leds on the spinx pulse at super low rpm. I also get pulsation at max rpm.
The M19 R180 works!!!
Amazing!Thanks Andy and Peter for the help!
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30 Nov 2015 20:30 #66132
by andypugh
That does sound like tuning.
I am not sure what the Machine->Calibration utility uses to find things to tune with.
You can achieve nearly the same convenience from the halcmd prompt.
Open a terminal, then haldmd -kf
The setp pid.0.PGain 100 (etc)
When it seems to be working, "show pin pid*" then copy those values to the INI file.
halcmd has tab-completion and history, so up-arrow will take you back through previous commands.
Replied by andypugh on topic Spinx1 to 7i85
Looks like its working! Need to tune now unless I'm still missing something. There are oscillations on the slow rpm, I see the cw/ccw leds on the spinx pulse at super low rpm. I also get pulsation at max rpm.!
That does sound like tuning.
I am not sure what the Machine->Calibration utility uses to find things to tune with.
You can achieve nearly the same convenience from the halcmd prompt.
Open a terminal, then haldmd -kf
The setp pid.0.PGain 100 (etc)
When it seems to be working, "show pin pid*" then copy those values to the INI file.
halcmd has tab-completion and history, so up-arrow will take you back through previous commands.
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02 Dec 2015 02:20 #66193
by OT-CNC
Replied by OT-CNC on topic Spinx1 to 7i85
halcmd -kf worked. Thanks for the advice. Besides tuning, I ran into another issues of the rpm being off.
I noticed that the Hz displayed on the vfd do not match the rpm. If I type s60, I get 10hz, at s1 I get .5hz, S880 is 118hz! As set up, (118)120hz is max in the vfd and the motor spins full rpm around 3495rpm. In other words, linuxcnc is giving me full rpm starting around s700 on and up.
My simple configs have the rpm correct. What do I change in my vel mode?
Another question is in regarding tuning, if I check in hal configuration and look at the signals spindle-vel-cmd and spindle-vel-pid, should the values be close? My pid value come in much greater.
The encoder setup should be okay .When I rotate the spindle in pos mode, 0 and 180 are in the correct spot.
I noticed that the Hz displayed on the vfd do not match the rpm. If I type s60, I get 10hz, at s1 I get .5hz, S880 is 118hz! As set up, (118)120hz is max in the vfd and the motor spins full rpm around 3495rpm. In other words, linuxcnc is giving me full rpm starting around s700 on and up.
My simple configs have the rpm correct. What do I change in my vel mode?
Another question is in regarding tuning, if I check in hal configuration and look at the signals spindle-vel-cmd and spindle-vel-pid, should the values be close? My pid value come in much greater.
The encoder setup should be okay .When I rotate the spindle in pos mode, 0 and 180 are in the correct spot.
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02 Dec 2015 10:11 #66205
by andypugh
Ah, yes. As we switched the command and the feedback and the PID to revs-per-sec, you need to change the PWM scale to give 100% duty cycle at 60 revs-per-sec not 3500 rpm. Just change the pwmgen,0,scale to 60.
Replied by andypugh on topic Spinx1 to 7i85
halcmd -kf worked. Thanks for the advice. Besides tuning, I ran into another issues of the rpm being off.
I noticed that the Hz displayed on the vfd do not match the rpm. If I type s60, I get 10hz, at s1 I get .5hz, S880 is 118hz! As set up, (118)120hz is max in the vfd and the motor spins full rpm around 3495rpm. In other words, linuxcnc is giving me full rpm starting around s700 on and up.
Ah, yes. As we switched the command and the feedback and the PID to revs-per-sec, you need to change the PWM scale to give 100% duty cycle at 60 revs-per-sec not 3500 rpm. Just change the pwmgen,0,scale to 60.
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02 Dec 2015 19:22 #66220
by OT-CNC
Replied by OT-CNC on topic Spinx1 to 7i85
Andy, I have setp hm2_5i25.0.pwmgen.00.scale 60 already set and it's off. Does the pwm frequency need to be changed as well? It's set at 5khz (5000).
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02 Dec 2015 19:28 #66221
by andypugh
No, that should be fine.
First things first, have you tried with P I and D set to zero, and then adjusted FF0 to give a good speed match at mid-speed?
Replied by andypugh on topic Spinx1 to 7i85
Andy, I have setp hm2_5i25.0.pwmgen.00.scale 60 already set and it's off. Does the pwm frequency need to be changed as well? It's set at 5khz (5000).
No, that should be fine.
First things first, have you tried with P I and D set to zero, and then adjusted FF0 to give a good speed match at mid-speed?
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02 Dec 2015 19:53 #66222
by OT-CNC
Replied by OT-CNC on topic Spinx1 to 7i85
Okay, just adjusted the FF0 to give me 60 hz at s1765. That works!! Doing the PID in the terminal is awesome.
What is next? FF1, FF2?
What is next? FF1, FF2?
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