[resolved]Ethercat servo spindle orient problem while using M19 ?

timaer
Topic Author
Offline
Premium Member

2 years 3 months ago #304891 by timaer

Replied by timaer on topic Ethercat servo spindle orient problem while using M19 ?

Thank you,Aciera. I just followed the pin guide map in the following link wiki.linuxcnc.org/uploads/orient.svg , I dont know if I need to net the orient.mode and spindle.orient-mode,because it 's not mentioned in that link.

Please Log in or Create an account to join the conversation.

Aciera
Offline
Administrator

2 years 3 months ago #304892 by Aciera

Replied by Aciera on topic Ethercat servo spindle orient problem while using M19 ?

I guess you could verify by checking the value of the 'orient.0.mode' pin.

The following user(s) said Thank You: timaer

Please Log in or Create an account to join the conversation.

timaer
Topic Author
Offline
Premium Member

2 years 3 months ago #304956 by timaer

Replied by timaer on topic Ethercat servo spindle orient problem while using M19 ?

I've checked the 'orient.0.mode' pin value,it is always 0 no matter I executed M3S100 or M19R180, is it normal?

Please Log in or Create an account to join the conversation.

spumco
Offline
Platinum Member

2 years 3 months ago #305012 by spumco

Replied by spumco on topic Ethercat servo spindle orient problem while using M19 ?

timaer wrote:
I've checked the 'orient.0.mode' pin value,it is always 0 no matter I executed M3S100 or M19R180, is it normal?

M19 "P" indicates the direction mode. The default is '0' (bi-directional).

spindle.n.orient-mode outputs the M19 P-value (default 0) and should be connected to orient.n.mode.

Mine looks like this:

Code:

net SPIN0-ORIENT-MODE       <=  spindle.0.orient-mode
net SPIN0-ORIENT-MODE       =>  orient.s0.mode

I think if that connection is left out of HAL orient.n.mode defaults to '0', but it doesn't hurt to have the connection. Otherwise if for some reason you want to restrict direction with an M19 P-value you won't be able to.

Below is my lathe spindle config with orient stuff that works. Step/dir servo motor.

The spindle.0.revs pin is necessary to synchronize my sub-spindle to the main spindle and is not required for orient. None of the 'loadrt' stuff is in there, but the pin names should be self-explanatory.

Warning: Spoiler!

######################
## MAIN-SPINDLE ##
######################

#SPINDLE AMP FAULT CONNECTION
net SPIN0-AMP-FAULT => spindle.0.amp-fault-in #FROM 02IO.HAL

#SPINDLE ENCODER - INDEX SIGNAL
net SPIN0-INDEX-ENABLE <=> hm2_[MESA](BOARD).0.encoder.04.index-enable
net SPIN0-INDEX-ENABLE <=> spindle.0.index-enable
net SPIN0-INDEX-ENABLE <=> pid.s0.index-enable
net SPIN0-INDEX-ENABLE <=> pid.s0orient.index-enable

#SPINDLE ENCODER - VELOCITY SIGNAL
net SPIN0-VEL-FB-RPS <= hm2_[MESA](BOARD).0.encoder.04.velocity
net SPIN0-VEL-FB-RPS => spindle.0.speed-in #USED FOR CSS AND FEED PER REV
#SPINDLE ENCODER - VELOCITY-RPM SIGNAL
net SPIN0-VEL-FB-RPM <= hm2_[MESA](BOARD).0.encoder.04.velocity-rpm
net SPIN0-VEL-FB-RPM => pid.s0.feedback

#SPINDLE PID COMMAND
net SPIN0-ON <= spindle.0.on
net SPIN0-ON => pid.s0.enable
net SPIN0-VEL-CMD-RPS <= spindle.0.speed-out-rps
net SPIN0-VEL-CMD-RPS => pid.s0.command
#net SPIN0-VEL-CMD-RPM <= spindle.0.speed-out
#net SPIN0-VEL-CMD-RPM => pid.s0.command
net SPIN0-PID-OUTPUT <= pid.s0.output

#SPINDLE ORIENT CONNECTIONS
setp orient.s0.tolerance 0.5
net SPIN0-ORIENT-ANGLE <= spindle.0.orient-angle
net SPIN0-ORIENT-ANGLE => orient.s0.angle
net SPIN0-ORIENT-MODE <= spindle.0.orient-mode
net SPIN0-ORIENT-MODE => orient.s0.mode
net SPIN0-ORIENT-ENA <= spindle.0.orient
net SPIN0-ORIENT-ENA => orient.s0.enable
net SPIN0-ORIENT-ENA => pid.s0orient.enable
net SPIN0-IN-POS <= orient.s0.is-oriented
net SPIN0-IN-POS => spindle.0.is-oriented
net SPIN0-ORIENT-DONE <= spindle.0.locked #TO 02IO.HAL FOR MOTION.DIGITAL-IN
net SPIN0-POSITION <= hm2_[MESA](BOARD).0.encoder.04.position
net SPIN0-POSITION => spindle.0.revs #USED FOR SYNCHRONIZED SPINDLE MOVES
net SPIN0-POSITION => orient.s0.position
net SPIN0-POSITION => pid.s0orient.feedback
net SPIN0-ORIENT-CMD <= orient.s0.command
net SPIN0-ORIENT-CMD => pid.s0orient.command
net SPIN0-ORIENT-OUT <= pid.s0orient.output

