rigid tapping g33.1 isnt working spindle isnt sync
02 Sep 2013 01:09 #38375
by BigJohnT
Replied by BigJohnT on topic rigid tapping g33.1 isnt working spindle isnt sync
I don't see where you have connected to motion.spindle-at-speed to report that your spindle is at speed.
My CHNC for example:
JT
My CHNC for example:
# spindle at speed
setp near.0.difference 0.15
net spindle-velocity near.0.in1
net com-spindle-vel near.0.in2 <= motion.spindle-speed-out-rps
net spindle-at-speed near.0.out <= motion.spindle-at-speedJT
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02 Sep 2013 02:02 - 02 Sep 2013 03:16 #38377
by fabworx
Replied by fabworx on topic rigid tapping g33.1 isnt working spindle isnt sync
#**********************
#Load Real Time Treads
#**********************
loadrt trivkins
loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[TRAJ]AXES
loadrt hostmot2
loadrt hm2_pci config="firmware=hm2/5i20/SV12_2X7I48_72.BIT num_encoders=6 num_pwmgens=5 num_3pwmgens=0 num_stepgens=0"
loadrt pid num_chan=5
#loadrt classicladder_rt
loadrt toggle2nist count=3
loadrt and2 count=3
loadrt multiswitch count=8
loadrt or2 count=7
loadrt lowpass count=4
loadrt scale count=6
loadrt abs count=4
loadrt mux2 count=3
loadrt mux4 count=5
loadrt flipflop count=2
loadrt near count=1
loadrt toggle count=4
loadrt not count=4
loadrt gearchange count=1
#**************
#Motion
#**************
addf hm2_5i20.0.read servo-thread
addf motion-command-handler servo-thread
addf motion-controller servo-thread
addf pid.0.do-pid-calcs servo-thread
addf pid.1.do-pid-calcs servo-thread
addf pid.2.do-pid-calcs servo-thread
addf pid.3.do-pid-calcs servo-thread
addf pid.4.do-pid-calcs servo-thread
setp hm2_5i20.0.pwmgen.pwm_frequency 190000
setp hm2_5i20.0.pwmgen.pdm_frequency 100000
setp hm2_5i20.0.watchdog.timeout_ns 10000000
alias pin pid.0.Pgain pid.x.Pgain
alias pin pid.0.Igain pid.x.Igain
alias pin pid.0.Dgain pid.x.Dgain
alias pin pid.0.bias pid.x.bias
alias pin pid.0.FF0 pid.x.FF0
alias pin pid.0.FF1 pid.x.FF1
alias pin pid.0.FF2 pid.x.FF2
alias pin pid.0.deadband pid.x.deadband
alias pin pid.0.maxoutput pid.x.maxoutput
alias pin pid.0.enable pid.x.enable
alias pin pid.0.command pid.x.command
alias pin pid.0.feedback pid.x.feedback
alias pin pid.0.output pid.x.output
alias pin pid.0.index-enable pid.x.index-enable
alias pin pid.1.Pgain pid.y.Pgain
alias pin pid.1.Igain pid.y.Igain
alias pin pid.1.Dgain pid.y.Dgain
alias pin pid.1.bias pid.y.bias
alias pin pid.1.FF0 pid.y.FF0
alias pin pid.1.FF1 pid.y.FF1
alias pin pid.1.FF2 pid.y.FF2
alias pin pid.1.deadband pid.y.deadband
alias pin pid.1.maxoutput pid.y.maxoutput
alias pin pid.1.enable pid.y.enable
alias pin pid.1.command pid.y.command
alias pin pid.1.feedback pid.y.feedback
alias pin pid.1.output pid.y.output
alias pin pid.1.index-enable pid.y.index-enable
alias pin pid.2.Pgain pid.z.Pgain
alias pin pid.2.Igain pid.z.Igain
alias pin pid.2.Dgain pid.z.Dgain
alias pin pid.2.bias pid.z.bias
alias pin pid.2.FF0 pid.z.FF0
alias pin pid.2.FF1 pid.z.FF1
alias pin pid.2.FF2 pid.z.FF2
alias pin pid.2.deadband pid.z.deadband
alias pin pid.2.maxoutput pid.z.maxoutput
alias pin pid.2.enable pid.z.enable
alias pin pid.2.command pid.z.command
alias pin pid.2.feedback pid.z.feedback
alias pin pid.2.output pid.z.output
