Recognition of Spindle Emergency Stop

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2 years 9 months ago #291278 by Gnevko
Recognition of Spindle Emergency Stop was created by Gnevko
Hi people!

I'm trying to create the simple hal configuration file for the spindle (servo motor), driwing with step/dir instruction. My problem at the moment is, how to stop programm (or mashine at all), if spindle becomes an error and doesn't rotate anymore ? In the following hal configuration I try to use spindle.0.brake but it seems to be not a good idea.
Code:
#******************* #  SPINDLE #******************* setp    hm2_7i95.0.encoder.05.counter-mode 0 setp    hm2_7i95.0.encoder.05.filter 1 setp    hm2_7i95.0.encoder.05.index-invert 0 setp    hm2_7i95.0.encoder.05.index-mask 0 setp    hm2_7i95.0.encoder.05.index-mask-invert 0 setp    hm2_7i95.0.encoder.05.scale           [SPINDLE_0]ENCODER_SCALE setp   hm2_7i95.0.stepgen.05.dirsetup        [SPINDLE_0]DIRSETUP setp   hm2_7i95.0.stepgen.05.dirhold         [SPINDLE_0]DIRHOLD setp   hm2_7i95.0.stepgen.05.steplen         [SPINDLE_0]STEPLEN setp   hm2_7i95.0.stepgen.05.stepspace       [SPINDLE_0]STEPSPACE setp   hm2_7i95.0.stepgen.05.position-scale  [SPINDLE_0]OUTPUT_SCALE setp   hm2_7i95.0.stepgen.05.step_type        0 #0 = Step/Dir setp   hm2_7i95.0.stepgen.05.control-type     1 #1 = velocity control mode setp   hm2_7i95.0.stepgen.05.maxaccel        [SPINDLE_0]STEPGEN_MAXACCEL setp   hm2_7i95.0.stepgen.05.maxvel          [SPINDLE_0]STEPGEN_MAXVEL #connect the encoder to the spindle net spindle-velocity-signal hm2_7i95.0.encoder.05.velocity #the hal signal will be used in more places net spindle-speed-out-signal spindle.0.speed-out #the hal signal will be used in more places net spindle-pos-encoder   hm2_7i95.0.encoder.05.position => spindle.0.revs net spindle-velocity-signal => spindle.0.speed-in net spindle-index-enable  hm2_7i95.0.encoder.05.index-enable <=> spindle.0.index-enable #connect the spindle to the step generator net spindle-enable spindle.0.on => hm2_7i95.0.stepgen.05.enable net spindle-speed-out-signal => hm2_7i95.0.stepgen.05.velocity-cmd #******************* #stopping the program if the spindle fails #******************* loadrt near names=near_spindle_stop           # spindle stop reset, regardless of the reason loadrt timedelay names=timedelay_spindle_stop # time delay for switching to emergency shutdown mode loadrt and2 names=and2_spindle_stop_logic     # spindle stop - is the spindle stop planned or is it an emergency? # Add the new components to the servo thread addf near_spindle_stop servo-thread addf timedelay_spindle_stop servo-thread addf and2_spindle_stop_logic servo-thread setp near_spindle_stop.scale 1 #default value setp near_spindle_stop.difference [SPINDLE_0]MAX_ERROR  # Threshold for detecting spindle stop setp timedelay_spindle_stop.on-delay 0  # The time, in seconds, for which in must be true before out becomes true setp timedelay_spindle_stop.off-delay [SPINDLE_0]DELAY_TIME  # Immediate deactivation delay (optional) net spindle-velocity-signal => near_spindle_stop.in2 net near-spindle-stopped near_spindle_stop.out => timedelay_spindle_stop.in # Logic to determine if the spindle stop is expected net spindle-brake-commanded spindle.0.brake  => and2_spindle_stop_logic.in0 net and2-spindle-stopped timedelay_spindle_stop.out => and2_spindle_stop_logic.in1 # Only trigger emergency stop if the stop was unexpected net unexpected-spindle-stop and2_spindle_stop_logic.out => halui.estop.activate

Thank you in advance!

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2 years 9 months ago #291283 by spumco
Replied by spumco on topic Recognition of Spindle Emergency Stop
Assuming your servo amp has a fault output, I would use motion.spindle.N.amp-fault-in.

linuxcnc.org/docs/devel/html/man/man9/mo....html#SPINDLE%20PINS

You will likely need to check and perhaps edit how 'fault' is defined in your drive and make sure that definition covers everything you consider a fault.  Like over-current, following error, etc.

Keep in mind that halui pins don't work while the machine in running a program (auto mode), so halui.estop.activate won't work like I think you want.

Bonus: if you have other components you want to trigger an estop (or similar fault condition), a somewhat recent addition to LCnC are motion.misc-error-NN pins.  These are defined in the same HAL line as your digital-in/analog-in values.  Thusly:

num_dio=[EMCMOT](DIO) num_aio=[EMCMOT](AIO) num_misc_error=[EMCMOT](MISC_ERRORS)

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2 years 9 months ago #291330 by Gnevko
Replied by Gnevko on topic Recognition of Spindle Emergency Stop
Thank you for your response; it was truly helpful!

My initial idea was to compare the stepgen command and encoder input to identify spindle motor faults. However, using an AMP signal is a more effective approach, despite the drawback of requiring the installation of an additional signal cable.

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2 years 9 months ago #291350 by Gnevko
Replied by Gnevko on topic Recognition of Spindle Emergency Stop
Now it looks like this:
Code:
#******************* #stopping the program if the spindle fails #******************* net servo-amplifier-fault hm2_7i95.0.inmux.00.input-07-not => spindle.0.amp-fault-in
and it works! thank you!

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2 years 9 months ago #291445 by Gnevko
Replied by Gnevko on topic Recognition of Spindle Emergency Stop
I understand that my question might not directly relate to the topic name, but what is the best practice for accelerating (and more importantly, decelerating) the hm2 stepgen in velocity mode?

I ask because I found a parameter like this - hm2_7i95.0.stepgen.05.maxaccel - but I couldn't find anything about deceleration.

Thank you in advance!

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2 years 9 months ago #291460 by Aciera
Replied by Aciera on topic Recognition of Spindle Emergency Stop
The 'maxaccel' value also applies to deceleration.

For more exposure about best practice when using hm2 stepgen in velocity mode you may want to start a new topic.

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2 years 9 months ago #291496 by Gnevko
Replied by Gnevko on topic Recognition of Spindle Emergency Stop
thank you, you are right - the new topic is hier

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