Mill atc configuration

growing to next index pulse and set to 0.

Yes but does 'orient.pid-.feedback' grow from 0 to 1 in one revolution? Theoretically it should get to 1.0 and then go to 0.0 but that may be difficult to do by hand.

Before we make scale orient.pid-feedback going from 0 to 1 and set to 0
Now with scale go from 0 to 0.00434782 and set to 0

Now with scale go from 0 to 0.00434782 and set to 0

so there is clearly a problem but I'm a bit confused now.

If you look at 'hm2_5i25.0.encoder.04.position', what value does it count to in one revolution of the spindle?

 

Encoder.04.position go from 0 to 1 and on index is set to 0

Ah ok, thanks for the edit, because that had me really confused
 

I'm sorry there seems to have been a misunderstanding at some time because
if your hm2_5i25.0.encoder.04.position already counts from 0..1 we don't want the
'scale.orient' component.

So in your hal file change this:

# Encoder position into orient component and orient pid
setp scale.orient.gain 0.004347826
net spindle-revs scale.orient.in
net spindle-revs-scaled <= scale.orient.out orient.position orient-pid.feedback


to this:

# Encoder position into orient component and orient pid
net spindle-revs orient.position orient-pid.feedback

You can also remove the 'loadrt' and 'addf' for scale.orient.