mesa 7i96s analog spindle

when i try to orient ( m19 r0 ) it speeds up to 1300 rpm which is the same rpm as when i command m3 s1000 and it doesnt do anything.


 

Did you verify that the feedback is in the correct direction?
it does look like a runaway which would be expected if the feedback is reversed

Also for the orient PID I would set FF1 to 0 and P to say 10
so its easier to see whats happening and you don't get immediate
uncontrolled motion.

This loss of control/runaway may also be because orient PID output sign
does not change the spindle direction (that I can see)
 

now it stops and then slowly starts ramping up until 1300rpm. how would i change the direction of the feedback?

i did just reaverse the spindle direction which i suppose would do the same but it didnt make a differance.

Is the spindle direction controlled by the sign
of the orient PID output when in orient mode?

Is the encoder scaling correct? (position advances by 1.00
for each forward turn of the spindle)

i made some changes and it kind of works but the orientation is super slow and it cant orient in clockwise direction. maybe you have some more ideas, and yes the scaling is correct

This signal:

net spindle-ccw => hm2_7i96s.0.ssr.00.out-00

Would need to come from the sign of the orient PID output
for orient to work in both directions (this likely requires
a mux2 and an absolute component added)

now the orientation works well but still no closed loop spindle control. at 1000rpm commanded it rotates 2600 rpm and that matches what i can see in halshow.  

You might take the feedback out of the spindle mode system for debugging
by setting the velocity PID parameters all to 0 except FF0=1.0