Orient component revised

/* sudo halcompile --install shome.comp */ component shome "Provides a PID command input used for spindle homing"; pin out bit homing ; pin out bit homed ; pin in bit enable ; pin io bit index_enable ; pin out float command ; pin in float velocity = 100 ; variable int last_enable = 0; option fp yes; function _ "Spindle homing helper. Sets the encoder index-enable and waits for the falling of this signal."; author "Diego Weizel"; description ""; license "GPL"; ;; FUNCTION(_) { if (enable) { if (enable ^ last_enable) { // positive edge on enable homed = 0; homing = 1; index_enable=1; command=velocity; } if (homing && !index_enable) { // falling edge on enable homed = 1; homing = 0; command=0; } } else { homed = 0; homing = 0; command=0; } last_enable = enable; }

loadrt orient addf orient.0 servo-thread loadrt mux2 count=2 addf mux2.0 servo-thread addf mux2.1 servo-thread loadrt shome addf shome.0 servo-thread loadrt near count=2 addf near.0 servo-thread addf near.1 servo-thread loadrt not count=1 addf not.0 servo-thread # reley 5 setp near.1.in1 0.0 net spindle-cmd near.1.in2 net reley-5 near.1.out not.0.in net reley not.0.out hm2_7i92.0.7i77.0.0.output-01 #-spindle-at-speed net spindle-vel-cmd => near.0.in1 net spindle-vel => near.0.in2 # 10% setp near.0.scale 1.1 loadrt or2 count=2 addf or2.0 servo-thread # addf or2.1 servo-thread net or2-0-in0 or2.0.in0 <= near.0.out net orient-mode or2.0.in1 #net spindle-at-speed motion.spindle-at-speed or2.0.out setp motion.spindle-at-speed 1 # encoder feedback setp hm2_7i92.0.encoder.05.counter-mode 0 setp hm2_7i92.0.encoder.05.filter 1 setp hm2_7i92.0.encoder.05.index-invert 0 setp hm2_7i92.0.encoder.05.index-mask 0 setp hm2_7i92.0.encoder.05.index-mask-invert 0 setp hm2_7i92.0.encoder.05.scale 4096 # spindle HOME net spindle-index shome.0.index-enable hm2_7i92.0.encoder.05.index-enable # PWM Generator signals/setup setp hm2_7i92.0.7i77.0.1.analogout5-scalemax 1500 setp hm2_7i92.0.7i77.0.1.analogout5-minlim -1500 setp hm2_7i92.0.7i77.0.1.analogout5-maxlim 1500 # spindle enable setp hm2_7i92.0.7i77.0.1.spinena 1 ################################################## #loadrt pid (main.hal) addf pid.vel.do-pid-calcs servo-thread # Velocity addf pid.pos.do-pid-calcs servo-thread # Position net spindle-pos pid.pos.feedback orient.0.position net shome-enable0 axis.2.homed classicladder.0.in-00 net shome-enable1 shome.0.enable classicladder.0.out-00 net mux1in0 mux2.1.in0 pid.vel.output net mux1in1 mux2.1.in1 shome.0.command net mux1sel mux2.1.sel shome.0.homing setp shome.0.velocity -3 net spindle-vel pid.vel.feedback hm2_7i92.0.encoder.05.velocity net spindle-vel-cmd motion.spindle-speed-out pid.vel.command net spindle-vel-pid mux2.1.out mux2.0.in0 net spindle-pos pid.pos.feedback orient.0.position hm2_7i92.0.encoder.05.position net spindle-pos-cmd orient.0.command pid.pos.command net spindle-angle motion.spindle-orient-angle orient.0.angle net spindle-pos-pid pid.pos.output mux2.0.in1 # this switches modes net orient-mode motion.spindle-orient orient.0.enable pid.pos.enable mux2.0.sel net velocity-mode motion.spindle-on pid.vel.enable setp scale.0.gain -1 ##+++++++++++ loadrt limit2 addf limit2.0 servo-thread setp limit2.0.maxv 1000 net spindle-cmd mux2.0.out => scale.0.in net scaleout scale.0.out hm2_7i92.0.7i77.0.1.analogout5 #net spindle-ramped <= limit2.0.out => hm2_7i92.0.7i77.0.1.analogout5 # Tune the PID from the INI values setp pid.vel.Pgain [SPINDLE]PGAIN_V setp pid.vel.Igain [SPINDLE]IGAIN_V setp pid.vel.Dgain [SPINDLE]DGAIN_V setp pid.vel.FF0 [SPINDLE]FF0_V setp pid.vel.FF1 [SPINDLE]FF1_V setp pid.pos.Pgain [SPINDLE]PGAIN_P setp pid.pos.Igain [SPINDLE]IGAIN_P setp pid.pos.Dgain [SPINDLE]DGAIN_P setp pid.pos.FF0 [SPINDLE]FF0_P setp pid.pos.FF1 [SPINDLE]FF1_P