alias pin pid.2.index-enable pid.z.index-enable
alias pin pid.3.Pgain pid.a.Pgain
alias pin pid.3.Igain pid.a.Igain
alias pin pid.3.Dgain pid.a.Dgain
alias pin pid.3.bias pid.a.bias
alias pin pid.3.FF0 pid.a.FF0
alias pin pid.3.FF1 pid.a.FF1
alias pin pid.3.FF2 pid.a.FF2
alias pin pid.3.deadband pid.a.deadband
alias pin pid.3.maxoutput pid.a.maxoutput
alias pin pid.3.enable pid.a.enable
alias pin pid.3.command pid.a.command
alias pin pid.3.feedback pid.a.feedback
alias pin pid.3.output pid.a.output
alias pin pid.3.index-enable pid.a.index-enable
alias pin pid.4.Pgain pid.s.Pgain
alias pin pid.4.Igain pid.s.Igain
alias pin pid.4.Dgain pid.s.Dgain
alias pin pid.4.bias pid.s.bias
alias pin pid.4.FF0 pid.s.FF0
alias pin pid.4.FF1 pid.s.FF1
alias pin pid.4.FF2 pid.s.FF2
alias pin pid.4.deadband pid.s.deadband
alias pin pid.4.maxoutput pid.s.maxoutput
alias pin pid.4.enable pid.s.enable
alias pin pid.4.command pid.s.command
alias pin pid.4.feedback pid.s.feedback
alias pin pid.4.output pid.s.output
alias pin pid.4.index-enable pid.s.index-enable
addf hm2_5i20.0.write servo-thread
addf hm2_5i20.0.pet_watchdog servo-thread
#**************
#Classic Ladder
#**************
#addf classicladder.0.refresh servo-thread
#loadusr classicladder
#loadusr classicladder myladder.clp
#*******************
#Pendent
#*******************
addf multiswitch.0 servo-thread #Step
addf multiswitch.1 servo-thread #Axis selector
addf multiswitch.2 servo-thread #Play/Pause
addf multiswitch.3 servo-thread #jog-step or jog-velocity
addf multiswitch.4 servo-thread #flood control
addf multiswitch.5 servo-thread #Spindle On Off
addf multiswitch.6 servo-thread #Manual Auto MDI modes
addf multiswitch.7 servo-thread
setp multiswitch.0.positions 3
setp multiswitch.1.positions 2
setp multiswitch.2.positions 1
setp multiswitch.3.positions 2
setp multiswitch.4.positions 1
setp multiswitch.5.positions 2
setp multiswitch.6.positions 2
setp multiswitch.7.positions 1
addf or2.0 servo-thread #step
addf or2.1 servo-thread #step
addf or2.2 servo-thread #spindle gear change
addf or2.3 servo-thread
addf or2.4 servo-thread
#addf or2.5 servo-thread
addf mux2.0 servo-thread
addf mux4.0 servo-thread
addf mux4.1 servo-thread
addf mux4.2 servo-thread
addf mux4.3 servo-thread
addf mux4.4 servo-thread
addf not.0 servo-thread
addf not.1 servo-thread
addf not.2 servo-thread
setp hm2_5i20.0.encoder.05.counter-mode 1
setp hm2_5i20.0.encoder.05.filter 1
setp hm2_5i20.0.encoder.05.index-invert 0
setp hm2_5i20.0.encoder.05.index-mask 0
setp hm2_5i20.0.encoder.05.index-mask-invert 0
setp hm2_5i20.0.encoder.05.scale 400
# Step
setp axis.0.jog-vel-mode 1
setp axis.1.jog-vel-mode 1
setp axis.2.jog-vel-mode 1
#setp axis.3.jog-vel-mode 1
setp mux4.0.in0 0.0001
setp mux4.0.in1 0.001
setp mux4.0.in2 0.01
setp mux4.0.in3 0.1
net step1 <= multiswitch.0.state0
net step2 or2.0.in0 <= multiswitch.0.state1
net step3 or2.1.in0 <= multiswitch.0.state2
net step4 or2.0.in1 or2.1.in1 <= multiswitch.0.state3
net toggle-step multiswitch.0.toggle <= hm2_5i20.0.gpio.061.in #Step
net pend-step axis.0.jog-scale <= mux4.0.out
net pend-step axis.1.jog-scale
net pend-step axis.2.jog-scale
#net pend-step axis.3.jog-scale
net jog-speed-1 mux4.0.sel0 <= or2.0.out
net jog-speed-2 mux4.0.sel1 <= or2.1.out
