Traub Bosch cc100 retrofit

Spindle alignment is not a particularly difficult thing, but because every machine is different it is hard to create a universal solution.

In theory you are just using the spindle as another servo axis. So you need a PID component to control that.
The position set-point can be provided by the M19 command and the motion.spindle-orient-angle HAL pin.
You don't want this PID active all the time, so you can enebale it with the motion.spindle-orient pin which is only set when an M19 is in force.

At any given time the spindle position might be thousands of turns from zero. You don't want the PID to "unwrap" all those turns when you enable spindle orient, so there is a HAL component that provides a version of the orient angle _plus_ all the complete revolutions on the encoder counter. www.linuxcnc.org/docs/html/man/man9/orient.9.html You can use that to provide an actually useful target position for the spindle.

You need to combine the output of the spindle-orient PID component with the whatever currently drives the spindle. As you only orient with the spindle stopped, you can generally just add it to the spindle.speed-out... pin before it goes to the VFD control outputs. Or you could use a mux2 also operated by motion.spindle-orient to make sure that the spindle is controlled by either the speed command _or_ the orient PID, but not both.

I hope that is clear. I suspect it isn't..

I added a block-diagram to the LinuxCNC Wiki page

wiki.linuxcnc.org/cgi-bin/wiki.pl?SpindleOrient

(Unfortunately I can't figure out how to embed the image, you need to click the orient.svg link to see it)

Note that the diagram shows a system that is closed-loop in both position and velocity modes.

aventtini wrote:

For example why the machine is moving from A to B in a arc and not 90 degrie ? what happens is , i was in a holle whit a mill the carbide insert was gone i wanted to change . I press stop and change . Then press play , i forgotten to run from here . It retracted in in a arc and damaged a side because it tryed to go start point but in the short way . There is any way that it can be changed ?

What was the command that you started the program on? Can you show the G-code?
If it was:
G0 Z 100
G0 X 100
and you saw an arc then it seems likely that you might want to consider your blending tolerance, or possibly reconsider your axis accels. (I am going to ask around about arc-blending in rapids)

If the two moves were on the same line, then a diagonal move is to be expected.

Have a look at the sample configuration and simulator here:

www.linuxcnc.org/index.php/english/forum...-hal-questions#58732