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Need Help with ATC
8 years 2 months ago #115662
by giz
Need Help with ATC was created by giz
I'm on the last leg of my retrofit and desperately need some help my with tool change procedure. I'm completely lost right now!
Where I am at:
Spindle is connected to a 7i77. I have control over my spindle using M3, M4, and M5 in the MDI (my commanded speed does not match actual speed - problem right now?) and I can see the feedback from my spindle encoder in HAL Meter (1 physical revolution CW = 1 positive rev count in HAL Meter).
My tool changer is an 18-pocket carousel that moves down/up and forward/backward with pneumatics. It has a home sensor and a position index signal. By using halcmd in Hal Configuration, I can "manually" walk through all the steps of a tool change procedure EXCEPT the spindle orient step.
Where I need to be:
I (assume) I need to be able to home the spindle and then index it to an appropriate angle for my carousel-style tool changer. I need to be able to do this as part of a tool change procedure called by M6 TXX
Looking through my HAL and INI files, I see nothing related to spindle orientation. Firstly, I know I am missing information to allow me to orient, and then secondly I see two ways of doing the tool change: remapping M6 to gcode moves or classic ladder. I am open to either, I just need to get this to work!!
Below are my HAL and INI files. There are a couple signals in the HAL file that I used to have available, but I needed to replace the factory-original VFD with a new model and I lost them (noted below).
Lagunmatic_3516-SX.hal:
Lagunmatic_3516-SX.ini:
When I look at the spindle.hal that is part of andy_pugh's VMC_toolchange config I see a lot of code that I am missing. I'm certain I need some of this, but I'm not clear about what I need exactly and how to incorporate it. Surely it is not as simple as adding HALFILE = spindle.hal in my INI file, right :laugh:
Once I can orient, then I can start thinking about the actual tool change procedure and I will need help here as well.
Thank you for reading and ANY help you can provide!
For reference, here is andy's spindle.hal:
Where I am at:
Spindle is connected to a 7i77. I have control over my spindle using M3, M4, and M5 in the MDI (my commanded speed does not match actual speed - problem right now?) and I can see the feedback from my spindle encoder in HAL Meter (1 physical revolution CW = 1 positive rev count in HAL Meter).
My tool changer is an 18-pocket carousel that moves down/up and forward/backward with pneumatics. It has a home sensor and a position index signal. By using halcmd in Hal Configuration, I can "manually" walk through all the steps of a tool change procedure EXCEPT the spindle orient step.
Where I need to be:
I (assume) I need to be able to home the spindle and then index it to an appropriate angle for my carousel-style tool changer. I need to be able to do this as part of a tool change procedure called by M6 TXX
Looking through my HAL and INI files, I see nothing related to spindle orientation. Firstly, I know I am missing information to allow me to orient, and then secondly I see two ways of doing the tool change: remapping M6 to gcode moves or classic ladder. I am open to either, I just need to get this to work!!
Below are my HAL and INI files. There are a couple signals in the HAL file that I used to have available, but I needed to replace the factory-original VFD with a new model and I lost them (noted below).
Lagunmatic_3516-SX.hal:
Code:
# Generated by PNCconf at Fri Apr 27 02:57:57 2018
# If you make changes to this file, they will be
# overwritten when you run PNCconf again
loadrt trivkins
loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[TRAJ]AXES
loadrt hostmot2
loadrt hm2_pci config=" num_encoders=6 num_pwmgens=0 num_stepgens=0 sserial_port_0=000xxx"
setp hm2_5i25.0.watchdog.timeout_ns 5000000
loadrt pid names=pid.x,pid.y,pid.z,pid.s
addf hm2_5i25.0.read servo-thread
addf motion-command-handler servo-thread
addf motion-controller servo-thread
addf pid.x.do-pid-calcs servo-thread
addf pid.y.do-pid-calcs servo-thread
addf pid.z.do-pid-calcs servo-thread
addf pid.s.do-pid-calcs servo-thread
addf hm2_5i25.0.write servo-thread
######################################
# external output signals
######################################
# --- MACHINE-IS-ENABLED ---
net machine-is-enabled hm2_5i25.0.7i77.0.0.output-00
# --- MAGAZINE_FORWARD ---
net Magazine_Forward hm2_5i25.0.7i77.0.0.output-01
# --- MAGAZINE_DOWN ---
net Magazine_Down hm2_5i25.0.7i77.0.0.output-02
# --- MAGAZINE_CW ---
net Magazine_CW hm2_5i25.0.7i77.0.0.output-03
# --- MAGAZINE_CCW ---
net Magazine_CCW hm2_5i25.0.7i77.0.0.output-04
# --- SPINDLE_ORIENT ---
##Signal for original VFD - no longer functional
#net Spindle_Orient hm2_5i25.0.7i77.0.0.output-05
# --- SPINDLE-CW ---
net spindle-cw hm2_5i25.0.7i77.0.0.output-06
# --- TOOL_UNCLAMP ---
net Tool_Unclamp hm2_5i25.0.7i77.0.0.output-07
# --- COOLANT-MIST ---
net coolant-mist hm2_5i25.0.7i77.0.0.output-08
# --- LUBE_RELAY ---
net Lube_Relay hm2_5i25.0.7i77.0.0.output-10
# --- SOFT_START_CANCEL ---
net Soft_Start_Cancel hm2_5i25.0.7i77.0.0.output-11
######################################
# external input signals
######################################
# --- WAY_LUBE_LEVEL ---
net Way_Lube_Level <= hm2_5i25.0.7i77.0.0.input-00
# --- MAX-X ---
net max-x <= hm2_5i25.0.7i77.0.0.input-01-not
# --- MIN-X ---
net min-x <= hm2_5i25.0.7i77.0.0.input-02-not
# --- MAX-Y ---
net max-y <= hm2_5i25.0.7i77.0.0.input-03-not
# --- MIN-Y ---
net min-y <= hm2_5i25.0.7i77.0.0.input-04-not
