Note that the encoder velocity signal "spindle-vel-fb-rpm" is not connected to anything
Code:
#*******************
# SPINDLE
#*******************
--------------------------------------------
net spindle-vel-fb-rpm-abs => pid.s.feedback
# ---Encoder feedback signals/setup---
net spindle-vel-fb-rpm <= hm2_7i76e.0.encoder.00.velocity-rpm
I would change this:
Code:
setp scale.spindle.gain 60
setp lowpass.spindle.gain 1.000000
net spindle-vel-fb-rps => scale.spindle.in
net spindle-fb-rpm scale.spindle.out => abs.spindle.in
net spindle-fb-rpm-abs abs.spindle.out => lowpass.spindle.in
net spindle-fb-rpm-abs-filtered lowpass.spindle.out
to this:
Code:
setp lowpass.spindle.gain 1.000000
net spindle-vel-fb-rpm => abs.spindle.in
net spindle-fb-rpm-abs abs.spindle.out => lowpass.spindle.in
net spindle-fb-rpm-abs-filtered lowpass.spindle.out
and remove the scale component since it is not used:
Code:
#addf scale.spindle servo-thread
