need help adding PID to advanced spindle config

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7 years 4 months ago #138247 by 3D-Master
need help adding PID to advanced spindle config was created by 3D-Master
Hello,

i have a Spindle config from someone else (Talla83) and need some changes in order for it to work for me. Unfortunately he doesnt have time atm thats why I am asking here.

The problem is, the config is designed for servo controllers (which have an PID) but i have a simple H-Bridge so Linuxcnc needs to do the PID.

Atm it behaves like this:

M3/M4 will start the Spindle but the rpm is not even remotely close to reach Target RPM because of missing PID

Spindle orientation does have a PID but in order to get the full PID output (strength) i have to set the MAX_OUTPUT in SPINDLE_9 to maximum RPM, which results in way to fast orienting of the spindle (Target orienting rpm is 100 rpm. If i set the MAX_OUTPUT to 100, the spindle wont even turn on)

i have noticed, that sometimes when orienting the spindle, it spins fast but then wont stop at the index signal but slowly come to a stop.

Rigid tapping works without a problem

also i would like to have two seperate PID parameters in the INI, one for normal M3/M4 work and the other for orienting the spindle.

i have uploaded my ini and hal file. The spindle config in the hal file starts at line 350 and in the ini it is at the bottom.

any help is apreciated

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7 years 4 months ago #138253 by pl7i92
Replied by pl7i92 on topic need help adding PID to advanced spindle config
hi
whatsastem did you install and what version are you using sems you are at 2.7.x
Code:
#******************** # Spindle #******************** [SPINDLE_9] P = 0.0 I = 0.0 D = 0.0 FF0 = 1.0 FF1 = 0.0 FF2 = 0.0 BIAS = 0.0 DEADBAND = 0.0 MAX_OUTPUT = 7500.0 ENCODER_SCALE = 4000.0 #OUTPUT_SCALE = -7640 OUTPUT_SCALE = -7500 OUTPUT_MIN_LIMIT = -7500 OUTPUT_MAX_LIMIT = 7500 [SPINDLE_0] P = 0.0 I = 0.0 D = 0.0 FF0 = 1.0 FF1 = 0.0 FF2 = 0.0 BIAS = 0.0 DEADBAND = 0.0 MAX_OUTPUT = 7500.0 ENCODER_SCALE = 4000.0 #OUTPUT_SCALE = -7640 OUTPUT_SCALE = -7500 OUTPUT_MIN_LIMIT = -7500 OUTPUT_MAX_LIMIT = 7500
in hal
Code:
#******************* # SPINDLE S #******************* 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 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 mux2.0.in0 #======orient-pid---start setp pid.o.Pgain [SPINDLE_0]P setp pid.o.Igain [SPINDLE_0]I setp pid.o.Dgain [SPINDLE_0]D setp pid.o.bias [SPINDLE_0]BIAS setp pid.o.FF0 [SPINDLE_0]FF0 setp pid.o.FF1 [SPINDLE_0]FF1 setp pid.o.FF2 [SPINDLE_0]FF2 setp pid.o.deadband [SPINDLE_0]DEADBAND setp pid.o.maxoutput [SPINDLE_0]MAX_OUTPUT setp pid.o.error-previous-target true net spindle-index-enable <=> pid.o.index-enable net orient-angle spindle.0.orient-angle orient.0.angle net orient-mode spindle.0.orient-mode orient.0.mode net spindle-orient spindle.0.orient orient.0.enable pid.o.enable mux2.0.sel net spindle-in-pos orient.0.is-oriented spindle.0.is-oriented net spindle-revs orient.0.position pid.o.feedback net orient-command orient.0.command pid.o.command net spindle-output2 pid.o.output mux2.0.in1

and if yu use the pwm outs to the 7i80
Code:
# ---PWM Generator signals/setup--- setp hm2_7i92.0.7i77.0.1.analogout4-scalemax [SPINDLE_9]OUTPUT_SCALE setp hm2_7i92.0.7i77.0.1.analogout4-minlim [SPINDLE_9]OUTPUT_MIN_LIMIT setp hm2_7i92.0.7i77.0.1.analogout4-maxlim [SPINDLE_9]OUTPUT_MAX_LIMIT net spindle-output => hm2_7i92.0.7i77.0.1.analogout4 #net spindle-enable => hm2_7i92.0.7i77.0.1.spinena # ---setup spindle control signals--- net spindle-vel-cmd-rps <= spindle.0.speed-out-rps net spindle-vel-cmd-rps-abs <= spindle.0.speed-out-rps-abs net spindle-vel-cmd-rpm gearchoice.0.speed-command <= spindle.0.speed-out net spindle-vel-cmd-rpm-abs <= spindle.0.speed-out-abs net spindle-enable gearchoice.0.spindle-on <= spindle.0.on net spindle-cw <= spindle.0.forward net spindle-ccw <= spindle.0.reverse net spindle-brake gearchoice.0.brake-enable <= spindle.0.brake net spindle-revs => spindle.0.revs net spindle-at-speed => spindle.0.at-speed net spindle-vel-fb-rps => spindle.0.speed-in net spindle-index-enable <=> spindle.0.index-enable
is the hbridge a closed loop controller
as it seams not what encoder are you using
its old but usefull
www.vdwalle.com/Norte/Spindle%20Orientation.html

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7 years 4 months ago #138255 by 3D-Master
Replied by 3D-Master on topic need help adding PID to advanced spindle config
Sorry, i am using Linuxcnc 2.7.14 on Debian

is the hbridge a closed loop controller
as it seams not what encoder are you using


no it is just a plain H-Bridge, controlled with PWM and DIR signals. The Spindle Encoder is plugged into the 7i52s sixth (05) encoder terminals so its fully closed loop

its old but usefull
www.vdwalle.com/Norte/Spindle%20Orientation.html


thanks, i will have a look at it

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7 years 4 months ago #138256 by 3D-Master
Replied by 3D-Master on topic need help adding PID to advanced spindle config
something i forgot to mention is, the spindle config will always ramp up/down when you, for example, run the spindle at 5000 rpm and then want to orient the spindle. It will just ramp down until it a specified time has passed and then orient the spindle, or reverse the direction

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7 years 3 months ago #138284 by PCW
Replied by PCW on topic need help adding PID to advanced spindle config
At the minimum the tuning seems very odd to me

For the normal spindle in velocity mode I would use only FF0 and P and I, and only add I when you are quite close to correct velocity following.
(FF0 only is pure open loop voltage mode with a PWM driven servo motor)
So for this mode I would get the spindle speed as accurate as possible over the
full speed range with just FF0 and then add feedback with some P (as much as it
stable) and then some I

For position mode you use As much D&P (more D allows more P) as is stable then
adjust FF1 for minimum following error vs velocity. Then finally add as much I as is stable

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