adding the spindle encoder questions (PPMC)

et Xindex <= axis.0.index-enable ppmc.0.encoder.00.index-enable net Yindex <= axis.1.index-enable ppmc.0.encoder.01.index-enable net Zindex <= axis.2.index-enable ppmc.0.encoder.02.index-enable net Sindex <= axis.4.index-enable ppmc.0.encoder.04.index-enable

# connect position feedback signals to encoders net Xpos-fb <= ppmc.0.encoder.00.position net Ypos-fb <= ppmc.0.encoder.01.position net Zpos-fb <= ppmc.0.encoder.02.position #net Apos-fb <= ppmc.0.encoder.03.position #net Spos-fb <= ppmc.0.encoder.04.position # get feedback scaling from ini file setp ppmc.0.encoder.00.scale [AXIS_0]INPUT_SCALE setp ppmc.0.encoder.01.scale [AXIS_1]INPUT_SCALE setp ppmc.0.encoder.02.scale [AXIS_2]INPUT_SCALE #setp ppmc.0.encoder.03.scale [AXIS_3]INPUT_SCALE #net ppmc.0.encoder.04.scale [AXIS_4] INPUT_SCALE # connect PID output signals to step generators net Xoutput => ppmc.0.DAC.00.value net Youtput => ppmc.0.DAC.01.value net Zoutput => ppmc.0.DAC.02.value #net Aoutput => ppmc.0.DAC.03.value # set output scaling from ini file setp ppmc.0.DAC.00.scale [AXIS_0]OUTPUT_SCALE setp ppmc.0.DAC.01.scale [AXIS_1]OUTPUT_SCALE setp ppmc.0.DAC.02.scale [AXIS_2]OUTPUT_SCALE #setp ppmc.0.DAC.03.scale [AXIS_3]OUTPUT_SCALE # set slowest velocity for estimation setp ppmc.0.encoder.00.min-speed-estimate 0.001 setp ppmc.0.encoder.01.min-speed-estimate 0.001 setp ppmc.0.encoder.02.min-speed-estimate 0.001 #setp ppmc.0.encoder.03.min-speed-estimate 0.001 # Here's the part that connects the encoder velocity to the PID net Xfbderiv ppmc.0.encoder.00.velocity pid.0.feedback-deriv net Yfbderiv ppmc.0.encoder.01.velocity pid.1.feedback-deriv net Zfbderiv ppmc.0.encoder.02.velocity pid.2.feedback-deriv #net Afbderiv ppmc.0.encoder.03.velocity pid.3.feedback-deriv # add a couple of tuning test links # if these are useful will want to add them to the other axes as well # or make these setup with the tuning script net Xoutput ddt.0.in net Xpos-fb ddt.1.in # hook up motion controller's sync output net spindle-index-en ppmc.0.encoder.04.index-enable motion.spindle-index-enable # report rev count to motion controller net spindle-pos ppmc.0.encoder.04.position motion.spindle-revs # set up 4th DAC generator as a spindle speed control newsig spindle-speed float newsig spindle-DAC-cmd float newsig spindle-DAC-filt float newsig spindle-DAC-abs float net spindle-speed motion.spindle-speed-out mult2.1.in0 setp mult2.1.in1 0.002457 net spindle-DAC-cmd mult2.1.out lowpass.0.in net spindle-DAC-filt lowpass.0.out => abs.0.in setp lowpass.0.gain 0.005 net spindle-DAC-abs abs.0.out ppmc.0.DAC.03.value setp ppmc.0.encoder.04.scale 5000 # spindle speed display addf lowpass.1 servo-thread net spinraw ppmc.0.encoder.04.delta conv-s32-float.0.in net spinfloat conv-s32-float.0.out mult2.0.in0 setp mult2.0.in1 0.012 # (60/5000/rev) net rawSpindleRPM mult2.0.out => lowpass.1.in setp lowpass.1.gain 0.02 newsig SpindleRPM float linkps lowpass.1.out => SpindleRPM