My friend got this to compile this morning. I show:
pins
Code:
halcmd: show pin *spindle-monitor*
Component Pins:
Owner Type Dir Value Name
17 bit OUT FALSE spindle-monitor.0.spindle-at-speed
17 float IN 0 spindle-monitor.0.spindle-command
17 float IN 0 spindle-monitor.0.spindle-feedback
17 bit IN FALSE spindle-monitor.0.spindle-is-on
17 bit OUT FALSE spindle-monitor.0.spindle-underspeed
17 s32 OUT 0 spindle-monitor.0.time
parameters
Code:
halcmd: show param *spindle-monitor*
Parameters:
Owner Type Dir Value Name
17 u32 RW 0x00000000 spindle-monitor.0.level
17 float RW 0 spindle-monitor.0.threshold
17 s32 RW 0 spindle-monitor.0.tmax
17 bit RO FALSE spindle-monitor.0.tmax-increased
Edit: had a slight misunderstanding of the function of the component at first. This is what I'm thinking of doing in HAL for this: (#= already connected signal)
Code:
loadrt spindle_monitor
loadrt estop_latch
addf spindle-monitor.0 servo thread
addf estop_latch.0 servo thread
net spindle-at-speed spindle-monitor.0.spindle-at-speed #(=> motion.spindle-at-speed)
net spindle-vel-fb-rps spindle-monitor.0.spindle-feedback #(<= hm2_7i76e.0.encoder.00.velocity)
net spindle-vel-cmd-rps spindle-monitor.0.spindle-command #(<= motion.spindle-speed-out-rps)
net spindle-enable spindle-monitor.0.spindle-is-on #(<= motion.spindle-on)
net E-stop-trigger spindle-monitor.0.spindle-underspeed => estop-latch.0.fault-in
setp spindle-monitor.0.threshold 24000 #(400rpm drop))
If I'm reading the component right, it looks like the spindle-at-speed and spindle is on must be true once before the condition is met for the spindle-underspeed pin to go true when the underspeed is detected. For most cases I think this would work good, but I'm thinking this may ignore the case that the spindle stalls before it gets upto speed (belt jams or something). I think this would be solved if there were some time consideration (a parameter) given to set the condition of spindle-underspeed pin going true between the time that spindle-on and spindle-at-speed set level 2.
Any insight on the above Andy? I'll test/use it as is if the above looks correct since it will probably take care of 90% of my concerns anyway.