# --- MAX-Z ---
net max-z <= hm2_5i25.0.7i77.0.0.input-05-not
# --- MIN-Z ---
net min-z <= hm2_5i25.0.7i77.0.0.input-06-not
# --- HOME-X ---
net home-x <= hm2_5i25.0.7i77.0.0.input-07
# --- HOME-Y ---
net home-y <= hm2_5i25.0.7i77.0.0.input-08
# --- HOME-Z ---
net home-z <= hm2_5i25.0.7i77.0.0.input-09
# --- MAGAZINE_BACK_POSITION ---
net Magazine_Back_Position <= hm2_5i25.0.7i77.0.0.input-10
# --- MAGAZINE_FORWARD_POSITION ---
net Magazine_Forward_Position <= hm2_5i25.0.7i77.0.0.input-11
# --- MAGAZINE_UP_POSITION ---
net Magazine_Up_Position <= hm2_5i25.0.7i77.0.0.input-12
# --- MAGAZINE_DOWN_POSITION ---
net Magazine_Down_Position <= hm2_5i25.0.7i77.0.0.input-13
# --- POSITION_COUNTER ---
net Position_Counter <= hm2_5i25.0.7i77.0.0.input-14
# --- MAGAZINE_HOME ---
net Magazine_Home <= hm2_5i25.0.7i77.0.0.input-15
# --- TOOL_CLAMP_POSITION ---
net Tool_Clamp_Position <= hm2_5i25.0.7i77.0.0.input-16
# --- TOOL_UNCLAMP_POSITION ---
net Tool_Unclamp_Position <= hm2_5i25.0.7i77.0.0.input-17
# --- SPINDLE_UP_TO_SPEED ---
##Signal from original VFD - not available
#net Spindle_Up_To_Speed <= hm2_5i25.0.7i77.0.0.input-18
# --- ESTOP ---
net ESTOP <= hm2_5i25.0.7i77.0.0.input-19
# --- SPINDLE_ORIENT_COMPLETE ---
##Signal from original VFD - not available
#net Spindle_Orient_Complete <= hm2_5i25.0.7i77.0.0.input-20
# --- LUBE_PRESSURE_SWITCH ---
net Lube_Pressure_Switch <= hm2_5i25.0.7i77.0.0.input-21-not
# --- AIR_PRESSURE_SWITCH ---
net Air_Pressure_Switch <= hm2_5i25.0.7i77.0.0.input-22
# --- MACHINE_ON_CMD ---
net Machine_On_CMD <= hm2_5i25.0.7i77.0.0.input-23
# --- SPINDLE_ON_CMD ---
net Spindle_On_CMD <= hm2_5i25.0.7i77.0.0.input-24
# --- TOOL_UNCLAMP_CMD ---
net Tool_Unclamp_CMD <= hm2_5i25.0.7i77.0.0.input-25
# --- MIST_ON_CMD ---
net Mist_On_CMD <= hm2_5i25.0.7i77.0.0.input-26
# --- MAGAZINE_CW_CMD ---
net Magazine_CW_CMD <= hm2_5i25.0.7i77.0.0.input-27
# --- MAGAZINE_CCW_CMD ---
net Magazine_CCW_CMD <= hm2_5i25.0.7i77.0.0.input-28
#*******************
# AXIS X
#*******************
setp pid.x.Pgain [AXIS_0]P
setp pid.x.Igain [AXIS_0]I
setp pid.x.Dgain [AXIS_0]D
setp pid.x.bias [AXIS_0]BIAS
setp pid.x.FF0 [AXIS_0]FF0
setp pid.x.FF1 [AXIS_0]FF1
setp pid.x.FF2 [AXIS_0]FF2
setp pid.x.deadband [AXIS_0]DEADBAND
setp pid.x.maxoutput [AXIS_0]MAX_OUTPUT
setp pid.x.error-previous-target true
net x-index-enable <=> pid.x.index-enable
net x-enable => pid.x.enable
net x-pos-cmd => pid.x.command
net x-vel-cmd => pid.x.command-deriv
net x-pos-fb => pid.x.feedback
net x-output => pid.x.output
# ---PWM Generator signals/setup---
setp hm2_5i25.0.7i77.0.1.analogout0-scalemax [AXIS_0]OUTPUT_SCALE
setp hm2_5i25.0.7i77.0.1.analogout0-minlim [AXIS_0]OUTPUT_MIN_LIMIT
setp hm2_5i25.0.7i77.0.1.analogout0-maxlim [AXIS_0]OUTPUT_MAX_LIMIT
net x-output => hm2_5i25.0.7i77.0.1.analogout0
net x-pos-cmd axis.0.motor-pos-cmd
net x-enable axis.0.amp-enable-out
# enable _all_ sserial pwmgens
net x-enable hm2_5i25.0.7i77.0.1.analogena
# ---Encoder feedback signals/setup---
setp hm2_5i25.0.encoder.00.counter-mode 0
setp hm2_5i25.0.encoder.00.filter 1
setp hm2_5i25.0.encoder.00.index-invert 0
setp hm2_5i25.0.encoder.00.index-mask 0
setp hm2_5i25.0.encoder.00.index-mask-invert 0
setp hm2_5i25.0.encoder.00.scale [AXIS_0]ENCODER_SCALE
net x-pos-fb <= hm2_5i25.0.encoder.00.position
net x-vel-fb <= hm2_5i25.0.encoder.00.velocity
net x-pos-fb => axis.0.motor-pos-fb
net x-index-enable axis.0.index-enable <=> hm2_5i25.0.encoder.00.index-enable
net x-pos-rawcounts <= hm2_5i25.0.encoder.00.rawcounts
# ---setup home / limit switch signals---
net home-x => axis.0.home-sw-in
net min-x => axis.0.neg-lim-sw-in
net max-x => axis.0.pos-lim-sw-in
#*******************
# AXIS Y
#*******************
setp pid.y.Pgain [AXIS_1]P
setp pid.y.Igain [AXIS_1]I
setp pid.y.Dgain [AXIS_1]D
setp pid.y.bias [AXIS_1]BIAS
setp pid.y.FF0 [AXIS_1]FF0
setp pid.y.FF1 [AXIS_1]FF1
setp pid.y.FF2 [AXIS_1]FF2
setp pid.y.deadband [AXIS_1]DEADBAND
setp pid.y.maxoutput [AXIS_1]MAX_OUTPUT
setp pid.y.error-previous-target true
net y-index-enable <=> pid.y.index-enable
net y-enable => pid.y.enable
net y-pos-cmd => pid.y.command
net y-vel-cmd => pid.y.command-deriv
net y-pos-fb => pid.y.feedback
net y-output => pid.y.output
# ---PWM Generator signals/setup---
setp hm2_5i25.0.7i77.0.1.analogout1-scalemax [AXIS_1]OUTPUT_SCALE
setp hm2_5i25.0.7i77.0.1.analogout1-minlim [AXIS_1]OUTPUT_MIN_LIMIT
setp hm2_5i25.0.7i77.0.1.analogout1-maxlim [AXIS_1]OUTPUT_MAX_LIMIT
net y-output => hm2_5i25.0.7i77.0.1.analogout1
net y-pos-cmd axis.1.motor-pos-cmd
net y-enable axis.1.amp-enable-out
# ---Encoder feedback signals/setup---
setp hm2_5i25.0.encoder.01.counter-mode 0
setp hm2_5i25.0.encoder.01.filter 1
setp hm2_5i25.0.encoder.01.index-invert 0
setp hm2_5i25.0.encoder.01.index-mask 0
setp hm2_5i25.0.encoder.01.index-mask-invert 0
setp hm2_5i25.0.encoder.01.scale [AXIS_1]ENCODER_SCALE
net y-pos-fb <= hm2_5i25.0.encoder.01.position
net y-vel-fb <= hm2_5i25.0.encoder.01.velocity
net y-pos-fb => axis.1.motor-pos-fb
net y-index-enable axis.1.index-enable <=> hm2_5i25.0.encoder.01.index-enable
net y-pos-rawcounts <= hm2_5i25.0.encoder.01.rawcounts
# ---setup home / limit switch signals---
net home-y => axis.1.home-sw-in
net min-y => axis.1.neg-lim-sw-in
net max-y => axis.1.pos-lim-sw-in
#*******************
# AXIS Z
#*******************
setp pid.z.Pgain [AXIS_2]P
setp pid.z.Igain [AXIS_2]I
setp pid.z.Dgain [AXIS_2]D
setp pid.z.bias [AXIS_2]BIAS
setp pid.z.FF0 [AXIS_2]FF0
setp pid.z.FF1 [AXIS_2]FF1
setp pid.z.FF2 [AXIS_2]FF2
setp pid.z.deadband [AXIS_2]DEADBAND
setp pid.z.maxoutput [AXIS_2]MAX_OUTPUT
setp pid.z.error-previous-target true
