Closed loop spindle

When running 100rpm, pid commad = 100 and pid feedback is also 100

Can it be so that the velocity settings for the spindle should be in RPS for the spindle so that the pid command and feedback should also be in rps
But the spindle rev in RPM?

jeeybee wrote: Can it be so that the velocity settings for the spindle should be in RPS for the spindle so that the pid command and feedback should also be in rps
But the spindle rev in RPM?

If you mean motion.spindle.revs that should be a revolution counter. It should increase by 1 every spindle revolution.
If that isn't what you mean, then what do you mean?

I mean that the INI settings for the spindle should be in RPS, and the PID feedback and command?

jeeybee wrote: I mean that the INI settings for the spindle should be in RPS, and the PID feedback and command?

Sorry to be vague, but you can do it either way, as long as you are consistent.

The encoder speed output, however, will always be in RPS.

So, you can use RPS around the PID and scale to RPM for a GUI output (if required). Note that motion.spindle-speed-in should be in RPS.

Or, you can scale the encoder velocity to RPM (using the unscaled signal for motion.spindle-speed-in ) and use RPM around the PID.

Ok that is probably the problem, I will check it, thanks.