#net jog-speed-final halui.jog-speed <= mux4.0.out
#net pend-step halui.feed-override.scale
#net pend-step halui.spindle-override.scale
net pend-counts axis.0.jog-counts <= hm2_5i20.0.encoder.05.count
net pend-counts axis.1.jog-counts
net pend-counts axis.2.jog-counts
#net pend-counts axis.3.jog-counts
# Axis selector
net mpg-x axis.0.jog-enable halui.joint.0.select <= multiswitch.1.state0
net mpg-y axis.1.jog-enable halui.joint.1.select <= multiswitch.1.state1
net mpg-z axis.2.jog-enable halui.joint.2.select <= multiswitch.1.state2
#net mpg-a axis.3.jog-enable halui.joint.3.select <= multiswitch.1.state3
net toggle-axis multiswitch.1.toggle <= hm2_5i20.0.gpio.057.in #Axis selector
# Play/Pause
net pause halui.program.pause <= multiswitch.2.state0
net resume halui.program.resume <= multiswitch.2.state1
net play-pause multiswitch.2.toggle <= hm2_5i20.0.gpio.056.in_not #Play/Pause
# Jog Step or Velocity
#setp mux2.0.in0 0
#setp mux2.0.in1 1
#net jog-absolute mux2.0.sel0 <= multiswitch.3.state0
#net jog-velocity mux2.0.sel <= multiswitch.3.state1
#net jog-mode mux2.0.out
#axis.0.jog-vel-mode
#setp axis.1.jog-vel-mode abs.0.out
#setp axis.2.jog-vel-mode abs.0.out
#setp axis.3.jog-vel-mode abs.0.out
#net toggle-vel-mode multiswitch.3.toggle <= hm2_5i20.0.gpio.054.in #jog-step or jog-velocity
# Flood on or Mist on
net mist-on not.1.in <= hm2_5i20.0.gpio.062.in_not
net mist-off not.1.out => halui.mist.off
net flood-on not.2.in <= hm2_5i20.0.gpio.058.in_not
net flood-off not.2.out => halui.flood.off
# Home All
net home halui.joint.selected.home <= hm2_5i20.0.gpio.055.in_not #Home Selected Joint
# Spindle On or Off
net spindle-on halui.spindle.start <= multiswitch.5.state1
net spindle-off halui.spindle.stop <= multiswitch.5.state0
net spindle-control multiswitch.5.toggle <= hm2_5i20.0.gpio.060.in_not #Spindle On Off
# Spindle Forward
#net spindle-forward halui.spindle.forward <= hm2_5i20.0.gpio.062.in_not #Spindle Forward
# Spindle Reverse
#net spindle-reverse halui.spindle.reverse <= hm2_5i20.0.gpio.058.in_not #Spindle Reverse
# Program Mode
net manual halui.mode.manual <= multiswitch.6.state0
net mdi halui.mode.mdi <= multiswitch.6.state1
net mode-toggle multiswitch.6.toggle <= hm2_5i20.0.gpio.059.in #Manual Auto MDI modes
#*******************
# AXIS X
#*******************
setp pid.x.Pgain [AXIS_0]P
setp pid.x.Igain [AXIS_0]I
setp pid.x.Dgain [AXIS_0]D
setp pid.x.bias [AXIS_0]BIAS
setp pid.x.FF0 [AXIS_0]FF0
setp pid.x.FF1 [AXIS_0]FF1
setp pid.x.FF2 [AXIS_0]FF2
setp pid.x.deadband [AXIS_0]DEADBAND
setp pid.x.maxoutput [AXIS_0]MAX_OUTPUT
net x-index-enable <=> pid.x.index-enable
# ---PWM Generator signals/setup---
setp hm2_5i20.0.pwmgen.00.output-type 2
setp hm2_5i20.0.pwmgen.00.scale [AXIS_0]OUTPUT_SCALE
net xenable => pid.x.enable
net xoutput pid.x.output => hm2_5i20.0.pwmgen.00.value
net xpos-cmd axis.0.motor-pos-cmd => pid.x.command
net xenable axis.0.amp-enable-out => hm2_5i20.0.pwmgen.00.enable hm2_5i20.0.gpio.047.out
# ---Encoder feedback signals/setup---
setp hm2_5i20.0.encoder.00.counter-mode 0
setp hm2_5i20.0.encoder.00.filter 1
setp hm2_5i20.0.encoder.00.index-invert 0
setp hm2_5i20.0.encoder.00.index-mask 0
setp hm2_5i20.0.encoder.00.index-mask-invert 0
setp hm2_5i20.0.encoder.00.scale [AXIS_0]ENCODER_SCALE