#SWITCH BETWEEN SPINDLE AND ORIENT
net SPIN0-PID-OUTPUT => mux2.s0.in0 #SPINDLE PID OUTPUT
net SPIN0-ORIENT-OUT => mux2.s0.in1 #ORIENT PID OUTPUT
net SPIN0-ORIENT-ENA => mux2.s0.sel #ORIENT COMMAND
net SPIN0-OUTPUT <= mux2.s0.out #SELECTED OUTPUT
net SPIN0-OUTPUT => hm2_[MESA](BOARD).0.stepgen.06.velocity-cmd
net MACHINE-IS-ON => hm2_[MESA](BOARD).0.stepgen.06.enable

#FORCE ORIENT AT HOME-ALL
setp oneshot.s0orient.width 1
net ALL-HOMED <= motion.is-all-homed
net ALL-HOMED => oneshot.s0orient.in
net SPIN0-ORIENT-HOMEALL <= oneshot.s0orient.out
net SPIN0-ORIENT-HOMEALL => halui.mdi-command-00

#SPINDLE-AT-SPEED
net SPIN0-AT-SPEED => spindle.0.at-speed

#GUI SCALING
setp scale.s0.gain 60
setp lowpass.s0.gain 1.000000
net SPIN0-VEL-FB-RPS => scale.s0.in
net SPIN0-FB-RPM <= scale.s0.out
net SPIN0-FB-RPM => abs.s0.in
net SPIN0-FB-RPM-ABS <= abs.s0.out
net SPIN0-FB-RPM-ABS => lowpass.s0.in
net SPIN0-FB-RPM-ABS-FILTERED <= lowpass.s0.out #SIGNAL TO GUI RPM DISPLAY

#STEPGEN SETTINGS
setp hm2_[MESA](BOARD).0.stepgen.06.dirsetup [SPINDLE_0](DIRSETUP)
setp hm2_[MESA](BOARD).0.stepgen.06.dirhold [SPINDLE_0](DIRHOLD)
setp hm2_[MESA](BOARD).0.stepgen.06.steplen [SPINDLE_0](STEPLEN)
setp hm2_[MESA](BOARD).0.stepgen.06.stepspace [SPINDLE_0](STEPSPACE)
setp hm2_[MESA](BOARD).0.stepgen.06.position-scale [SPINDLE_0](SCALE)
setp hm2_[MESA](BOARD).0.stepgen.06.maxvel [SPINDLE_0](MAX_RPS)
setp hm2_[MESA](BOARD).0.stepgen.06.maxaccel [SPINDLE_0](MAX_ACCEL_RPS)
setp hm2_[MESA](BOARD).0.stepgen.06.control-type 1

#ENCODER SETTINGS
setp hm2_[MESA](BOARD).0.encoder.04.counter-mode 0
setp hm2_[MESA](BOARD).0.encoder.04.filter 0
setp hm2_[MESA](BOARD).0.encoder.04.index-invert 0
setp hm2_[MESA](BOARD).0.encoder.04.index-mask 0
setp hm2_[MESA](BOARD).0.encoder.04.index-mask-invert 0
setp hm2_[MESA](BOARD).0.encoder.04.scale [SPINDLE_0](ENCODER_SCALE) #2500/PPR

#SPINDLE PID SETTINGS
setp pid.s0.Pgain [SPINDLE_0]P
setp pid.s0.Igain [SPINDLE_0]I
setp pid.s0.Dgain [SPINDLE_0]D
setp pid.s0.bias [SPINDLE_0]BIAS
setp pid.s0.FF0 [SPINDLE_0]FF0
setp pid.s0.FF1 [SPINDLE_0]FF1
setp pid.s0.FF2 [SPINDLE_0]FF2
setp pid.s0.deadband [SPINDLE_0]DEADBAND
setp pid.s0.maxoutput [SPINDLE_0]MAX_OUTPUT
setp pid.s0.error-previous-target true

#ORIENT PID SETTINGS
setp pid.s0orient.Pgain [ORIENT_S0]P
setp pid.s0orient.Igain [ORIENT_S0]I
setp pid.s0orient.Dgain [ORIENT_S0]D
setp pid.s0orient.bias [ORIENT_S0]BIAS
setp pid.s0orient.FF0 [ORIENT_S0]FF0
setp pid.s0orient.FF1 [ORIENT_S0]FF1
setp pid.s0orient.FF2 [ORIENT_S0]FF2
setp pid.s0orient.FF3 [ORIENT_S0]FF3
setp pid.s0orient.deadband [ORIENT_S0]DEADBAND
setp pid.s0orient.maxoutput [ORIENT_S0]MAX_OUTPUT
setp pid.s0orient.error-previous-target true

The following user(s) said Thank You: timaer

Please Log in or Create an account to join the conversation.

Time to create page: 0.451 seconds

Forum Menu

[resolved]Ethercat servo spindle orient problem while using M19 ?