net z-index-enable <=> pid.z.index-enable
net z-enable => pid.z.enable
net z-pos-cmd => pid.z.command
net z-vel-cmd => pid.z.command-deriv
net z-pos-fb => pid.z.feedback
net z-output => pid.z.output
# ---PWM Generator signals/setup---
setp hm2_5i25.0.7i77.0.1.analogout2-scalemax [AXIS_2]OUTPUT_SCALE
setp hm2_5i25.0.7i77.0.1.analogout2-minlim [AXIS_2]OUTPUT_MIN_LIMIT
setp hm2_5i25.0.7i77.0.1.analogout2-maxlim [AXIS_2]OUTPUT_MAX_LIMIT
net z-output => hm2_5i25.0.7i77.0.1.analogout2
net z-pos-cmd axis.2.motor-pos-cmd
net z-enable axis.2.amp-enable-out
# ---Encoder feedback signals/setup---
setp hm2_5i25.0.encoder.02.counter-mode 0
setp hm2_5i25.0.encoder.02.filter 1
setp hm2_5i25.0.encoder.02.index-invert 0
setp hm2_5i25.0.encoder.02.index-mask 0
setp hm2_5i25.0.encoder.02.index-mask-invert 0
setp hm2_5i25.0.encoder.02.scale [AXIS_2]ENCODER_SCALE
net z-pos-fb <= hm2_5i25.0.encoder.02.position
net z-vel-fb <= hm2_5i25.0.encoder.02.velocity
net z-pos-fb => axis.2.motor-pos-fb
net z-index-enable axis.2.index-enable <=> hm2_5i25.0.encoder.02.index-enable
net z-pos-rawcounts <= hm2_5i25.0.encoder.02.rawcounts
# ---setup home / limit switch signals---
net home-z => axis.2.home-sw-in
net min-z => axis.2.neg-lim-sw-in
net max-z => axis.2.pos-lim-sw-in
#*******************
# 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
# ---PWM Generator signals/setup---
setp hm2_5i25.0.7i77.0.1.analogout5-scalemax [SPINDLE_9]OUTPUT_SCALE
setp hm2_5i25.0.7i77.0.1.analogout5-minlim [SPINDLE_9]OUTPUT_MIN_LIMIT
setp hm2_5i25.0.7i77.0.1.analogout5-maxlim [SPINDLE_9]OUTPUT_MAX_LIMIT
net spindle-output => hm2_5i25.0.7i77.0.1.analogout5
net spindle-enable => hm2_5i25.0.7i77.0.1.spinena
# ---Encoder feedback signals/setup---
setp hm2_5i25.0.encoder.05.counter-mode 0
setp hm2_5i25.0.encoder.05.filter 1
setp hm2_5i25.0.encoder.05.index-invert 0
setp hm2_5i25.0.encoder.05.index-mask 0
setp hm2_5i25.0.encoder.05.index-mask-invert 0
setp hm2_5i25.0.encoder.05.scale [SPINDLE_9]ENCODER_SCALE
net spindle-revs <= hm2_5i25.0.encoder.05.position
net spindle-vel-fb-rps <= hm2_5i25.0.encoder.05.velocity
net spindle-index-enable <=> hm2_5i25.0.encoder.05.index-enable
# ---setup spindle control signals---
net spindle-vel-cmd-rps <= motion.spindle-speed-out-rps
net spindle-vel-cmd-rps-abs <= motion.spindle-speed-out-rps-abs
net spindle-vel-cmd-rpm <= motion.spindle-speed-out
net spindle-vel-cmd-rpm-abs <= motion.spindle-speed-out-abs
net spindle-enable <= motion.spindle-on
net spindle-cw <= motion.spindle-forward
net spindle-ccw <= motion.spindle-reverse
net spindle-brake <= motion.spindle-brake
net spindle-revs => motion.spindle-revs
net spindle-at-speed => motion.spindle-at-speed
net spindle-vel-fb-rps => motion.spindle-speed-in
net spindle-index-enable <=> motion.spindle-index-enable
# ---Setup spindle at speed signals---
sets spindle-at-speed true
#******************************
# connect miscellaneous signals
#******************************
# ---HALUI signals---
net joint-select-a halui.joint.0.select
net x-is-homed halui.joint.0.is-homed
net jog-x-pos halui.jog.0.plus
net jog-x-neg halui.jog.0.minus
net jog-x-analog halui.jog.0.analog
net joint-select-b halui.joint.1.select
net y-is-homed halui.joint.1.is-homed
net jog-y-pos halui.jog.1.plus
net jog-y-neg halui.jog.1.minus
net jog-y-analog halui.jog.1.analog
net joint-select-c halui.joint.2.select
net z-is-homed halui.joint.2.is-homed
net jog-z-pos halui.jog.2.plus
net jog-z-neg halui.jog.2.minus
net jog-z-analog halui.jog.2.analog
net jog-selected-pos halui.jog.selected.plus
net jog-selected-neg halui.jog.selected.minus
net spindle-manual-cw halui.spindle.forward
net spindle-manual-ccw halui.spindle.reverse
net spindle-manual-stop halui.spindle.stop
net machine-is-on halui.machine.is-on
net jog-speed halui.jog-speed
net MDI-mode halui.mode.is-mdi
# ---coolant signals---
net coolant-mist <= iocontrol.0.coolant-mist
net coolant-flood <= iocontrol.0.coolant-flood
# ---probe signal---
net probe-in => motion.probe-input
# ---motion control signals---
net in-position <= motion.in-position
net machine-is-enabled <= motion.motion-enabled
# ---digital in / out signals---
# ---estop signals---
net estop-out <= iocontrol.0.user-enable-out
net estop-out => iocontrol.0.emc-enable-in
######################################
Lagunmatic_3516-SX.ini:
Code:
# Generated by PNCconf at Fri Apr 27 02:57:57 2018
# If you make changes to this file, they will be
# overwritten when you run PNCconf again
[EMC]
MACHINE = Lagunmatic_3516-SX
DEBUG = 0
[DISPLAY]
DISPLAY = axis
#DISPLAY = gmoccapy
POSITION_OFFSET = RELATIVE
POSITION_FEEDBACK = ACTUAL
MAX_FEED_OVERRIDE = 2.000000
MAX_SPINDLE_OVERRIDE = 2.000000
MIN_SPINDLE_OVERRIDE = 0.500000
INTRO_GRAPHIC = linuxcnc.gif
INTRO_TIME = 5
PROGRAM_PREFIX = /home/treid/linuxcnc/nc_files
PYVCP = pyvcp-panel.xml
INCREMENTS = .1in .05in .01in .005in .001in .0005in .0001in
POSITION_FEEDBACK = ACTUAL
DEFAULT_LINEAR_VELOCITY = 1.000000
MAX_LINEAR_VELOCITY = 2.500000
MIN_LINEAR_VELOCITY = 0.000167
DEFAULT_ANGULAR_VELOCITY = 6.000000
MAX_ANGULAR_VELOCITY = 180.000000
MIN_ANGULAR_VELOCITY = 1.666667
EDITOR = gedit
GEOMETRY = xyz
[FILTER]
PROGRAM_EXTENSION = .png,.gif,.jpg Greyscale Depth Image
PROGRAM_EXTENSION = .py Python Script
png = image-to-gcode
gif = image-to-gcode
jpg = image-to-gcode
py = python
[TASK]
TASK = milltask
CYCLE_TIME = 0.010
[RS274NGC]
PARAMETER_FILE = linuxcnc.var
[EMCMOT]
EMCMOT = motmod
COMM_TIMEOUT = 1.0
COMM_WAIT = 0.010
SERVO_PERIOD = 1000000
[HOSTMOT2]
# **** This is for info only ****
# DRIVER0=hm2_pci
# BOARD0=5i25
[HAL]
HALUI = halui
HALFILE = Lagunmatic_3516-SX.hal
HALFILE = custom.hal