net xpos-fb <= hm2_5i20.0.encoder.00.position
net xpos-fb => pid.x.feedback
net xpos-fb => axis.0.motor-pos-fb
net x-index-enable axis.0.index-enable <=> hm2_5i20.0.encoder.00.index-enable
# ---setup home / limit switch signals---
net x-home-sw => axis.0.home-sw-in hm2_5i20.0.gpio.032.in
net x-neg-limit => axis.0.neg-lim-sw-in hm2_5i20.0.gpio.030.in
net x-pos-limit => axis.0.pos-lim-sw-in hm2_5i20.0.gpio.031.in
#*******************
# AXIS Y
#*******************
setp pid.y.Pgain [AXIS_1]P
setp pid.y.Igain [AXIS_1]I
setp pid.y.Dgain [AXIS_1]D
setp pid.y.bias [AXIS_1]BIAS
setp pid.y.FF0 [AXIS_1]FF0
setp pid.y.FF1 [AXIS_1]FF1
setp pid.y.FF2 [AXIS_1]FF2
setp pid.y.deadband [AXIS_1]DEADBAND
setp pid.y.maxoutput [AXIS_1]MAX_OUTPUT
net y-index-enable <=> pid.y.index-enable
# ---PWM Generator signals/setup---
setp hm2_5i20.0.pwmgen.01.output-type 2
setp hm2_5i20.0.pwmgen.01.scale [AXIS_1]OUTPUT_SCALE
net yenable => pid.y.enable
net youtput pid.y.output => hm2_5i20.0.pwmgen.01.value
net ypos-cmd axis.1.motor-pos-cmd => pid.y.command
net yenable axis.1.amp-enable-out => hm2_5i20.0.pwmgen.01.enable
# ---Encoder feedback signals/setup---
setp hm2_5i20.0.encoder.01.counter-mode 0
setp hm2_5i20.0.encoder.01.filter 1
setp hm2_5i20.0.encoder.01.index-invert 0
setp hm2_5i20.0.encoder.01.index-mask 0
setp hm2_5i20.0.encoder.01.index-mask-invert 0
setp hm2_5i20.0.encoder.01.scale [AXIS_1]ENCODER_SCALE
net ypos-fb <= hm2_5i20.0.encoder.01.position
net ypos-fb => pid.y.feedback
net ypos-fb => axis.1.motor-pos-fb
net y-index-enable axis.1.index-enable <=> hm2_5i20.0.encoder.01.index-enable
# ---setup home / limit switch signals---
net y-home-sw => axis.1.home-sw-in hm2_5i20.0.gpio.034.in
net y-neg-limit => axis.1.neg-lim-sw-in hm2_5i20.0.gpio.033.in
net y-pos-limit => axis.1.pos-lim-sw-in hm2_5i20.0.gpio.035.in
#*******************
# AXIS Z
#*******************
setp pid.z.Pgain [AXIS_2]P
setp pid.z.Igain [AXIS_2]I
setp pid.z.Dgain [AXIS_2]D
setp pid.z.bias [AXIS_2]BIAS
setp pid.z.FF0 [AXIS_2]FF0
setp pid.z.FF1 [AXIS_2]FF1
setp pid.z.FF2 [AXIS_2]FF2
setp pid.z.deadband [AXIS_2]DEADBAND
setp pid.z.maxoutput [AXIS_2]MAX_OUTPUT
net z-index-enable <=> pid.z.index-enable
# ---PWM Generator signals/setup---
setp hm2_5i20.0.pwmgen.02.output-type 2
setp hm2_5i20.0.pwmgen.02.scale [AXIS_2]OUTPUT_SCALE
net zenable => pid.z.enable
net zoutput pid.z.output => hm2_5i20.0.pwmgen.02.value
net zpos-cmd axis.2.motor-pos-cmd => pid.z.command
net zenable axis.2.amp-enable-out => hm2_5i20.0.pwmgen.02.enable
# ---Encoder feedback signals/setup---
setp hm2_5i20.0.encoder.02.counter-mode 0
setp hm2_5i20.0.encoder.02.filter 1
setp hm2_5i20.0.encoder.02.index-invert 0
setp hm2_5i20.0.encoder.02.index-mask 0
setp hm2_5i20.0.encoder.02.index-mask-invert 0
setp hm2_5i20.0.encoder.02.scale [AXIS_2]ENCODER_SCALE
net zpos-fb <= hm2_5i20.0.encoder.02.position
net zpos-fb => pid.z.feedback
net zpos-fb => axis.2.motor-pos-fb
net z-index-enable axis.2.index-enable <=> hm2_5i20.0.encoder.02.index-enable
# ---setup home / limit switch signals---
net z-home-sw hm2_5i20.0.gpio.046.out => axis.2.home-sw-in hm2_5i20.0.gpio.027.in
net z-neg-limit => axis.2.neg-lim-sw-in hm2_5i20.0.gpio.028.in
net z-pos-limit => axis.2.pos-lim-sw-in hm2_5i20.0.gpio.029.in
#*******************
# AXIS A
#*******************
