Spindle Step/Dir servo ramp down before stop on M stop command.

andypugh wrote:

This might actually be possible...

Firstly, the machine would probably need to be configured to start up in C-axis mode, and with the C-axis as part of the homing sequence.
The C axis should then be configured in the INI with HOME_USE_INDEX = 1 , HOME_SEARCH_VELOCITY = 0 and HOME_LATCH_VELOCITY = 100 (or some suitable number)

Then connect joint.2.index-enable to the encoder index-enable
Not sure how to do this - where/what is 'encoder index-enable' ?


Remove the "setp index-enable" line from the M100 script. Instead use:

Code:

halcmd setp halui.joint.2.unhome 1 sleep 1 halcmd setp halui.joint.2.unhome 0 halcmd setp joint.2.home 1 sleep 1 halcmd setp joint.2.home 0

RBC wrote: I need to poll for stepgen velocity=0 before executing position-reset so I dont get the following errors.
Is this something I can do?

NoJo wrote: Then connect joint.2.index-enable to the encoder index-enable
Not sure how to do this - where/what is 'encoder index-enable' ?

Do you mean remove set S spindle-index-enable ?

andypugh wrote:

NoJo wrote:

Code:

net spindle-index-enable joint.2.index-enable net spindle-index-enable pid.c.index-enable

Shows still how little I understand...

I tried 'almost' that in the file, but swapped like so
net joint.2.index-enable spindle-index-enable

as you sort of had that sentence order in your comment:
Then connect joint.2.index-enable to the encoder index-enable...
And it gave an error about same name pins...

Ok, I have the files set as I think you want, but am sure I still have something incorrect.
The behaviour now -
Do HOME ALL - All axes home, C rotates slowly to index and stops ( is it the index position?)
Then in MDI, do M100
> gives error = 'must be in joint mode or disabled to un-home'

Then M101, and spin the axis in manual - M03 S100 M05.
The M100 > C oscillates wildly, and goes back to the C DRO position that was set before the M101. The axis is not 'homed' .
and > gives error = 'must be in joint mode or disabled to un-home'

Hal file section:

Code:

#******************* # AXIS C JOINT 2 #******************* setp pid.c.Pgain [JOINT_2]P setp pid.c.Igain [JOINT_2]I setp pid.c.Dgain [JOINT_2]D setp pid.c.bias [JOINT_2]BIAS setp pid.c.FF0 [JOINT_2]FF0 setp pid.c.FF1 [JOINT_2]FF1 setp pid.c.FF2 [JOINT_2]FF2 setp pid.c.deadband [JOINT_2]DEADBAND setp pid.c.maxoutput [JOINT_2]MAX_OUTPUT setp pid.c.error-previous-target true net c-pos-cmd => pid.c.command net spindle-revs scale.degrees.in setp scale.degrees.gain 360 net spindle-degrees scale.degrees.out => pid.c.feedback net c-output pid.c.output => mux2.0.in1 net spindle-index-enable joint.2.index-enable net spindle-index-enable pid.c.index-enable # Here we setup to start machine in C_Axis mode setp pid.c.enable 1 setp mux2.0.sel 1 net c-pos-cmd <= joint.2.motor-pos-cmd joint.2.motor-pos-fb net c-vel-cmd <= joint.2.vel-cmd

INI Section:

Code:

#****************************************** #-# Add Axis C [AXIS_C] MAX_VELOCITY = 1440.0 #was 360 MAX_ACCELERATION = 12000.0 #was 3000 MIN_LIMIT = -3600 MAX_LIMIT = 3600 [JOINT_2] TYPE = ANGULAR HOME = 0 FERROR = 1.0 MIN_FERROR = .1 MAX_VELOCITY = 1440 MAX_ACCELERATION = 12000 P =0.1 I = 0.0 D = 0.0 FF0 = 0.0 FF1 = 0.0027777 FF2 = 0.0 BIAS = 0.0 DEADBAND = 0.05 MAX_OUTPUT = 400 MIN_LIMIT = -3600 MAX_LIMIT = 3600 HOME_OFFSET = 0.000000 HOME_SEARCH_VEL = 0.0 HOME_LATCH_VEL = 50 HOME_SEQUENCE = 1 HOME_USE_INDEX = 1 #******************************************

M100 Script:

Code:

#! /bin/bash halcmd setp pid.c.enable 1 halcmd setp mux2.0.sel 1 halcmd setp halui.joint.2.unhome 1 sleep 1 halcmd setp halui.joint.2.unhome 0 halcmd setp joint.2.home 1 sleep 1 halcmd setp joint.2.home 0

M101 Script

Code:

#! /bin/bash halcmd setp pid.c.enable 0 halcmd setp mux2.0.sel 0

NoJo wrote: Shows still how little I understand...

I tried 'almost' that in the file, but swapped like so
net joint.2.index-enable spindle-index-enable

Ok, I have the files set as I think you want, but am sure I still have something incorrect.

The behaviour now -
Do HOME ALL - All axes home, C rotates slowly to index and stops ( is it the index position?)
Then in MDI, do M100
> gives error = 'must be in joint mode or disabled to un-home'

NoJo wrote: Do HOME ALL - All axes home, C rotates slowly to index and stops ( is it the index position?)

andypugh wrote:

NoJo wrote: Do HOME ALL - All axes home, C rotates slowly to index and stops ( is it the index position?)

Should be. Does it look like it?

You can make it move faster by changing the [JOINT_2]LATCH_VELOCITY

andypugh wrote: I have been thinking about this a little more, and it might be necessary to do a little more fiddling with pins.

I think that, at the very least, we need to turn on the pid and the mux at the same time as the homing command. At the moment they are active for 2 seconds before homing begins and that is probably a problem.

NoJo wrote: HOME ALL > C rotates to index, stops momentarily ,shoots past, oscillates, converges to index and stops. Axes all show home icon

M101 > Jog works on all axes, C does not rotate but DRO changes.

M100 > C does not home but rotates to DRO setting = 270deg, rotate is very fast and oscillates about 270deg, to standstill.