orient spindle with ethercat EL5101

I thought I was on the right track. I played with the PID coefficients all weekend, but nothing conclusive.
With an M19 R10, the spindle jams and eventually stops, but "orient.is-oriented" never goes to 1.
If I repeat an M19 R5, for example, nothing happens. If I repeat an M19 R30, the spindle ends up running at maximum speed.
In any case, it's rarely reproducible twice in a row.

I'm trying a new approach by removing the PID for orientation and replacing it with a near component.But it's worse; even the speed control isn't working anymore, nothing's moving...Where are my mistakes?
I started from a version with only one pid speed that works.
With errors like ./EL7-schaublin-28.hal:326: Signal 'spindle-at-speed' of type 'float' cannot add pin 'spindle.0.at-speed' of type 'bit'

 

I tried to merge my speed pid with a spindle orientation example from talla83
talla83.homepage.t-online.de/linuxcnc/20181124_Spindel_5i25.zip

Could not fully follow it, but it looks like you give speed to the analog output in the spindle speed case as it should be.
But you give position to the analog output in the spindle orient case - which is wrong, should always be speed.
Worthwhile checking anyway.

I am trying to learn how to set this up, so please do not take my comments as "expertise".

Have you checked the MUX2 select pin to see if it is switching when you  start the orient routine?
I would think that you should start with the same pid  parameters  that are used in the "Spindle PID Parameter" int the Orientation section, then work from there.

Ray

I took the PID solution and modified the code a little. I initialized spindle-index-enable to 1 when starting Lcnc.
I also used ABS on spindle-Pos-fb-abs.
The spindle is positioned, but only in certain cases:
- When starting Lcnc, if I've never rotated the spindle at speed and the angular displacement is small (less than 20 degrees).
- If I rotate the spindle first and then try to orient it, almost every time, it will start at maximum speed, without orientation.
- If I rotate the spindle first, and then reposition it slightly by hand with my index finger, I can orient it, but always with small successive angular displacements.

It's progressing little by little, but from my point of view, it's more tinkering than mastery...

 

Try a small value for FF1 so it starts to rotate. Then add P so it stops.