#setp pid.a.Pgain [AXIS_3]P
#setp pid.a.Igain [AXIS_3]I
#setp pid.a.Dgain [AXIS_3]D
#setp pid.a.bias [AXIS_3]BIAS
#setp pid.a.FF0 [AXIS_3]FF0
#setp pid.a.FF1 [AXIS_3]FF1
#setp pid.a.FF2 [AXIS_3]FF2
#setp pid.a.deadband [AXIS_3]DEADBAND
#setp pid.a.maxoutput [AXIS_3]MAX_OUTPUT
#net a-index-enable <=> pid.a.index-enable
# ---PWM Generator signals/setup---
#setp hm2_5i20.0.pwmgen.03.output-type 2
#setp hm2_5i20.0.pwmgen.03.scale [AXIS_3]OUTPUT_SCALE
#net aenable => pid.a.enable
#net aoutput pid.a.output => hm2_5i20.0.pwmgen.03.value
#net apos-cmd axis.3.motor-pos-cmd => pid.a.command
#net aenable axis.3.amp-enable-out => hm2_5i20.0.pwmgen.03.enable
# ---Encoder feedback signals/setup---
#setp hm2_5i20.0.encoder.03.counter-mode 0
#setp hm2_5i20.0.encoder.03.filter 1
#setp hm2_5i20.0.encoder.03.index-invert 0
#setp hm2_5i20.0.encoder.03.index-mask 0
#setp hm2_5i20.0.encoder.03.index-mask-invert 0
#setp hm2_5i20.0.encoder.03.scale [AXIS_3]ENCODER_SCALE
#net apos-fb <= hm2_5i20.0.encoder.03.position
#net apos-fb => pid.a.feedback
#net apos-fb => axis.3.motor-pos-fb
#net a-index-enable axis.3.index-enable <=> hm2_5i20.0.encoder.03.index-enable
#****************
# Spindle Control
#****************
setp hm2_5i20.0.pwmgen.04.output-type 2
net spindle-enable hm2_5i20.0.gpio.071.out <= motion.spindle-on hm2_5i20.0.gpio.045.out
net spindle-enable => hm2_5i20.0.pwmgen.04.enable
addf flipflop.0 servo-thread
addf mux2.1 servo-thread
setp mux2.1.in0 0.977
setp mux2.1.in1 0.148925
net gearchange-scale-change mux2.1.sel flipflop.0.out
net spindle-encoder-gain scale.4.gain
net spindle-encoder-gain mux2.1.out
addf flipflop.1 servo-thread
addf mux2.2 servo-thread
setp mux2.2.in0 1
setp mux2.2.in1 6.558875
net gearchange-scale-change mux2.2.sel flipflop.1.out
# Set the spindle’s top speed in RPM
setp hm2_5i20.0.pwmgen.04.scale 3540
net spindle-gain scale.3.gain
net spindle-gain mux2.2.out
# controls
net spindle-cw <= motion.spindle-forward
net spindle-ccw <= motion.spindle-reverse
#****************************
# Spindle Synchronized Motion
#****************************
# add the encoder
setp hm2_5i20.0.encoder.04.counter-mode 0
setp hm2_5i20.0.encoder.04.filter 0
setp hm2_5i20.0.encoder.04.index-invert 0
setp hm2_5i20.0.encoder.04.index-mask 0
setp hm2_5i20.0.encoder.04.scale 8000
#net spindle-index-enable motion.spindle-index-enable #<=> hm2_5i20.0.encoder.04.index-enable
net spindle-position hm2_5i20.0.encoder.04.position => motion.spindle-revs
net spindle-encoder-speed scale.4.out
net spindle-velocity hm2_5i20.0.encoder.04.velocity => motion.spindle-speed-in scale.4.in
net spindle-index-enable hm2_5i20.0.encoder.04.index-enable <=> motion.spindle-index-enable
#setp motion.spindle-index-enable 1 #cancel this after testing encoder polarity
#*****************
# Spindle At Speed
#*****************
addf abs.1 servo-thread
addf abs.2 servo-thread
addf near.0 servo-thread
addf scale.5 servo-thread
net spindle-encoder-speed abs.1.in
net scale6 scale.5.in abs.1.out
setp scale.5.gain 1000
net spindle-encoder-nearout scale.5.out abs.2.in
net spindle-encoder-speed1 abs.2.out near.0.in1
net spindle-rpm-filtered near.0.in2
net spindle-at-speed motion.spindle-at-speed <= near.0.out
setp near.0.scale 1.01
#*********
#RPM Scale
#*********