POSTGUI_HALFILE = postgui_call_list.hal
SHUTDOWN = shutdown.hal
[HALUI]
[TRAJ]
AXES = 3
COORDINATES = X Y Z
LINEAR_UNITS = inch
ANGULAR_UNITS = degree
CYCLE_TIME = 0.010
DEFAULT_VELOCITY = 0.20
MAX_LINEAR_VELOCITY = 2.00
NO_FORCE_HOMING = 1
[EMCIO]
EMCIO = io
CYCLE_TIME = 0.100
TOOL_TABLE = tool.tbl
TOOL_CHANGE_QUILL_UP = 1
#********************
# Axis X
#********************
[AXIS_0]
TYPE = LINEAR
HOME = 0.0
FERROR = 0.02
MIN_FERROR = 0.02
MAX_VELOCITY = 2.0
MAX_ACCELERATION = 10.0
P = 105.0
I = 0.0
D = 0.0
FF0 = 0.0
FF1 = 1.259
FF2 = 0.006
BIAS = 0.0
DEADBAND = 0.0001
MAX_OUTPUT = 0.0
ENCODER_SCALE = 20320.0
OUTPUT_SCALE = -10.0
OUTPUT_MIN_LIMIT = -10.0
OUTPUT_MAX_LIMIT = 10.0
MIN_LIMIT = -0.001
MAX_LIMIT = 26.4
HOME_OFFSET = 0.000000
HOME_SEARCH_VEL = -1.000000
HOME_LATCH_VEL = -0.166667
HOME_FINAL_VEL = 0.166667
HOME_USE_INDEX = YES
HOME_SEQUENCE = 1
#********************
# Axis Y
#********************
[AXIS_1]
TYPE = LINEAR
HOME = 0.0
FERROR = 0.02
MIN_FERROR = 0.02
MAX_VELOCITY = 2.0
MAX_ACCELERATION = 10.0
P = 30.0
I = 0.0
D = 0.0
FF0 = 0.0
FF1 = 0.08
FF2 = 0.0005
BIAS = 0.0001
DEADBAND = 0.0
MAX_OUTPUT = 0.0
ENCODER_SCALE = 20320.0
OUTPUT_SCALE = -10.0
OUTPUT_MIN_LIMIT = -10.0
OUTPUT_MAX_LIMIT = 10.0
MIN_LIMIT = -0.001
MAX_LIMIT = 16.0
HOME_OFFSET = 0.000000
HOME_SEARCH_VEL = -1.000000
HOME_LATCH_VEL = -0.166667
HOME_FINAL_VEL = 0.166667
HOME_USE_INDEX = YES
HOME_SEQUENCE = 2
#********************
# Axis Z
#********************
[AXIS_2]
TYPE = LINEAR
HOME = 0.0
FERROR = 0.02
MIN_FERROR = 0.02
MAX_VELOCITY = 2.0
MAX_ACCELERATION = 10.0
P = 60.0
I = 0.0
D = 0.0
FF0 = 0.0
FF1 = 0.91
FF2 = 0.005
BIAS = 0.0
DEADBAND = 0.0001
MAX_OUTPUT = 0.0
ENCODER_SCALE = 20320.0
OUTPUT_SCALE = -10.0
OUTPUT_MIN_LIMIT = -10.0
OUTPUT_MAX_LIMIT = 10.0
MIN_LIMIT = -20.5
MAX_LIMIT = 0.05
HOME_OFFSET = 0.000000
HOME_SEARCH_VEL = 1.000000
HOME_LATCH_VEL = 0.166667
HOME_FINAL_VEL = 0.166667
HOME_USE_INDEX = YES
HOME_SEQUENCE = 0
#********************
# Spindle
#********************
[SPINDLE_9]
P = 5.0
I = 0.0
D = 0.0
FF0 = 1.0
FF1 = 0.0
FF2 = 0.0
BIAS = 0.0
DEADBAND = 0.0
MAX_OUTPUT = 10000.0
ENCODER_SCALE = -4096.0
OUTPUT_SCALE = 10000
OUTPUT_MIN_LIMIT = -10000
OUTPUT_MAX_LIMIT = 10000
When I look at the spindle.hal that is part of andy_pugh's VMC_toolchange config I see a lot of code that I am missing. I'm certain I need some of this, but I'm not clear about what I need exactly and how to incorporate it. Surely it is not as simple as adding HALFILE = spindle.hal in my INI file, right :laugh:
Once I can orient, then I can start thinking about the actual tool change procedure and I will need help here as well.
Thank you for reading and ANY help you can provide!
For reference, here is andy's spindle.hal:
Code:
# HAL config file for vismach simulation of vertical milling machine
# This file deomstrates closed-loop spindle control in both position and
# Velocity modes.
# see http://wiki.linuxcnc.org/cgi-bin/wiki.pl?SpindleOrient for a diagram
# Note that the connections of the signals to "hardware" are all in the
# sim_vmc.hal file rather than here
# First load 2x pid components. These would normally have to be loaded at
# the same time as the Axis PID components
loadrt pid num_chan=2
addf pid.0.do-pid-calcs servo-thread # Velocity
addf pid.1.do-pid-calcs servo-thread # Position
loadrt orient
addf orient.0 servo-thread
#loadrt mux2 -- This has already been loaded in the sim_vmc.hal
addf mux2.0 servo-thread # chooses which pid output goes to the spindle speed control
net spindle-pos pid.1.feedback orient.0.position
net spindle-vel pid.0.feedback # & encoder.3.velocity for a real machine
net spindle-vel-cmd motion.spindle-speed-out pid.0.command
net spindle-vel-pid pid.0.output mux2.0.in0
net spindle-pos pid.1.feedback orient.0.position near.0.in1 # & encoder.3.position for a real machine
net spindle-pos-cmd orient.0.command pid.1.command near.0.in2
net spindle-angle motion.spindle-orient-angle orient.0.angle
net spindle-pos-pid pid.1.output mux2.0.in1
net spindle-in-pos orient.0.is-oriented motion.spindle-is-oriented
# this switches modes
net orient-mode motion.spindle-orient orient.0.enable pid.1.enable mux2.0.sel
net velocity-mode motion.spindle-on pid.0.enable #pwmgen.0.enable
net orient-dir motion.spindle-orient-mode orient.0.mode
# this is simple for the simulated spindle.
net spindle-cmd mux2.0.out
#for a real spindle run by a VFD
# loadrt abs
# addf abs.0.servo-thread
# net spindle-cmd mux2.0.out abs.0.in
# net spindle-cmd-abs abs.0.out pwmgen.0.value
# net spindle-pwm pwmgen.0.pwm parport.0.pin-NN-out
# net spindle-fwd abs.0.is-positive parport.0.pin-NN-out
# net spindle-rev abs.0.is-negative parport.0.pin-NN-out
# Tune the PID from the INI values
setp pid.0.Pgain [SPINDLE]PGAIN_V
setp pid.0.Igain [SPINDLE]IGAIN_V
setp pid.0.Dgain [SPINDLE]DGAIN_V
setp pid.0.FF0 [SPINDLE]FF0_V
setp pid.0.FF1 [SPINDLE]FF1_V
setp pid.1.Pgain [SPINDLE]PGAIN_P
setp pid.1.Igain [SPINDLE]IGAIN_P
setp pid.1.Dgain [SPINDLE]DGAIN_P
setp pid.1.FF0 [SPINDLE]FF0_P
setp pid.1.FF1 [SPINDLE]FF1_P
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8 years 2 months ago #115849
by giz
Replied by giz on topic Need Help with ATC
I have been able to incorporate the logic from the VMC_toolchange sample config to allow me to select either Position or Velocity mode but I am having trouble enabling the spindle-enable command.
Because I have the velocity-mode signal connected to motion.spindle-on I don't seem to be able to drive hm2_5i25.0.7i77.0.1.spinena with motion.spindle-on (through the spindle-enable signal that is standard).
I've racked my brain over and over but I can't come up with a solution - advice?
