6i25 7i76 closed loop spindle

PCW
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6 years 5 months ago #167840 by PCW

Replied by PCW on topic 6i25 7i76 closed loop spindle

encoder scale should be 8000

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tommylight
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6 years 5 months ago #167846 by tommylight

Replied by tommylight on topic 6i25 7i76 closed loop spindle

Bob654321 wrote: Max rpm of motor/encoder=4,000rpm and spindle=8000.

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Bob654321
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6 years 5 months ago #167852 by Bob654321

Replied by Bob654321 on topic 6i25 7i76 closed loop spindle

If i look at hm2_5i25.0.encoder.00.count in hal meter and spin the spindle 1 revolution i get 2000.

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tommylight
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6 years 5 months ago #167854 by tommylight

Replied by tommylight on topic 6i25 7i76 closed loop spindle

Bob654321 wrote: If i look at hm2_5i25.0.encoder.00.count in hal meter and spin the spindle 1 revolution i get 2000.

Yup and the setting in ini was correct. The thing that threw PCW off was you always write 2:1, it should be 1:2 or one rev of motor 2 revs on the spindle.

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Bob654321
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6 years 5 months ago #167857 by Bob654321

Replied by Bob654321 on topic 6i25 7i76 closed loop spindle

I am sorry for the confusion I have caused. Thanks for clearing that up.

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PCW
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6 years 5 months ago #167860 by PCW

Replied by PCW on topic 6i25 7i76 closed loop spindle

Yes I was confused by the 1:2 2:1 thing

Still not sure whats going on

can you run the spindle open loop (only FF0=1) and halshow these values when
running at say 1/2 full speed (4000 RPM)

pid.s.command
pid.s.feedback
pid.s.output

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Bob654321
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6 years 5 months ago #167862 by Bob654321

Replied by Bob654321 on topic 6i25 7i76 closed loop spindle

for m3s4000

pid.s.command=4000
pid.s.feedback=0
pid.s.output=4000

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PCW
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6 years 5 months ago #167863 by PCW

Replied by PCW on topic 6i25 7i76 closed loop spindle

OK well that would explain the crazy behavior

next step would be to find out where the feedback speed gets lost

Ahh mis-matched signal names:

net spindle-fb-rpm-abs abs.spindle.out => lowpass.spindle.in

net spindle-vel-fb-rpm-abs => pid.s.feedback

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Bob654321
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6 years 5 months ago #167875 by Bob654321

Replied by Bob654321 on topic 6i25 7i76 closed loop spindle

How should I fix this? Being the newbie I am its not obvious to me what should be replaced, deleted, or added to my hal file.

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PCW
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6 years 5 months ago #167877 by PCW

Replied by PCW on topic 6i25 7i76 closed loop spindle

replace

net spindle-vel-fb-rpm-abs => pid.s.feedback

with

net spindle-fb-rpm-abs => pid.s.feedback

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