Spinx1 to 7i85

# 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 #Use this to detect that the spindle is oriented #in the 2.8 release there will be a pin for this as an output of the orient comp #and the edge-detector isn't needed #loadrt near count=1 (loaded in sim_vmc.hal) loadrt edge addf near.0 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 net spindle-pos pid.1.feedback orient.0.position net spindle-vel pid.0.feedback hm2_5i25.0.encoder.03.velocity #net spindle-vel pid.0.feedback.0.encoder.03.velocity 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 hm2_5i25.0.encoder.03.position #net spindle-pos pid.1.feedback orient.0.position near.0.in1 encoder.03.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.0.enable pwmgen.0.enable net velocity-mode motion.spindle-on pid.0.enable hm2_5i25.0.pwmgen.00.enable ############################################################################################### #I'm stuck here: net spindle-pwm and net spindle-fwd/rev. I'm trying to replace paraport examples with hm2_5i25 ############################################################################################### # 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-cmd-abs abs.0.out hm2_5i25.0.pwmgen.00.value #net spindle-pwm pwmgen.0.pwm parport.0.pin-NN-out #net spindle-pwm hm2_5i25.0.pwmgen.00.enable # net spindle-fwd abs.0.is-positive parport.0.pin-NN-out # net spindle-rev abs.0.is-negative parport.0.pin-NN-out net spindle-cw abs.0.hm2_5i25.0.gpio.002.invert_output 1 net spindle-ccw abs.0.hm2_5i25.0.gpio.002.is_output 1 #setp hm2_5i25.0.encoder.03.velocity setp hm2_5i25.0.encoder.03.counter-mode 0 setp hm2_5i25.0.encoder.03.filter 1 setp hm2_5i25.0.encoder.03.index-invert 0 setp hm2_5i25.0.encoder.03.index-mask 0 setp hm2_5i25.0.encoder.03.index-mask-invert 0 #setp hm2_5i25.0.encoder.03.scale [SPINDLE]ENCODER_SCALE #setp hm2_5i25.0.encoder.03.scale [SPINDLE]OUTPUT_MIN_LIMIT ################################################################################################## #This worked before for cw/ccw, pwm and enable can't figure out how to link that to the above cw/ccw ################################################################################################## # ---PWM Generator signals/setup from Andy--- # PWM/dir mode and PWM rather than PDM setp hm2_5i25.0.pwmgen.00.output-type 1 setp hm2_5i25.0.gpio.002.invert_output 1 # spindle speed at 10v output, ie max spindle speed setp hm2_5i25.0.pwmgen.00.scale 3600 # set the PWM frequency to 5khz setp hm2_5i25.0.pwmgen.pwm_frequency 5000 # connect the spindle speed command to the pwmgen #net spindle-speed motion.spindle-speed-out => hm2_5i25.0.pwmgen.00.value # connect the spindle enable to GPIO 018. #net spindle-enable motion.spindle-on => hm2_5i25.0.gpio.018.out net spindle-enable => hm2_5i25.0.gpio.018.out #the SPINX1 has an enable (active low) setp hm2_5i25.0.gpio.018.invert_output 1 setp hm2_5i25.0.gpio.018.is_output 1 #net spindle-vel-cmd-rpm => hm2_5i25.0.pwmgen.00.value #net spindle-enable => hm2_5i25.0.pwmgen.00.enable ############################################################################################# # 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

# 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 # ---PWM Generator signals/setup from Andy--- # PWM/dir mode and PWM rather than PDM setp hm2_5i25.0.pwmgen.00.output-type 1 setp hm2_5i25.0.gpio.002.invert_output 1 # spindle speed at 10v output, ie max spindle speed in revs per second setp hm2_5i25.0.pwmgen.00.scale 216000 # set the PWM frequency to 5khz setp hm2_5i25.0.pwmgen.pwm_frequency 5000 ############ Spindle Encoder################################################### setp hm2_5i25.0.encoder.03.counter-mode 0 setp hm2_5i25.0.encoder.03.filter 1 setp hm2_5i25.0.encoder.03.index-invert 0 setp hm2_5i25.0.encoder.03.index-mask 0 setp hm2_5i25.0.encoder.03.index-mask-invert 0 ################################################################################# 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 #Use this to detect that the spindle is oriented #in the 2.8 release there will be a pin for this as an output of the orient comp #and the edge-detector isn't needed #loadrt near count=1 (loaded in sim_vmc.hal) loadrt edge addf near.0 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 net spindle-pos pid.1.feedback orient.0.position net spindle-vel pid.0.feedback hm2_5i25.0.encoder.03.velocity net spindle-vel-cmd motion.spindle-speed-out-rps 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 hm2_5i25.0.encoder.03.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.0.enable hm2_5i25.0.pwmgen.00.enable # 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 hm2_5i25.0.pwmgen.00.value #net spindle-pwm hm2_5i25.0.pwmgen.00.value ###### this section needs looking at and the one below ### # connect the spindle enable to GPIO 018. #### this does not work ####### net spindle-pwmgen.00.enable => hm2_5i25.0.gpio.018.out #the SPINX1 has an enable (active low) setp hm2_5i25.0.gpio.018.invert_output 1 setp hm2_5i25.0.gpio.018.is_output 1 # 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