To keep progressing, I started my config using the .hal below and used halcmd to sets spindle-enable true. This gave me signal on analogout5 in both modes (success) but only resulted in movement when I was in velocity mode.
So once I can get the spindle enabled in both modes, then I need to:
1) determine why there is no motion in orient mode
2) scale the spindle speed correctly
The two might be related? I found a diagram that shows a similar logic setup for position vs. velocity mode that incorporates some scaling but I haven't fully digested it yet. It seems to be setup differently than how I have it now (where 1 spindle revolution = +1 encoder position).
spindle hal section below. It's been cleaned up, I left my attempt at using an or2 component to flip the spindle-enable but, again, I run into the issue of the pins already being in use.
Current spindle PID section for reference. Just playing with numbers right now to see if they affected the motion:
Because I have the velocity-mode signal connected to motion.spindle-on I don't seem to be able to drive hm2_5i25.0.7i77.0.1.spinena with motion.spindle-on (through the spindle-enable signal that is standard).
I've racked my brain over and over but I can't come up with a solution - advice?
To keep progressing, I started my config using the .hal below and used halcmd to sets spindle-enable true. This gave me signal on analogout5 in both modes (success) but only resulted in movement when I was in velocity mode.
So once I can get the spindle enabled in both modes, then I need to:
1) determine why there is no motion in orient mode
2) scale the spindle speed correctly
The two might be related? I found a diagram that shows a similar logic setup for position vs. velocity mode that incorporates some scaling but I haven't fully digested it yet. It seems to be setup differently than how I have it now (where 1 spindle revolution = +1 encoder position).
spindle hal section below. It's been cleaned up, I left my attempt at using an or2 component to flip the spindle-enable but, again, I run into the issue of the pins already being in use.
Code:
#*******************
# SPINDLE S
#*******************
setp pid.s.Pgain [SPINDLE]P
setp pid.s.Igain [SPINDLE]I
setp pid.s.Dgain [SPINDLE]D
setp pid.s.bias [SPINDLE]BIAS
setp pid.s.FF0 [SPINDLE]FF0
setp pid.s.FF1 [SPINDLE]FF1
setp pid.s.FF2 [SPINDLE]FF2
setp pid.s.deadband [SPINDLE]DEADBAND
setp pid.s.maxoutput [SPINDLE]MAX_OUTPUT
setp pid.s.error-previous-target true
setp pid.1.Pgain [SPINDLE]PGAIN_P
setp pid.1.Igain [SPINDLE]IGAIN_P
setp pid.1.Dgain [SPINDLE]DGAIN_P
setp pid.1.FF0 [SPINDLE]FF0_P
setp pid.1.FF1 [SPINDLE]FF1_P
# ---PWM Generator signals/setup---
setp hm2_5i25.0.7i77.0.1.analogout5-scalemax [SPINDLE]OUTPUT_SCALE
setp hm2_5i25.0.7i77.0.1.analogout5-minlim [SPINDLE]OUTPUT_MIN_LIMIT
setp hm2_5i25.0.7i77.0.1.analogout5-maxlim [SPINDLE]OUTPUT_MAX_LIMIT
net spindle-index-enable <=> pid.s.index-enable
net spindle-enable => hm2_5i25.0.7i77.0.1.spinena
#####
net spindle-pos pid.1.feedback orient.0.position
net spindle-vel pid.s.feedback hm2_5i25.0.encoder.05.velocity
net spindle-vel-cmd motion.spindle-speed-out pid.s.command
#net spindle-vel-cmd motion.spindle-speed-out-rps pid.s.command
net spindle-vel-pid pid.s.output mux2.0.in0
net spindle-pos pid.1.feedback orient.0.position near.0.in1 hm2_5i25.0.encoder.05.position
net spindle-pos-cmd orient.0.command pid.1.command near.0.in2
net spindle-angle motion.spindle-orient-angle orient.0.angle
net spindle-pos-pid pid.1.output mux2.0.in1
setp near.0.difference 0.0005
net spindle-in-pos-raw near.0.out edge.0.in #not needed v2.8+, use orient.0.is-oriented
net spindle-in-pos edge.0.out motion.spindle-is-oriented
# this switches modes
net orient-mode motion.spindle-orient orient.0.enable pid.1.enable mux2.0.sel
net velocity-mode motion.spindle-on pid.s.enable #hm2_5i25.0.7i77.0.1.spinena
net orient-dir motion.spindle-orient-mode orient.0.mode
#####
# ---Encoder feedback signals/setup---
setp hm2_5i25.0.encoder.05.counter-mode 0
setp hm2_5i25.0.encoder.05.filter 1
setp hm2_5i25.0.encoder.05.index-invert 0
setp hm2_5i25.0.encoder.05.index-mask 0
setp hm2_5i25.0.encoder.05.index-mask-invert 0
setp hm2_5i25.0.encoder.05.scale [SPINDLE]ENCODER_SCALE
net spindle-cmd mux2.0.out hm2_5i25.0.7i77.0.1.analogout5
net spindle-index-enable <=> hm2_5i25.0.encoder.05.index-enable
#loadrt or2
#addf or2.0 servo-thread
#net velocity-enable or2.0.in0 pid.s.enable
#net position-enable or2.0.in1 pid.1.enable
#net spindle-enable or2.0.out
# ---setup spindle control signals---
#net spindle-vel-cmd-rps <= motion.spindle-speed-out-rps
net spindle-vel-cmd-rps-abs <= motion.spindle-speed-out-rps-abs
#net spindle-vel-cmd-rpm <= motion.spindle-speed-out
net spindle-vel-cmd-rpm-abs <= motion.spindle-speed-out-abs
#net spindle-enable <= motion.spindle-on
net spindle-cw <= motion.spindle-forward
net spindle-ccw <= motion.spindle-reverse
net spindle-brake <= motion.spindle-brake
net spindle-pos => motion.spindle-revs
net spindle-at-speed => motion.spindle-at-speed
net spindle-vel => motion.spindle-speed-in
net spindle-index-enable <=> motion.spindle-index-enable
# ---Setup spindle at speed signals---
sets spindle-at-speed true
Current spindle PID section for reference. Just playing with numbers right now to see if they affected the motion:
Code:
#********************
# Spindle
#********************
[SPINDLE]
P = 5
I = 0
D = 0.0
FF0 = 1
FF1 = 0.0
FF2 = 0.0
PGAIN_P = 60
IGAIN_P = 0
DGAIN_P = 0
FF0_P = 1
FF1_P = 0
BIAS = 0.0
DEADBAND = 0.0
MAX_OUTPUT = 10000.0
ENCODER_SCALE = -4096.0
OUTPUT_SCALE = 10000
OUTPUT_MIN_LIMIT = -10000
OUTPUT_MAX_LIMIT = 10000
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8 years 2 months ago #115857
by Grotius
Replied by Grotius on topic Need Help with ATC
Hi Tyler,
It seems you have a hal connection problem. If you use a custom hal component, i think you can solve your issue.
linuxcnc.org/docs/html/hal/components.html
If your problem cannot be solved, i can write a hal component wich connect your signals.
Because I have the velocity-mode signal connected to motion.spindle-on I don't seem to be able to drive hm2_5i25.0.7i77.0.1.spinena with motion.spindle-on (through the spindle-enable signal that is standard).
It seems you have a hal connection problem. If you use a custom hal component, i think you can solve your issue.
linuxcnc.org/docs/html/hal/components.html
If your problem cannot be solved, i can write a hal component wich connect your signals.
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8 years 2 months ago #115874
by giz
Replied by giz on topic Need Help with ATC
I have tried to use an or2 component but I can't seem to get around driving the same pin twice. There must be a way to setup the singles so that spindle-enable is active in both orient and velocity modes but I can't figure it out.