[SPINDLE] PGAIN_V = 0 IGAIN_V = 0 DGAIN_V = 0 FF0_V = 1 FF1_V = 0 PGAIN_P = 150 IGAIN_P = 1 DGAIN_P = 0 FF0_P = 0 FF1_P = 1

##################################################################### # Spindle orient mode ##################################################################### loadrt orientv4 names=orient.orient-spindle loadrt pid names=pid.orient-spindle loadrt or2 names=or2.orient-spindle-pid-ena addf orient.orient-spindle servo-thread addf pid.orient-spindle.do-pid-calcs servo-thread addf or2.orient-spindle-pid-ena servo-thread # setup Orient Spindle PID setp pid.orient-spindle.Pgain [ORIENT]P setp pid.orient-spindle.Igain [ORIENT]I setp pid.orient-spindle.Dgain [ORIENT]D setp pid.orient-spindle.FF0 [ORIENT]FF0 setp pid.orient-spindle.FF1 [ORIENT]FF1 setp pid.orient-spindle.FF2 [ORIENT]FF2 setp pid.orient-spindle.bias [ORIENT]BIAS setp pid.orient-spindle.deadband [ORIENT]DEADBAND setp pid.orient-spindle.maxerror [ORIENT]MAX_ERROR setp pid.orient-spindle.maxerrorI [ORIENT]MAX_ERROR_I setp pid.orient-spindle.maxoutput [ORIENT]MAX_OUTPUT setp orient.orient-spindle.vel-speed [ORIENT]VEL_SPEED setp orient.orient-spindle.tolerance [ORIENT]AT_ANGLE_TOL # Set asked mode from M19 P0/1/2 net spindle-orient-mode <= motion.spindle-orient-mode net spindle-orient-mode => orient.orient-spindle.mode # pid output mux with regular spindle modul net DAC-ctrl-out-orient <= pid.orient-spindle.output net DAC-ctrl-out-orient => orient.orient-spindle.cmd-orient net DAC-ctrl-out-velocity => orient.orient-spindle.cmd-velocity net DAC-computed-ctrl-out <= orient.orient-spindle.cmd-out net DAC-computed-ctrl-out => hpg.pwmgen.00.out.00.value # enable out for controler from regular spindle or orient mode net spindle-enable => orient.orient-spindle.ena-velocity net spindle-orient-enable-out <= orient.orient-spindle.ena-out net spindle-orient-enable-out => fur.do-6 # enable output for VFD muxed with regular spindle modul # encoder connections index + feedback net spindle-index-enable => pid.orient-spindle.index-enable # need investigation net spindle-pos => orient.orient-spindle.position net spindle-pos-deg <= orient.orient-spindle.scaled-angle-out # Spindle orient control signals net spindle-orient-enable <= motion.spindle-orient net spindle-orient-enable => orient.orient-spindle.enable net spindle-orient-enable => or2.orient-spindle-pid-ena.in0 net spindle-orient-home-enable <= orient.orient-spindle.homing net spindle-orient-home-enable => or2.orient-spindle-pid-ena.in1 net spindle-orient-or2home-ena <= or2.orient-spindle-pid-ena.out net spindle-orient-or2home-ena => pid.orient-spindle.enable net spindle-index-enable <=> orient.orient-spindle.index-enable net machinehomed <= axis.0.homed net machinehomed => orient.orient-spindle.machine-is-homed # Is oriented near signal + link position asked to component net spindle-orient-degree-cmd <= motion.spindle-orient-angle net spindle-orient-degree-cmd => orient.orient-spindle.angle net spindle-is-oriented <= orient.orient-spindle.is-oriented net spindle-is-oriented => motion.spindle-is-oriented ## Command to pid from component by velocity and velocity feedback net spindle-orient-vel <= orient.orient-spindle.command net spindle-orient-vel => pid.orient-spindle.command net spindle-vel-fb-rps => pid.orient-spindle.feedback