addf abs.3 servo-thread
setp scale.0.gain 999.9666
setp lowpass.0.gain .005
addf lowpass.0 servo-thread
addf scale.0 servo-thread
#******************
#Spindle Gearchange
#******************
net spindle-cw or2.2.in0
net spindle-ccw or2.2.in1
addf toggle.0 servo-thread
addf gearchange.0 servo-thread
addf scale.3 servo-thread
addf scale.4 servo-thread
setp toggle.0.debounce 0
setp gearchange.0.min1 10
setp gearchange.0.max1 600
setp gearchange.0.min2 500
setp gearchange.0.max2 3595
setp gearchange.0.scale2 6.558875
net spindle-speed-raw motion.spindle-speed-out gearchange.0.speed-in scale.3.in
net spindle-speed scale.3.out hm2_5i20.0.pwmgen.04.value
net spindle-encoder-speed => lowpass.0.in
net spindle-fb-filtered-rps lowpass.0.out => abs.3.in
net spindle-fb-filtered-abs-rps abs.3.out => scale.0.in
#******************************
# connect miscellaneous signals
#******************************
# ---digital in / out signals---
# ---estop signals---
# create a signal for the estop loopback
addf and2.2 servo-thread
net power-on hm2_5i20.0.gpio.036.in => iocontrol.0.emc-enable-in
net estop-trip hm2_5i20.0.gpio.052.in_not halui.estop.activate
net estop-reset hm2_5i20.0.gpio.052.in halui.estop.reset
# halui.machine.on
# ---manual tool change signals---
loadusr -W hal_manualtoolchange
net tool-change-request iocontrol.0.tool-change => hal_manualtoolchange.change
net tool-change-confirmed iocontrol.0.tool-changed <= hal_manualtoolchange.changed
net tool-number iocontrol.0.tool-prep-number => hal_manualtoolchange.number
net tool-prepare-loopback iocontrol.0.tool-prepare => iocontrol.0.tool-prepared
#Middle 7i37 COM board is 12vdc
#Top 7i37 COM is 24vdc
#Tool Out
setp hm2_5i20.0.gpio.040.is_output true
#Tool In
setp hm2_5i20.0.gpio.041.is_output true
#Turret Home
setp hm2_5i20.0.gpio.042.is_output true
#Turret CW
setp hm2_5i20.0.gpio.043.is_output true
#Turret CCW
setp hm2_5i20.0.gpio.044.is_output true
#Spindle Stopped
setp hm2_5i20.0.gpio.045.is_output true
setp hm2_5i20.0.gpio.045.invert_output true
#Z is in home position
setp hm2_5i20.0.gpio.046.is_output true
#setp hm2_5i20.0.gpio.046.invert_output true
#drive enable and estop loop powerup
setp hm2_5i20.0.gpio.047.is_output true
setp hm2_5i20.0.gpio.047.invert_output true
#
setp hm2_5i20.0.gpio.064.is_output true
setp hm2_5i20.0.gpio.064.invert_output true
#
setp hm2_5i20.0.gpio.065.is_output true
setp hm2_5i20.0.gpio.065.invert_output true
#
setp hm2_5i20.0.gpio.066.is_output true
setp hm2_5i20.0.gpio.066.invert_output true
#
setp hm2_5i20.0.gpio.067.is_output true
setp hm2_5i20.0.gpio.067.invert_output true
#
setp hm2_5i20.0.gpio.068.is_output true
setp hm2_5i20.0.gpio.068.invert_output true
#Flood Coolant
setp hm2_5i20.0.gpio.069.is_output true
setp hm2_5i20.0.gpio.069.invert_output true
#Mist Coolant
setp hm2_5i20.0.gpio.070.is_output true
setp hm2_5i20.0.gpio.070.invert_output true
#Spindle Enable
setp hm2_5i20.0.gpio.071.is_output true
setp hm2_5i20.0.gpio.071.invert_output true
Last edit: 02 Sep 2013 03:16 by BigJohnT. Reason: add code tags
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02 Sep 2013 02:07 #38378
by fabworx
Replied by fabworx on topic rigid tapping g33.1 isnt working spindle isnt sync
there is the entire hal file peter thank you for taking a look.