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8 years 2 months ago #115988
by giz
Replied by giz on topic Need Help with ATC
Alright! I finally figured out the logic needed to enable the spindle in both velocity and position modes. Moving the or2 inputs did the trick - seems obvious now but I stared at this code for hours today.
When I run an M19 code I get VERY SLIGHT movement of the spindle (probably less than 1 degree) and the spindle softly resists my attempts to move it by hand. My VFD is running in closed-loop vector mode as well.
The issue now may be scaling? Should I be setting a different scale factor for the position? Right now my encoder position is scaled so that 1 revolution = 1 spindle-rev.
spindle.hal:
When I run an M19 code I get VERY SLIGHT movement of the spindle (probably less than 1 degree) and the spindle softly resists my attempts to move it by hand. My VFD is running in closed-loop vector mode as well.
The issue now may be scaling? Should I be setting a different scale factor for the position? Right now my encoder position is scaled so that 1 revolution = 1 spindle-rev.
spindle.hal:
Code:
et spindle-index-enable <=> pid.s.index-enable
net spindle-enable => hm2_5i25.0.7i77.0.1.spinena hm2_5i25.0.7i77.0.0.output-06
#####
net spindle-pos pid.1.feedback orient.0.position
net spindle-vel pid.s.feedback hm2_5i25.0.encoder.05.velocity
net spindle-vel-cmd motion.spindle-speed-out pid.s.command
#net spindle-vel-cmd motion.spindle-speed-out-rps pid.s.command
net spindle-vel-pid pid.s.output mux2.0.in0
net spindle-pos pid.1.feedback orient.0.position near.0.in1 hm2_5i25.0.encoder.05.position
net spindle-pos-cmd orient.0.command pid.1.command near.0.in2
net spindle-angle motion.spindle-orient-angle orient.0.angle
net spindle-pos-pid pid.1.output mux2.0.in1
setp near.0.difference 0.0005
net spindle-in-pos-raw near.0.out edge.0.in #not needed v2.8+, use orient.0.is-oriented
net spindle-in-pos edge.0.out motion.spindle-is-oriented
# this switches modes
loadrt or2 count=2
addf or2.0 servo-thread
net orient-mode motion.spindle-orient orient.0.enable pid.1.enable mux2.0.sel or2.0.in1
net velocity-mode motion.spindle-on pid.s.enable or2.0.in0
net orient-dir motion.spindle-orient-mode orient.0.mode
net spindle-enable or2.0.out
#####
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8 years 2 months ago #116285
by giz
Replied by giz on topic Need Help with ATC
Reworked my HAL and now my spindle is now moving under an M19 command, which is good. It seems now I need to tune the PID. So far I get either zero movement or the spindle overshoots the commanded position by several revolutions.
Any suggestions or pointers to make the tuning as straightforward as possible are very welcome
lagunmatic.hal:
Any suggestions or pointers to make the tuning as straightforward as possible are very welcome
lagunmatic.hal:
Code:
# Generated by PNCconf at Fri Apr 27 02:57:57 2018
# If you make changes to this file, they will be
# overwritten when you run PNCconf again
loadrt trivkins
loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[TRAJ]AXES
loadrt hostmot2
loadrt hm2_pci config=" num_encoders=6 num_pwmgens=0 num_stepgens=0 sserial_port_0=000xxx"
setp hm2_5i25.0.watchdog.timeout_ns 5000000
loadrt pid names=pid.x,pid.y,pid.z,pid.p
addf hm2_5i25.0.read servo-thread
addf motion-command-handler servo-thread
addf motion-controller servo-thread
addf pid.x.do-pid-calcs servo-thread
addf pid.y.do-pid-calcs servo-thread
addf pid.z.do-pid-calcs servo-thread
addf pid.p.do-pid-calcs servo-thread # Position
addf hm2_5i25.0.write servo-thread
loadrt orient
addf orient.0 servo-thread
setp orient.0.mode 0
loadrt mux2
addf mux2.0 servo-thread #Chooses which speed output goes to spindle
loadrt or2 count=2
addf or2.0 servo-thread #Enables spindle in both modes
addf or2.1 servo-thread #Activate Spindle Run relay
loadrt near count=2
loadrt edge
addf near.0 servo-thread
addf near.1 servo-thread
addf edge.0 servo-thread
setp edge.0.both 0
setp edge.0.in-edge 0
setp edge.0.out-width-ns 10000000
setp near.0.difference 0.01667 #How close the spindle needs to orient in revs
setp near.1.scale 1.05 #Spindle-at-speed true within scale
loadrt scale count=2
addf scale.0 servo-thread #RPS to RPM
addf scale.1 servo-thread #Motor to Spindle Ratio
setp scale.0.gain 60
setp scale.0.offset 60
setp scale.1.gain 0.8
######################################
# external output signals
######################################
# --- MACHINE-IS-ENABLED ---
net machine-is-enabled hm2_5i25.0.7i77.0.0.output-00
# --- MAGAZINE_FORWARD ---
net Magazine_Forward hm2_5i25.0.7i77.0.0.output-01
# --- MAGAZINE_DOWN ---
net Magazine_Down hm2_5i25.0.7i77.0.0.output-02
# --- MAGAZINE_CW ---
net Magazine_CW hm2_5i25.0.7i77.0.0.output-03
# --- MAGAZINE_CCW ---
net Magazine_CCW hm2_5i25.0.7i77.0.0.output-04
# --- SPINDLE_ORIENT ---
net Spindle_Orient hm2_5i25.0.7i77.0.0.output-05
# --- SPINDLE-MOVE ---
#net spindle-enable hm2_5i25.0.7i77.0.0.output-06
# --- TOOL_UNCLAMP ---
net Tool_Unclamp hm2_5i25.0.7i77.0.0.output-07
# --- COOLANT-MIST ---
#net coolant-mist hm2_5i25.0.7i77.0.0.output-08
# --- LUBE_RELAY ---
net Lube_Relay hm2_5i25.0.7i77.0.0.output-10
# --- SOFT_START_CANCEL ---
net Soft_Start_Cancel hm2_5i25.0.7i77.0.0.output-11
######################################
# external input signals
######################################
# --- WAY_LUBE_LEVEL ---
net Way_Lube_Level <= hm2_5i25.0.7i77.0.0.input-00
# --- MAX-X ---
net max-x <= hm2_5i25.0.7i77.0.0.input-01-not
# --- MIN-X ---
net min-x <= hm2_5i25.0.7i77.0.0.input-02-not
# --- MAX-Y ---
net max-y <= hm2_5i25.0.7i77.0.0.input-03-not
# --- MIN-Y ---
net min-y <= hm2_5i25.0.7i77.0.0.input-04-not
# --- MAX-Z ---
net max-z <= hm2_5i25.0.7i77.0.0.input-05-not
