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I'm not sure I understand what your trying to do with the fipflop component. I don't think it is necessary. (A hal input pin remembers the value it is given with a setp if it isn't connected to a signal and hal commands like setp in the hal file are only executed once when the hal file is loaded at start up.)

I would probably use a couple of custom M-codes to enable/disable the 2nd probe. In your hal file add a line to setp the value of the and2.0.in0. and remove all other hal file references to that pin. Then in the two M-code files setp the value of and2.0.in0 to true or false to enable and disable the input.


Then to create an M101 M-code create a file containing the following, called M101 save it to your config dir and save as an executable file.
Then you can make another one to disable the probe called M102

Thanks for the overview.

I don't think that will work for me, as my encoder doesn't have a Z pulse. Just an A, B and R one. The motor itself has an origin switch that gives a digital output. The idea is to have that serve as the homing point, probably by using Homing Method 4 for Homing Mode (an operation mode in EtherCAT). I'm going to look into whether or not something like this has been discussed here, but for now it seems I'm the only one with this sort of setup, I think.

You may be able to reduce the overshoot by using
the PID components maxerror pin. This should allow
higher P (and I) terms.

Also anything in the VFD setup that slows response
will limit the highest stable P term.

Hello guys,

i just started taking heavier cuts on my machine (Deckel FP2A) and i noticed that the rpm drops down, sometimes up to 150 rpm. The machine uses a 2.2 kW motor with a huanyang vfd. Between the motor and spindle is a belt drive as well as an gearbox (similar to the MAHO machines). Up until now i ran the spindle open loop. But since i added a encoder directly to the spindle i thought i could close the loop and use pid to counteract the rpm drops. I ran a couple of tests today but i was not able to keep the rpm steady under load. With all PID values at 0, except FF0 that was 1 during all the tests, i was already getting a good response (see halscope below). At around P=2 the over and undershoots started. So i tried P=0.5 and ran a test cut in mild steel (cut conditions below, machine should be more than capable for that). At the halscope you could see how to rpm drops and then oscillates. And the end of the cut the rpm came back up to the commanded speed. You can actually hear the rpm drop and accelerate.

I don't know how to continue from here, so i wish to get help from you guys! The pid with all values at 0 gives the best response but also makes it kind of useless. I attached a couple halscope diagrams of different tests below. They are always three: spindle startup, idling and under load. I also tired higher P values just to see if the pid is working. My spindle hal section is pretty much the default pncconf, only added the gearbox and vfd stuff (gear selection etc.). This might as well be a vfd issue, so i included my parameters that i have changed after a factory reset.

Thank you!

Cut conditions:


Huanyang VFD HY04D043B 4kw 380V motor is wired in star config
Parameters:

Good afternoon! I purchased the same servos, and I can't get them to start. I took the configuration files from this theme, substituted my data, but could not launch it. Could you please share working files or tips on how to get these servos up and running?