big john it is in there I have a section just for the spindle at speed here it is for quick reference
#*****************
# Spindle At Speed
#*****************
addf abs.1 servo-thread
addf abs.2 servo-thread
addf near.0 servo-thread
addf scale.5 servo-thread
net spindle-encoder-speed abs.1.in
net scale6 scale.5.in abs.1.out
setp scale.5.gain 1000
net spindle-encoder-nearout scale.5.out abs.2.in
net spindle-encoder-speed1 abs.2.out near.0.in1
net spindle-rpm-filtered near.0.in2
net spindle-at-speed motion.spindle-at-speed <= near.0.out
setp near.0.scale 1.01
big john it is in there I have a section just for the spindle at speed here it is for quick reference
#*****************
# Spindle At Speed
#*****************
addf abs.1 servo-thread
addf abs.2 servo-thread
addf near.0 servo-thread
addf scale.5 servo-thread
net spindle-encoder-speed abs.1.in
net scale6 scale.5.in abs.1.out
setp scale.5.gain 1000
net spindle-encoder-nearout scale.5.out abs.2.in
net spindle-encoder-speed1 abs.2.out near.0.in1
net spindle-rpm-filtered near.0.in2
net spindle-at-speed motion.spindle-at-speed <= near.0.out
setp near.0.scale 1.01
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02 Sep 2013 02:28 - 02 Sep 2013 02:34 #38379
by PCW
Replied by PCW on topic rigid tapping g33.1 isnt working spindle isnt sync
I would first verify that your spindle index is working as it should.
To do this, first comment out the line:
net spindle-index-enable hm2_5i20.0.encoder.04.index-enable <=> motion.spindle-index-enable
in your hal file and start Linuxcnc with your VFD disabled
Next by using the axis menu command "Show HAL Configuration"
type this into the "Test HAL command" window:
setp hm2_5i20.0.encoder.04.index-enable true
Now either with halmeter or by using the Show Hal Configuration
watch window, watch the state of hm2_5i20.0.encoder.04.index-enable
as you slowly rotate the spindle by hand. If the index is wired properly and has the correct polarity, hm2_5i20.0.encoder.04.index-enable should only be cleared at one place per spindle rotation (recheck by setp-ing hm2_5i20.0.encoder.04.index-enable a couple of times and repeating the spindle rotation). If it is cleared immediately or as soon as you move the spindle or at more than one spindle orientation there, is a wiring or polarity issue. You would change the index polarity by changing this line:
setp hm2_5i20.0.encoder.04.index-invert 0
to
setp hm2_5i20.0.encoder.04.index-invert 1
If the index is working properly and motion is still paused, check this signal:
motion.spindle-at-speed
with either halmeter or Show Hal Configuration/watch when the machine is stuck
To do this, first comment out the line:
net spindle-index-enable hm2_5i20.0.encoder.04.index-enable <=> motion.spindle-index-enable
in your hal file and start Linuxcnc with your VFD disabled
Next by using the axis menu command "Show HAL Configuration"
type this into the "Test HAL command" window:
setp hm2_5i20.0.encoder.04.index-enable true
Now either with halmeter or by using the Show Hal Configuration
watch window, watch the state of hm2_5i20.0.encoder.04.index-enable
as you slowly rotate the spindle by hand. If the index is wired properly and has the correct polarity, hm2_5i20.0.encoder.04.index-enable should only be cleared at one place per spindle rotation (recheck by setp-ing hm2_5i20.0.encoder.04.index-enable a couple of times and repeating the spindle rotation). If it is cleared immediately or as soon as you move the spindle or at more than one spindle orientation there, is a wiring or polarity issue. You would change the index polarity by changing this line:
setp hm2_5i20.0.encoder.04.index-invert 0
to
setp hm2_5i20.0.encoder.04.index-invert 1
If the index is working properly and motion is still paused, check this signal:
motion.spindle-at-speed
with either halmeter or Show Hal Configuration/watch when the machine is stuck
Last edit: 02 Sep 2013 02:34 by PCW.
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02 Sep 2013 03:28 #38382
by fabworx
Replied by fabworx on topic rigid tapping g33.1 isnt working spindle isnt sync
I have checked both pins the hm2_5120.0.encoder.04.index-enable with both settings invert 0 and invert 1
when set to 1 that pin reads true and stays true until the index is reached in the revolution. then stays false.
when set to 0 the pin reads false then quickly changes to true then false when the index is reached.
im not sure which behavior is more desirable but either way the g33.1 still doesn't function.
also my motion.spindle-at-speed is functioning the way it should reading true in halmeter when the spindle reaches a steady frequency.
when set to 1 that pin reads true and stays true until the index is reached in the revolution. then stays false.
when set to 0 the pin reads false then quickly changes to true then false when the index is reached.
im not sure which behavior is more desirable but either way the g33.1 still doesn't function.
also my motion.spindle-at-speed is functioning the way it should reading true in halmeter when the spindle reaches a steady frequency.
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02 Sep 2013 08:10 #38385
by PCW
Replied by PCW on topic rigid tapping g33.1 isnt working spindle isnt sync
Did you check motion-spindle-at-speed when it hangs in G33.1 ?