# --- MIN-Z ---
net min-z <= hm2_5i25.0.7i77.0.0.input-06-not
# --- HOME-X ---
net home-x <= hm2_5i25.0.7i77.0.0.input-07
# --- HOME-Y ---
net home-y <= hm2_5i25.0.7i77.0.0.input-08
# --- HOME-Z ---
net home-z <= hm2_5i25.0.7i77.0.0.input-09
# --- MAGAZINE_BACK_POSITION ---
net Magazine_Back_Position <= hm2_5i25.0.7i77.0.0.input-10
# --- MAGAZINE_FORWARD_POSITION ---
net Magazine_Forward_Position <= hm2_5i25.0.7i77.0.0.input-11
# --- MAGAZINE_UP_POSITION ---
net Magazine_Up_Position <= hm2_5i25.0.7i77.0.0.input-12
# --- MAGAZINE_DOWN_POSITION ---
net Magazine_Down_Position <= hm2_5i25.0.7i77.0.0.input-13
# --- POSITION_COUNTER ---
net Position_Counter <= hm2_5i25.0.7i77.0.0.input-14
# --- MAGAZINE_HOME ---
net Magazine_Home <= hm2_5i25.0.7i77.0.0.input-15
# --- TOOL_CLAMP_POSITION ---
#net Tool_Clamp_Position <= hm2_5i25.0.7i77.0.0.input-16
# --- TOOL_UNCLAMP_POSITION ---
#net Tool_Unclamp_Position <= hm2_5i25.0.7i77.0.0.input-17
# --- SPINDLE_UP_TO_SPEED ---
net Spindle_Up_To_Speed <= hm2_5i25.0.7i77.0.0.input-18
# --- ESTOP ---
net ESTOP <= hm2_5i25.0.7i77.0.0.input-19
# --- SPINDLE_ORIENT_COMPLETE ---
net Spindle_Orient_Complete <= hm2_5i25.0.7i77.0.0.input-20
# --- LUBE_PRESSURE_SWITCH ---
net Lube_Pressure_Switch <= hm2_5i25.0.7i77.0.0.input-21-not
# --- AIR_PRESSURE_SWITCH ---
net Air_Pressure_Switch <= hm2_5i25.0.7i77.0.0.input-22
# --- MACHINE_ON_CMD ---
net Machine_On_CMD <= hm2_5i25.0.7i77.0.0.input-23
# --- SPINDLE_ON_CMD ---
net Spindle_On_CMD <= hm2_5i25.0.7i77.0.0.input-24
# --- TOOL_UNCLAMP_CMD ---
net Tool_Unclamp_CMD <= hm2_5i25.0.7i77.0.0.input-25
# --- MIST_ON_CMD ---
net Mist_On_CMD <= hm2_5i25.0.7i77.0.0.input-26
# --- MAGAZINE_CW_CMD ---
net Magazine_CW_CMD <= hm2_5i25.0.7i77.0.0.input-27
# --- MAGAZINE_CCW_CMD ---
net Magazine_CCW_CMD <= hm2_5i25.0.7i77.0.0.input-28
#*******************
# AXIS X
#*******************
setp pid.x.Pgain [AXIS_0]P
setp pid.x.Igain [AXIS_0]I
setp pid.x.Dgain [AXIS_0]D
setp pid.x.bias [AXIS_0]BIAS
setp pid.x.FF0 [AXIS_0]FF0
setp pid.x.FF1 [AXIS_0]FF1
setp pid.x.FF2 [AXIS_0]FF2
setp pid.x.deadband [AXIS_0]DEADBAND
setp pid.x.maxoutput [AXIS_0]MAX_OUTPUT
setp pid.x.error-previous-target true
net x-index-enable <=> pid.x.index-enable
net x-enable => pid.x.enable
net x-pos-cmd => pid.x.command
net x-vel-cmd => pid.x.command-deriv
net x-pos-fb => pid.x.feedback
net x-output => pid.x.output
# ---PWM Generator signals/setup---
setp hm2_5i25.0.7i77.0.1.analogout0-scalemax [AXIS_0]OUTPUT_SCALE
setp hm2_5i25.0.7i77.0.1.analogout0-minlim [AXIS_0]OUTPUT_MIN_LIMIT
setp hm2_5i25.0.7i77.0.1.analogout0-maxlim [AXIS_0]OUTPUT_MAX_LIMIT
net x-output => hm2_5i25.0.7i77.0.1.analogout0
net x-pos-cmd axis.0.motor-pos-cmd
net x-enable axis.0.amp-enable-out
# enable _all_ sserial pwmgens
net x-enable hm2_5i25.0.7i77.0.1.analogena
# ---Encoder feedback signals/setup---
setp hm2_5i25.0.encoder.00.counter-mode 0
setp hm2_5i25.0.encoder.00.filter 1
setp hm2_5i25.0.encoder.00.index-invert 0
setp hm2_5i25.0.encoder.00.index-mask 0
setp hm2_5i25.0.encoder.00.index-mask-invert 0
setp hm2_5i25.0.encoder.00.scale [AXIS_0]ENCODER_SCALE
net x-pos-fb <= hm2_5i25.0.encoder.00.position
net x-vel-fb <= hm2_5i25.0.encoder.00.velocity
net x-pos-fb => axis.0.motor-pos-fb
net x-index-enable axis.0.index-enable <=> hm2_5i25.0.encoder.00.index-enable
net x-pos-rawcounts <= hm2_5i25.0.encoder.00.rawcounts
# ---setup home / limit switch signals---
net home-x => axis.0.home-sw-in
net min-x => axis.0.neg-lim-sw-in
net max-x => axis.0.pos-lim-sw-in
#*******************
# AXIS Y
#*******************
setp pid.y.Pgain [AXIS_1]P
setp pid.y.Igain [AXIS_1]I
setp pid.y.Dgain [AXIS_1]D
setp pid.y.bias [AXIS_1]BIAS
setp pid.y.FF0 [AXIS_1]FF0
setp pid.y.FF1 [AXIS_1]FF1
setp pid.y.FF2 [AXIS_1]FF2
setp pid.y.deadband [AXIS_1]DEADBAND
setp pid.y.maxoutput [AXIS_1]MAX_OUTPUT
setp pid.y.error-previous-target true
net y-index-enable <=> pid.y.index-enable
net y-enable => pid.y.enable
net y-pos-cmd => pid.y.command
net y-vel-cmd => pid.y.command-deriv
net y-pos-fb => pid.y.feedback
net y-output => pid.y.output
# ---PWM Generator signals/setup---
setp hm2_5i25.0.7i77.0.1.analogout1-scalemax [AXIS_1]OUTPUT_SCALE
setp hm2_5i25.0.7i77.0.1.analogout1-minlim [AXIS_1]OUTPUT_MIN_LIMIT
setp hm2_5i25.0.7i77.0.1.analogout1-maxlim [AXIS_1]OUTPUT_MAX_LIMIT
net y-output => hm2_5i25.0.7i77.0.1.analogout1
net y-pos-cmd axis.1.motor-pos-cmd
net y-enable axis.1.amp-enable-out
# ---Encoder feedback signals/setup---
setp hm2_5i25.0.encoder.01.counter-mode 0
setp hm2_5i25.0.encoder.01.filter 1
setp hm2_5i25.0.encoder.01.index-invert 0
setp hm2_5i25.0.encoder.01.index-mask 0
setp hm2_5i25.0.encoder.01.index-mask-invert 0
setp hm2_5i25.0.encoder.01.scale [AXIS_1]ENCODER_SCALE
net y-pos-fb <= hm2_5i25.0.encoder.01.position
net y-vel-fb <= hm2_5i25.0.encoder.01.velocity
net y-pos-fb => axis.1.motor-pos-fb
net y-index-enable axis.1.index-enable <=> hm2_5i25.0.encoder.01.index-enable
net y-pos-rawcounts <= hm2_5i25.0.encoder.01.rawcounts
# ---setup home / limit switch signals---
net home-y => axis.1.home-sw-in
net min-y => axis.1.neg-lim-sw-in
net max-y => axis.1.pos-lim-sw-in
#*******************
# AXIS Z
#*******************
setp pid.z.Pgain [AXIS_2]P
setp pid.z.Igain [AXIS_2]I
setp pid.z.Dgain [AXIS_2]D
setp pid.z.bias [AXIS_2]BIAS
setp pid.z.FF0 [AXIS_2]FF0
setp pid.z.FF1 [AXIS_2]FF1
setp pid.z.FF2 [AXIS_2]FF2
setp pid.z.deadband [AXIS_2]DEADBAND
setp pid.z.maxoutput [AXIS_2]MAX_OUTPUT
setp pid.z.error-previous-target true
net z-index-enable <=> pid.z.index-enable
net z-enable => pid.z.enable
net z-pos-cmd => pid.z.command
net z-vel-cmd => pid.z.command-deriv
net z-pos-fb => pid.z.feedback
net z-output => pid.z.output
