Hier sind mal meine HAL und meine INI.
Auch mit einigen Modifikationen läuft die Spidel immer "volles Rohr" (hört sich zumindest so an), es liegen immer 10V zwischen Pin 1 & 2 10 Volt an (solange die Spindel an ist). In der Oberfläche (probe_basic) stehen komischerweise immer 300 rpm als Geschwindigkeit.
Was also (vorerst noch) fehlt ist:
- Drehzahlregelung
- Rückwärtsgang
Hier die relevanten Ausschnitte aus der INI:
Code:
[SPINDLE_0]
P = 0.0
I = 0.0
D = 0.0
FF0 = 1.0
FF1 = 0.0
FF2 = 0.0
BIAS = 0.0
DEADBAND = 0.0
MAX_OUTPUT = 24000.0
OUTPUT_SCALE = -24000
OUTPUT_MIN_LIMIT = -24000
OUTPUT_MAX_LIMIT = 24000
und aus der HAL:
Code:
#*******************
# SPINDLE
#*******************
setp pid.s.Pgain [SPINDLE_0]P
setp pid.s.Igain [SPINDLE_0]I
setp pid.s.Dgain [SPINDLE_0]D
setp pid.s.bias [SPINDLE_0]BIAS
setp pid.s.FF0 [SPINDLE_0]FF0
setp pid.s.FF1 [SPINDLE_0]FF1
setp pid.s.FF2 [SPINDLE_0]FF2
setp pid.s.deadband [SPINDLE_0]DEADBAND
setp pid.s.maxoutput [SPINDLE_0]MAX_OUTPUT
setp pid.s.error-previous-target true
net spindle-index-enable <=> pid.s.index-enable
net spindle-enable => pid.s.enable
net spindle-vel-cmd-rpm => pid.s.command
net spindle-vel-fb-rpm => pid.s.feedback
net spindle-output <= pid.s.output
# ---digital potentionmeter output signals/setup---
setp hm2_7i76e.0.7i76.0.0.spinout-minlim [SPINDLE_0]OUTPUT_MIN_LIMIT
setp hm2_7i76e.0.7i76.0.0.spinout-maxlim [SPINDLE_0]OUTPUT_MAX_LIMIT
setp hm2_7i76e.0.7i76.0.0.spinout-scalemax [SPINDLE_0]OUTPUT_SCALE
# net spindle-output => hm2_7i76e.0.7i76.0.0.spinout
net spindle-enable => hm2_7i76e.0.7i76.0.0.spinena
net spindle-ccw => hm2_7i76e.0.7i76.0.0.spindir
# ---setup spindle control signals---
net spindle-vel-cmd-rps <= spindle.0.speed-out-rps
# net spindle-vel-cmd-rps-abs <= spindle.0.speed-out-rps-abs
net spindle-vel-cmd-rpm-abs <= spindle.0.speed-out-abs => hm2_7i76e.0.7i76.0.0.spinout
net spindle-vel-cmd-rpm <= spindle.0.speed-out
net spindle-vel-cmd-rpm-abs <= spindle.0.speed-out-abs
# net spindle-enable <= spindle.0.on
net spindle-enable <= spindle.0.on => hm2_7i76e.0.7i76.0.0.spinena
net spindle-cw <= spindle.0.forward
# net spindle-ccw <= spindle.0.reverse
net spindle-ccw <= spindle.0.reverse => hm2_7i76e.0.7i76.0.0.spindir
net spindle-brake <= spindle.0.brake
net spindle-revs => spindle.0.revs
net spindle-at-speed => spindle.0.at-speed
net spindle-vel-fb-rps => spindle.0.speed-in
net spindle-index-enable <=> spindle.0.index-enable
net spindle-vel-fb-rps => spindle.0.speed-in
net spindle-index-enable <=> spindle.0.index-enable
# ---Setup spindle at speed signals---
sets spindle-at-speed true
