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Lagunmatic 3516-SX Retrofit
8 years 2 months ago #115917
by andypugh
Maybe use the OR2 HAL component to enable the drove from motion.spindle-on _or_ motion.spindle-orient.
Replied by andypugh on topic Lagunmatic 3516-SX Retrofit
giz wrote: I cannot for the life of me figure out how to incorporate it into the logic. Because I have the velocity-mode signal connected to motion.spindle-on I don't seem to be able to drive hm2_5i25.0.7i77.0.1.spinena with motion.spindle-on (through the spindle-enable signal that is standard).
Maybe use the OR2 HAL component to enable the drove from motion.spindle-on _or_ motion.spindle-orient.
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8 years 2 months ago #115922
by giz
Replied by giz on topic Lagunmatic 3516-SX Retrofit
Hey andy - the issue I run into is that both of those pins are already connected to signals. I'm using code from your vmc_toolchanger config:
I am interpreting your suggest as this:
In other news, I have my spindle VFD running in closed-loop vector mode now. I connected the built-in encoder signals from the spindle motor to the VFD to close the loop at the VFD, and I will pass the external encoder signals directly to LinuxCNC.
I'm assuming I should remove the spindle velocity PID component from my hal now?
I've tested the VFD down to 1Hz which is about 33RPM so if Orient-Mode wasn't working because of VFD issues, that won't be the case any longer.
Code:
# 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.s.enable #hm2_5i25.0.7i77.0.1.spinena
net orient-dir motion.spindle-orient-mode orient.0.mode
I am interpreting your suggest as this:
Code:
net spindle-enable => hm2_5i25.0.7i77.0.1.spinena
loadrt or2
addf or2.0 servo-thread
net velocity-enable or2.0.in0 motion.spindle-on
net position-enable or2.0.in1 motion.spindle-orient
net spindle-enable or2.0.out
In other news, I have my spindle VFD running in closed-loop vector mode now. I connected the built-in encoder signals from the spindle motor to the VFD to close the loop at the VFD, and I will pass the external encoder signals directly to LinuxCNC.
I'm assuming I should remove the spindle velocity PID component from my hal now?
I've tested the VFD down to 1Hz which is about 33RPM so if Orient-Mode wasn't working because of VFD issues, that won't be the case any longer.
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8 years 2 months ago #115987
by giz
Replied by giz on topic Lagunmatic 3516-SX Retrofit
Alright! I finally figured out the logic needed to enable the spindle in both velocity and position modes. Moving the or2 inputs did the trick - seems obvious now but I stared at this code for hours today.
When I run an M19 code I get VERY SLIGHT movement of the spindle (probably less than 1 degree) and the spindle softly resists my attempts to move it by hand.
The issue now may be scaling? John's schematic has different scales for Position vs. Velocity mode - is that necessary?
Also I kept the velocity mode PID for now.
spindle.hal
When I run an M19 code I get VERY SLIGHT movement of the spindle (probably less than 1 degree) and the spindle softly resists my attempts to move it by hand.
The issue now may be scaling? John's schematic has different scales for Position vs. Velocity mode - is that necessary?
Also I kept the velocity mode PID for now.
spindle.hal
Code:
net spindle-index-enable <=> pid.s.index-enable
net spindle-enable => hm2_5i25.0.7i77.0.1.spinena hm2_5i25.0.7i77.0.0.output-06
#####
net spindle-pos pid.1.feedback orient.0.position
net spindle-vel pid.s.feedback hm2_5i25.0.encoder.05.velocity
net spindle-vel-cmd motion.spindle-speed-out pid.s.command
#net spindle-vel-cmd motion.spindle-speed-out-rps pid.s.command
net spindle-vel-pid pid.s.output mux2.0.in0
net spindle-pos pid.1.feedback orient.0.position near.0.in1 hm2_5i25.0.encoder.05.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
loadrt or2 count=2
addf or2.0 servo-thread
net orient-mode motion.spindle-orient orient.0.enable pid.1.enable mux2.0.sel or2.0.in1
net velocity-mode motion.spindle-on pid.s.enable or2.0.in0
net orient-dir motion.spindle-orient-mode orient.0.mode
net spindle-enable or2.0.out
#####
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8 years 2 months ago #116131
by andypugh
Replied by andypugh on topic Lagunmatic 3516-SX Retrofit
Does the spindle position appear to match the command (have a look at the command and feedback pins of the position PID and see if they appear to be in the same units, and if they agree with what you think they should show.
I think that M19 takes degrees and the HAL pin is revolutions, but I am not sure of this.
I think that M19 takes degrees and the HAL pin is revolutions, but I am not sure of this.
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8 years 2 months ago #116174
by giz
Replied by giz on topic Lagunmatic 3516-SX Retrofit
I think you are right andy. I sat down and drew up my own schematic last night because trying to sort it all out in my head, at the machine, wasn't working. I spent two days going backwards. Writing it out on paper helped me keep track of the units I'm working in.