# ---PWM Generator signals/setup---
setp hm2_5i25.0.7i77.0.1.analogout2-scalemax [AXIS_2]OUTPUT_SCALE
setp hm2_5i25.0.7i77.0.1.analogout2-minlim [AXIS_2]OUTPUT_MIN_LIMIT
setp hm2_5i25.0.7i77.0.1.analogout2-maxlim [AXIS_2]OUTPUT_MAX_LIMIT
net z-output => hm2_5i25.0.7i77.0.1.analogout2
net z-pos-cmd axis.2.motor-pos-cmd
net z-enable axis.2.amp-enable-out
# ---Encoder feedback signals/setup---
setp hm2_5i25.0.encoder.02.counter-mode 0
setp hm2_5i25.0.encoder.02.filter 1
setp hm2_5i25.0.encoder.02.index-invert 0
setp hm2_5i25.0.encoder.02.index-mask 0
setp hm2_5i25.0.encoder.02.index-mask-invert 0
setp hm2_5i25.0.encoder.02.scale [AXIS_2]ENCODER_SCALE
net z-pos-fb <= hm2_5i25.0.encoder.02.position
net z-vel-fb <= hm2_5i25.0.encoder.02.velocity
net z-pos-fb => axis.2.motor-pos-fb
net z-index-enable axis.2.index-enable <=> hm2_5i25.0.encoder.02.index-enable
net z-pos-rawcounts <= hm2_5i25.0.encoder.02.rawcounts
# ---setup home / limit switch signals---
net home-z => axis.2.home-sw-in
net min-z => axis.2.neg-lim-sw-in
net max-z => axis.2.pos-lim-sw-in
#*******************
# SPINDLE S
#*******************
setp pid.p.Pgain [SPINDLE]P_P
setp pid.p.Igain [SPINDLE]I_P
setp pid.p.Dgain [SPINDLE]D_P
setp pid.p.FF0 [SPINDLE]FF0_P
setp pid.p.FF1 [SPINDLE]FF1_P
# ---PWM Generator signals/setup---
# ---Encoder feedback signals/setup---
setp hm2_5i25.0.encoder.05.counter-mode 0
setp hm2_5i25.0.encoder.05.filter 1
setp hm2_5i25.0.encoder.05.index-invert 0
setp hm2_5i25.0.encoder.05.index-mask 0
setp hm2_5i25.0.encoder.05.index-mask-invert 0
setp hm2_5i25.0.encoder.05.scale [SPINDLE]ENCODER_SCALE
setp hm2_5i25.0.7i77.0.1.analogout5-scalemax [SPINDLE]OUTPUT_SCALE
setp hm2_5i25.0.7i77.0.1.analogout5-minlim [SPINDLE]OUTPUT_MIN_LIMIT
setp hm2_5i25.0.7i77.0.1.analogout5-maxlim [SPINDLE]OUTPUT_MAX_LIMIT
## Velocity Mode ##
net spindle-vel-rps hm2_5i25.0.encoder.05.velocity motion.spindle-speed-in
net velocity-enable motion.spindle-on or2.0.in0
net spindle-vel-rpm motion.spindle-speed-out mux2.0.in0
## Orient Mode ##
net spindle-pos-rev hm2_5i25.0.encoder.05.position
net spindle-pos-rev pid.p.feedback orient.0.position near.0.in1 motion.spindle-revs
net orient-enable motion.spindle-orient pid.p.enable orient.0.enable mux2.0.sel or2.0.in1
net orient-mode motion.spindle-orient-mode orient.0.mode
net spindle-index motion.spindle-index-enable hm2_5i25.0.encoder.05.index-enable
net spindle-angle motion.spindle-orient-angle orient.0.angle
net spindle-pos-cmd pid.p.command orient.0.command near.0.in2
net spindle-in-pos-raw near.0.out edge.0.in #not needed v2.8+, use orient.0.is-oriented
net spindle-oriented edge.0.out motion.spindle-is-oriented
net spindle-pid-out pid.p.output scale.0.in
net spindle-pid-rpm scale.0.out mux2.0.in1
## Spindle Output##
net spindle-cmd-rpm mux2.0.out scale.1.in
net spindle-cmd-vfd scale.1.out hm2_5i25.0.7i77.0.1.analogout5
net spindle-enable or2.0.out hm2_5i25.0.7i77.0.1.spinena hm2_5i25.0.7i77.0.0.output-06
# ---setup spindle control signals---
net spindle-vel-cmd-rps-abs <= motion.spindle-speed-out-rps-abs
net spindle-vel-cmd-rpm-abs <= motion.spindle-speed-out-abs
net spindle-brake <= motion.spindle-brake
# ---Setup spindle at speed signals---
#sets spindle-at-speed true
net spindle-vel-cmd-rps motion.spindle-speed-out-rps near.1.in1
net spindle-at-speed motion.spindle-at-speed near.1.out
#******************************
# connect miscellaneous signals
#******************************
# ---HALUI signals---
net joint-select-a halui.joint.0.select
net x-is-homed halui.joint.0.is-homed
net jog-x-pos halui.jog.0.plus
net jog-x-neg halui.jog.0.minus
net jog-x-analog halui.jog.0.analog
net joint-select-b halui.joint.1.select
net y-is-homed halui.joint.1.is-homed
net jog-y-pos halui.jog.1.plus
net jog-y-neg halui.jog.1.minus
net jog-y-analog halui.jog.1.analog
net joint-select-c halui.joint.2.select
net z-is-homed halui.joint.2.is-homed
net jog-z-pos halui.jog.2.plus
net jog-z-neg halui.jog.2.minus
net jog-z-analog halui.jog.2.analog
net jog-selected-pos halui.jog.selected.plus
net jog-selected-neg halui.jog.selected.minus
net spindle-manual-cw halui.spindle.forward
net spindle-manual-ccw halui.spindle.reverse
net spindle-manual-stop halui.spindle.stop
net machine-is-on halui.machine.is-on
net jog-speed halui.jog-speed
net MDI-mode halui.mode.is-mdi
# ---coolant signals---
net coolant-mist <= iocontrol.0.coolant-mist
net coolant-flood <= iocontrol.0.coolant-flood
# ---probe signal---
net probe-in => motion.probe-input
# ---motion control signals---
net in-position <= motion.in-position
net machine-is-enabled <= motion.motion-enabled
# ---digital in / out signals---
# ---estop signals---
net estop-out <= iocontrol.0.user-enable-out
net estop-out => iocontrol.0.emc-enable-in
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8 years 2 months ago #116346
by giz
Replied by giz on topic Need Help with ATC
As it stands, I can't accurately lock into the targeted position because the spindle seems to always overshoot the target angle and in the process satisfy the test for is-oriented. That ends the orient command and the spindle just drifts to a stop in an arbitrary position.
How can I approach giving the PID enough time to lock into a position and completely stop the spindle? The orient component needs to stay enabled longer - perhaps adjusting the edge.n.time-left-ns pin? Should I upgrade LinuxCNC to 2.8+ for new orient pins? Open to suggestions!!
How can I approach giving the PID enough time to lock into a position and completely stop the spindle? The orient component needs to stay enabled longer - perhaps adjusting the edge.n.time-left-ns pin? Should I upgrade LinuxCNC to 2.8+ for new orient pins? Open to suggestions!!
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