terkaa wrote: Ok,
I have been studying this and I would like to have auto gear selection, ie. if under 600 RPM is needed then low gear is selected and output to engage low gear hydraulic solenoid is activated. If over 600 is needed then high gear is selected. Gear switching is only possible when spindle is still. Would it be simple solution to modify gearchange component a bit?
Which "gearchange component" ? The one included with LinuxCNC isn't really ideal for your situation.
A better solution is the system I have on my lathe (I didn't realise you had an electronically controlled gearbox).
It uses this HAL component (confusingly also called "gearchange"):
Code:
component gearchange "A component to choose spindle gears according to spindle speed";
pin in float speed-command;
pin in bit spindle-on;
pin in bit manual-low;
pin in bit manual-high;
pin in bit brake-enable;
pin out float motor-speed;
pin out bit low-gear;
pin out bit high-gear;
pin out bit brake;
param rw float low-ratio=3;
param rw float high-ratio=1;
param rw float max-low = 500;
author "andy pugh";
license "GPL";
function _;
;;
FUNCTION(_){
static int old_M3;
if (spindle_on) {
if (!old_M3){ // spindle off to on transition
if (manual_high) {
high_gear = 1;
low_gear = 0;
brake = 0;
}
else if (manual_low){
high_gear = 0;
low_gear = 1;
brake = 0;
} else if (speed_command <= max_low){
high_gear = 0;
low_gear = 1;
brake = 0;
} else {
high_gear = 1;
low_gear = 0;
brake = 0;
}
}
} else { //spindle off
high_gear = 0;
low_gear = 0;
brake = brake_enable;
}
old_M3 = spindle_on;
if (high_gear){
motor_speed = speed_command * high_ratio;
} else if (low_gear){
motor_speed = speed_command * low_ratio;
}
}
You can save the file as gearchange.comp then install it on your system with
Code:
sudo halcompile --install gearchange.comp
If you want to not over-write the built-in gearchange then change the filename _and_ the "component gearchange" line.
It allows for manual over-ride to high or low (in my case with a three-way switch) and also allows for manual or auto brake engagement (again, controlled by a switch on my machine).
This is the HAL.
Code:
loadusr -W hy_vfd -d /dev/ttyUSB0
loadrt gearchange
addf gearchange.0 servo-thread
setp gearchange.0.max-low 500
setp gearchange.0.high-ratio 1
setp gearchange.0.low-ratio 3
setp gearchange.0.brake-enable 0
setp pid.s.Pgain [SPINDLE_9]P
setp pid.s.Igain [SPINDLE_9]I
setp pid.s.Dgain [SPINDLE_9]D
setp pid.s.bias [SPINDLE_9]BIAS
setp pid.s.FF0 [SPINDLE_9]FF0
setp pid.s.FF1 [SPINDLE_9]FF1
setp pid.s.FF2 [SPINDLE_9]FF2
setp pid.s.deadband [SPINDLE_9]DEADBAND
setp pid.s.maxoutput [SPINDLE_9]MAX_OUTPUT
setp pid.s.error-previous-target true
setp pid.s.maxerror .0005
net spindle-index-enable <=> pid.s.index-enable
net spindle-enable => pid.s.enable
net spindle-vel-cmd-rpm => pid.s.command
net spindle-vel-fb-rpm => pid.s.feedback
net spindle-output <= pid.s.output
# ---Encoder feedback signals/setup---
net spindle-revs <= hm2_5i24.0.resolver.04.position
net spindle-vel-fb-rps <= hm2_5i24.0.resolver.04.velocity
net spindle-index-enable <=> hm2_5i24.0.resolver.04.index-enable
# ---setup spindle control signals---
net spindle-vel-cmd-rps <= motion.spindle-speed-out-rps
net spindle-vel-cmd-rps-abs <= motion.spindle-speed-out-rps-abs
net spindle-vel-cmd-rpm <= motion.spindle-speed-out
net spindle-vel-cmd-rpm-abs <= motion.spindle-speed-out-abs
net spindle-enable <= motion.spindle-on
net spindle-cw <= motion.spindle-forward
net spindle-ccw <= motion.spindle-reverse
net spindle-brake <= motion.spindle-brake
net spindle-revs => motion.spindle-revs
net spindle-at-speed => motion.spindle-at-speed
net spindle-vel-fb-rps => motion.spindle-speed-in
net spindle-index-enable <=> motion.spindle-index-enable
# ---Connect the VFD---
net spindle-at-speed hy_vfd.spindle-at-speed
net machine.on.delayed hy_vfd.enable
net spindle-enable hy_vfd.spindle-on gearchange.0.spindle-on
net spindle-cw hy_vfd.spindle-forward
net spindle-ccw hy_vfd.spindle-reverse
net spindle-vel-cmd-rpm-abs gearchange.0.speed-command
net manual-low gearchange.0.manual-low <=
net manual-high gearchange.0.manual-high <=
net motor-speed gearchange.0.motor-speed => hy_vfd.speed-command
net low-gear gearchange.0.low-gear => hm2_7i84.008a.output-11
net high-gear gearchange.0.high-gear => hm2_7i84.008a.output-10
net brake gearchange.0.brake => hm2_7i84.008a.output-12
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