7i76e VFD, Spindle voltage inverted on reverse

Robban
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6 years 6 months ago #162588 by Robban

7i76e VFD, Spindle voltage inverted on reverse was created by Robban

Hi, trying to setup my new 7i76e and i have got a problem.

When i run the spindle forward everything is ok and i will get +10v at m3s1700 and +0v at m3s1,
but if im running the spindle in reverse i will get +10v at m4s1 and +0v at m4s1700.

What am i doing wrong?

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PCW
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6 years 6 months ago #162589 by PCW

Replied by PCW on topic 7i76e VFD, Spindle voltage inverted on reverse

This probably means you have the 7I76E spindle output pin wired (in hal)
to motions signed spindle speed pin, not motions absolute spindle speed pin

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Robban
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6 years 6 months ago #162590 by Robban

Replied by Robban on topic 7i76e VFD, Spindle voltage inverted on reverse

This is the spindle section i have in the hal file.

Code:

#*******************
#  SPINDLE
#*******************

setp   pid.s.Pgain     [SPINDLE_0]P
setp   pid.s.Igain     [SPINDLE_0]I
setp   pid.s.Dgain     [SPINDLE_0]D
setp   pid.s.bias      [SPINDLE_0]BIAS
setp   pid.s.FF0       [SPINDLE_0]FF0
setp   pid.s.FF1       [SPINDLE_0]FF1
setp   pid.s.FF2       [SPINDLE_0]FF2
setp   pid.s.deadband  [SPINDLE_0]DEADBAND
setp   pid.s.maxoutput [SPINDLE_0]MAX_OUTPUT
setp   pid.s.error-previous-target true

net spindle-index-enable  <=> pid.s.index-enable
net spindle-enable        =>  pid.s.enable
net spindle-vel-cmd-rpm     => pid.s.command
net spindle-vel-fb-rpm      => pid.s.feedback
net spindle-output        <=  pid.s.output

# ---digital potentionmeter output signals/setup---

setp   hm2_7i76e.0.7i76.0.0.spinout-minlim    [SPINDLE_0]OUTPUT_MIN_LIMIT
setp   hm2_7i76e.0.7i76.0.0.spinout-maxlim    [SPINDLE_0]OUTPUT_MAX_LIMIT
setp   hm2_7i76e.0.7i76.0.0.spinout-scalemax  [SPINDLE_0]OUTPUT_SCALE

net spindle-output      => hm2_7i76e.0.7i76.0.0.spinout
net spindle-enable      => hm2_7i76e.0.7i76.0.0.spinena
net spindle-ccw         => hm2_7i76e.0.7i76.0.0.spindir

# ---Encoder feedback signals/setup---

setp    hm2_7i76e.0.encoder.00.counter-mode 0
setp    hm2_7i76e.0.encoder.00.filter 1
setp    hm2_7i76e.0.encoder.00.index-invert 0
setp    hm2_7i76e.0.encoder.00.index-mask 0
setp    hm2_7i76e.0.encoder.00.index-mask-invert 0
setp    hm2_7i76e.0.encoder.00.scale  [SPINDLE_0]ENCODER_SCALE

net spindle-revs             <=   hm2_7i76e.0.encoder.00.position
net spindle-vel-fb-rps       <=   hm2_7i76e.0.encoder.00.velocity
net spindle-index-enable     <=>  hm2_7i76e.0.encoder.00.index-enable

# ---setup spindle control signals---

net spindle-vel-cmd-rps        <=  spindle.0.speed-out-rps
net spindle-vel-cmd-rps-abs    <=  spindle.0.speed-out-rps-abs
net spindle-vel-cmd-rpm        <=  spindle.0.speed-out
net spindle-vel-cmd-rpm-abs    <=  spindle.0.speed-out-abs
net spindle-enable             <=  spindle.0.on
net spindle-cw                 <=  spindle.0.forward
net spindle-ccw                <=  spindle.0.reverse
net spindle-brake              <=  spindle.0.brake
net spindle-revs               =>  spindle.0.revs
net spindle-at-speed           =>  spindle.0.at-speed
net spindle-vel-fb-rps         =>  spindle.0.speed-in
net spindle-index-enable      <=>  spindle.0.index-enable

# ---Setup spindle at speed signals---

net spindle-vel-cmd-rps    =>  near.0.in1
net spindle-vel-fb-rps         =>  near.0.in2
net spindle-at-speed       <=  near.0.out
setp near.0.scale 1.000000
setp near.0.difference 3.333333

#  Use ACTUAL spindle velocity from spindle encoder
#  spindle-velocity bounces around so we filter it with lowpass
#  spindle-velocity is signed so we use absolute component to remove sign
#  ACTUAL velocity is in RPS not RPM so we scale it.

setp     scale.spindle.gain 60
setp     lowpass.spindle.gain 1.000000
net spindle-vel-fb-rps        =>     scale.spindle.in
net spindle-fb-rpm               scale.spindle.out       =>   abs.spindle.in
net spindle-fb-rpm-abs           abs.spindle.out         =>   lowpass.spindle.in
net spindle-fb-rpm-abs-filtered  lowpass.spindle.out  

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PCW
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6 years 6 months ago #162591 by PCW

Replied by PCW on topic 7i76e VFD, Spindle voltage inverted on reverse

replacing
net spindle-vel-cmd-rpm => pid.s.command
with:
net spindle-vel-cmd-rpm-abs => pid.s.command

should fix the issue

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Robban
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6 years 6 months ago #162593 by Robban

Replied by Robban on topic 7i76e VFD, Spindle voltage inverted on reverse

Thank you, it works now

Dont know why it happened, i used the pncconf wizard.
Must have done something wrong.

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PCW
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6 years 6 months ago #162594 by PCW

Replied by PCW on topic 7i76e VFD, Spindle voltage inverted on reverse

I think its a pncconf bug, but a complete fix is a bit tricky
_if_ the user implements PID spindle speed control

The reason its tricky is because if the PID command is
absolute spindle speed in RPM, the PID feedback needs to
be commensurate (so also absolute spindle speed in RPM)
This feedback signal needs to be created from the signed
speed in RPS (or signed speed in RPM on the latest
LinuxCNC versions)

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