Ethercat Servo spindle orient example required

Hi
I am working on ethercat servo which work well on axis
i can run ethercat servo spindle with s and m command ,
when i try to setup spindle orient function i fail every time

if anyone work on ethercat servo spindle with orient function working please share data .

i read many post about spindle orient but all are for different typpe for ready to use card for linuxcnc , i want setting for ethercat servo spindle

I want to use PID and velocity command

(i also want to know about built in orient function in spindle drive)

thank you

i tried to make orient working but i face issue with orient output ,
output is not working ok because wrong setting in pid

can you share any working orient setup so i can try to understand

## scale
loadrt scale count=1
addf scale.0 servo-thread

setp scale.0.gain 0.0083
net spindle-speed-scale motion.spindle-speed-out => scale.0.in
net spindle-cmd-rpm <= scale.0.out
#net spindle-cmd-rpm => lcec.0.1.srv-vel-cmd

net spindle-on <= motion.spindle-on

### MUX2 ###
loadrt mux2 count=1
addf mux2.0 servo-thread

net orient-enable => mux2.0.sel
net orient-output => mux2.0.in1
net spindle-cmd-rpm => mux2.0.in0
net comand-to-drive mux2.0.out => lcec.0.1.srv-vel-cmd


loadrt invert count=1
addf invert.0 servo-thread



###########################################################
# motion interface
###########################################################

#spindle POSITION control


net spindle-encoder-raw-val conv-s32-float.0.in <= lcec.0.0.mop-spindle-encoder-raw-val
net spdl_encoder_pos motion.spindle-revs <= conv-s32-float.0.out

#spindle VELOCITY control
setp lcec.0.0.mop-encoder-scale 512
setp lcec.0.0.mop-spindle-ppr-val 20480

net speed-in lcec.0.0.mop-rps-raw-val => motion.spindle-speed-in

net spindle-index motion.spindle-index-enable <=> lcec.0.0.led-29-raw



net orient-enable => orient.enable
net orient-angle => orient.angle
net orient-mode => orient.mode
net orient-cmd-pid => orient.command
net spdl_encoder_pos => orient.position

net orient-enable <= motion.spindle-orient
net orient-angle <= motion.spindle-orient-angle
net orient-mode <= motion.spindle-orient-mode

#PID.0

setp pid.0.Pgain 1.0
setp pid.0.Igain 0.01
setp pid.0.Dgain 0.0
setp pid.0.FF0 0.0
setp pid.0.FF1 0.0
setp pid.0.FF2 0.0
#setp pid.0.bias
net spindle-cmd-rpm => pid.0.command ###
#pid.0.command-deriv
setp pid.0.deadband 0.1
net orient-enable => pid.0.enable ###
# pid.0.error
# pid.0.error-previous-target
net spdl_encoder_pos => pid.0.feedback
# pid.0.feedback-deriv
net spindle-index lcec.0.0.mop-spindle-index => pid.0.index-enable

# pid.0.maxcmdD 20.0
# pid.0.maxcmdDD
#setp pid.0.maxerror
#setp pid.0.maxerrorD
# pid.0.maxerrorI 20.0
net orient-output => pid.0.output
#setp pid.0.maxoutput 0.5
#net orient-output => invert.0.out
#net inv invert.0.in => pid.0.output

#pid.0.saturated
#pid.0.saturated-count
#pid.0.saturated-s

i repaired my fault as you mentioned
thanks for help

now i can do orientation

One more question for orient holding
Torque after m19r0

1 which pid parameter responsible for increase holding torque after orient position arrive
(I use KEB vfd and want to add some torque ,I try to adjust p I d gain but no success)

Currently I set pid gain 500
And deadband 0.001
Maximum output 1000
All other parameter I set zero

Thanks