Is it possible its just a bad G33.1 Gcode ?
Is it possible its just a bad G33.1 Gcode ?
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02 Sep 2013 08:42 #38386
by fabworx
Replied by fabworx on topic rigid tapping g33.1 isnt working spindle isnt sync
Motion.spindle-at-speed is true pretty much all the time except below 250 rpm in high gear. I did check with halmeter while executing this gcode.
S500 m3
G33.1 z-0.065 k 0.08
S500 m3
G33.1 z-0.065 k 0.08
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02 Sep 2013 09:00 #38387
by fabworx
Replied by fabworx on topic rigid tapping g33.1 isnt working spindle isnt sync
I just rewrote the hal leaving out the gear change to bring it back to basics still a no go here's what I have now.
#****************
# Spindle Control
#****************
setp hm2_5i20.0.pwmgen.04.output-type 2
setp hm2_5i20.0.pwmgen.04.scale 3530 # Set the spindle’s top speed in RPM
#****************************
# Spindle Synchronized Motion
#****************************
# add the encoder
setp hm2_5i20.0.encoder.04.counter-mode 0
setp hm2_5i20.0.encoder.04.filter 0
setp hm2_5i20.0.encoder.04.index-invert 0
setp hm2_5i20.0.encoder.04.index-mask 0
setp hm2_5i20.0.encoder.04.scale 8000
net spindle-position hm2_5i20.0.encoder.04.position => motion.spindle-revs
net spindle-velocity hm2_5i20.0.encoder.04.velocity => motion.spindle-speed-in
net spindle-index-enable hm2_5i20.0.encoder.04.index-enable <=> motion.spindle-index-enable
net spindle-cw <= motion.spindle-forward
net spindle-ccw <= motion.spindle-reverse
net spindle-enable hm2_5i20.0.gpio.071.out <= motion.spindle-on hm2_5i20.0.gpio.045.out
net spindle-enable => hm2_5i20.0.pwmgen.04.enable
#*****************
# Spindle At Speed
#*****************
addf near.0 servo-thread
setp near.0.scale 1.01
net spindle-cmd => near.0.in1
net spindle-velocity => near.0.in2
net spindle-at-speed motion.spindle-at-speed <= near.0.out
#*********
#RPM Scale
#*********
setp rpm-scale scale.0.gain 60
net spindle-rps scale.0.in hm2_5i20.0.encoder.04.velocity
#****************
# Spindle Control
#****************
setp hm2_5i20.0.pwmgen.04.output-type 2
setp hm2_5i20.0.pwmgen.04.scale 3530 # Set the spindle’s top speed in RPM
#****************************
# Spindle Synchronized Motion
#****************************
# add the encoder
setp hm2_5i20.0.encoder.04.counter-mode 0
setp hm2_5i20.0.encoder.04.filter 0
setp hm2_5i20.0.encoder.04.index-invert 0
setp hm2_5i20.0.encoder.04.index-mask 0
setp hm2_5i20.0.encoder.04.scale 8000
net spindle-position hm2_5i20.0.encoder.04.position => motion.spindle-revs
net spindle-velocity hm2_5i20.0.encoder.04.velocity => motion.spindle-speed-in
net spindle-index-enable hm2_5i20.0.encoder.04.index-enable <=> motion.spindle-index-enable
net spindle-cw <= motion.spindle-forward
net spindle-ccw <= motion.spindle-reverse
net spindle-enable hm2_5i20.0.gpio.071.out <= motion.spindle-on hm2_5i20.0.gpio.045.out
net spindle-enable => hm2_5i20.0.pwmgen.04.enable
#*****************
# Spindle At Speed
#*****************
addf near.0 servo-thread
setp near.0.scale 1.01
net spindle-cmd => near.0.in1
net spindle-velocity => near.0.in2
net spindle-at-speed motion.spindle-at-speed <= near.0.out
#*********
#RPM Scale
#*********
setp rpm-scale scale.0.gain 60
net spindle-rps scale.0.in hm2_5i20.0.encoder.04.velocity
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02 Sep 2013 09:02 #38388
by fabworx
Replied by fabworx on topic rigid tapping g33.1 isnt working spindle isnt sync
im totally lost I believe I have everything needed for that gcode to execute but it isn't working and im getting frustrated. any other suggestions?
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02 Sep 2013 09:23 #38391
by PCW
Replied by PCW on topic rigid tapping g33.1 isnt working spindle isnt sync
Dont know, maybe post the GCode here and the output of
"halcmd show pin"
when linuxcnc is hung at G33.1
"halcmd show pin"
when linuxcnc is hung at G33.1
The following user(s) said Thank You: fabworx
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