Category: EtherCAT
Hello,
I would like to be able to orient the spindle in position.
The spindle encoder is a 1024-line encoder connected to an EL5101.
I've already set up a PID to control the spindle speed. The settings could still be improved, but for now it works and is acceptable.
However, for now, I can't get the spindle orientation to work. I'm not proficient enough with HAL to see where the problem might be.
If I start an M19 R10, for example, the spindle starts spinning and never stops. I've changed the PID values, but to no avail.
I have the impression I have an index problem, and I can't see it in the HALscope.
I'll send you the HAL and INI files, in case any of you experts spot a bug...
Thank you in advance for your help.
Laurent
