Hello, I'm trying to run a gear change using the component
Code:
component gearchangefadal "A component to choose spindle gears according to spindle speed";
pin in float speed-command;
pin in bit spindle-on;
pin in bit manual-low;
pin in bit manual-high;
pin in bit brake-enable;
pin out float motor-speed;
pin out bit low-gear;
pin out bit high-gear;
pin out bit brake;
param rw float low-ratio=3;
param rw float high-ratio=1;
param rw float max-low = 50;
author "andy pugh";
license "GPL";
function _;
;;
FUNCTION(_){
static int old_M3;
if (spindle_on) {
if (!old_M3){ // spindle off to on transition
if (manual_high) {
high_gear = 1;
low_gear = 0;
brake = 0;
}
else if (manual_low){
high_gear = 0;
low_gear = 1;
brake = 0;
} else if (speed_command <= max_low){
high_gear = 0;
low_gear = 1;
brake = 0;
} else {
high_gear = 1;
low_gear = 0;
brake = 0;
}
}
} else { //spindle off
brake = brake_enable;
}
old_M3 = spindle_on;
if (high_gear){
motor_speed = speed_command * high_ratio;
} else if (low_gear){
motor_speed = speed_command * low_ratio;
}
}
everything works fine if it uses:
Code:
net spindle-vel-cmd-rpm-abs => gearchange.0.speed-command
however, the value changes when I use the spindle speed potentiometer, and this is incorrect for me.
I found a constant value for the spindle speed
Code:
net spindle-speed-cmd-rps <= motion.spindle-speed-cmd-rps
net spindle-speed-cmd-rps => gearchange.0.speed-command
unfortunately the gearbox doesn't want to work properly. The spindle always starts in low gear despite the fact that the HAL METER values are correct and visible.
I also tried to use the converter with float-> s32 and s32-> float
Anyone know why this is happening ??
Is there another signal that would be helpful to me?
Thank you for your help