My interpretation of the orient documentation is that orient.position and orient.command work in revs but orient.angle is fed degrees. I believe the output of the position PID will be in RPS and will need to be scaled to RPM before entering the Mux2 component (and perhaps a small offset to help with slow speed).
Attached is the schematic I'm hoping to code tonight, feeling pretty good about it. Eliminating the velocity PID made sense because 1) the VFD is running closed loop vector mode and 2) I am reading true spindle speed from an external encoder attached to the spindle, which is attached to the motor at 4:5 ratio.
I am scaling the Aout5 signal by 4:5 at the end of the system which means I lose some speed resolution but I don't think it will make any practical difference.
My interpretation of the orient documentation is that orient.position and orient.command work in revs but orient.angle is fed degrees. I believe the output of the position PID will be in RPS and will need to be scaled to RPM before entering the Mux2 component (and perhaps a small offset to help with slow speed).
Attached is the schematic I'm hoping to code tonight, feeling pretty good about it. Eliminating the velocity PID made sense because 1) the VFD is running closed loop vector mode and 2) I am reading true spindle speed from an external encoder attached to the spindle, which is attached to the motor at 4:5 ratio.
I am scaling the Aout5 signal by 4:5 at the end of the system which means I lose some speed resolution but I don't think it will make any practical difference.
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8 years 2 months ago #116284
by giz
Replied by giz on topic Lagunmatic 3516-SX Retrofit
My spindle is now moving under an M19 command, which is good. It seems now I need to tune the PID. So far I get either zero movement or the spindle overshoots the commanded position by several revolutions.
Under every rock is another hard place it seems :laugh:
lagunmatic.hal:
Under every rock is another hard place it seems :laugh:
lagunmatic.hal:
Code:
# Generated by PNCconf at Fri Apr 27 02:57:57 2018
# If you make changes to this file, they will be
# overwritten when you run PNCconf again
loadrt trivkins
loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[TRAJ]AXES
loadrt hostmot2
loadrt hm2_pci config=" num_encoders=6 num_pwmgens=0 num_stepgens=0 sserial_port_0=000xxx"
setp hm2_5i25.0.watchdog.timeout_ns 5000000
loadrt pid names=pid.x,pid.y,pid.z,pid.p
addf hm2_5i25.0.read servo-thread
addf motion-command-handler servo-thread
addf motion-controller servo-thread
addf pid.x.do-pid-calcs servo-thread
addf pid.y.do-pid-calcs servo-thread
addf pid.z.do-pid-calcs servo-thread
addf pid.p.do-pid-calcs servo-thread # Position
addf hm2_5i25.0.write servo-thread
loadrt orient
addf orient.0 servo-thread
setp orient.0.mode 0
loadrt mux2
addf mux2.0 servo-thread #Chooses which speed output goes to spindle
loadrt or2 count=2
addf or2.0 servo-thread #Enables spindle in both modes
addf or2.1 servo-thread #Activate Spindle Run relay
loadrt near count=2
loadrt edge
addf near.0 servo-thread
addf near.1 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
setp near.0.difference 0.01667 #How close the spindle needs to orient in revs
setp near.1.scale 1.05 #Spindle-at-speed true within scale
loadrt scale count=2
addf scale.0 servo-thread #RPS to RPM
addf scale.1 servo-thread #Motor to Spindle Ratio
setp scale.0.gain 60
setp scale.0.offset 60
setp scale.1.gain 0.8
######################################
# external output signals
######################################
# --- MACHINE-IS-ENABLED ---
net machine-is-enabled hm2_5i25.0.7i77.0.0.output-00
# --- MAGAZINE_FORWARD ---
net Magazine_Forward hm2_5i25.0.7i77.0.0.output-01
# --- MAGAZINE_DOWN ---
net Magazine_Down hm2_5i25.0.7i77.0.0.output-02
# --- MAGAZINE_CW ---
net Magazine_CW hm2_5i25.0.7i77.0.0.output-03
# --- MAGAZINE_CCW ---
net Magazine_CCW hm2_5i25.0.7i77.0.0.output-04
# --- SPINDLE_ORIENT ---
net Spindle_Orient hm2_5i25.0.7i77.0.0.output-05
# --- SPINDLE-MOVE ---
#net spindle-move hm2_5i25.0.7i77.0.0.output-06
# --- TOOL_UNCLAMP ---
net Tool_Unclamp hm2_5i25.0.7i77.0.0.output-07
# --- COOLANT-MIST ---
#net coolant-mist hm2_5i25.0.7i77.0.0.output-08
# --- LUBE_RELAY ---
net Lube_Relay hm2_5i25.0.7i77.0.0.output-10
# --- SOFT_START_CANCEL ---
net Soft_Start_Cancel hm2_5i25.0.7i77.0.0.output-11
######################################
# external input signals
######################################
# --- WAY_LUBE_LEVEL ---
net Way_Lube_Level <= hm2_5i25.0.7i77.0.0.input-00
# --- MAX-X ---
net max-x <= hm2_5i25.0.7i77.0.0.input-01-not
# --- MIN-X ---
net min-x <= hm2_5i25.0.7i77.0.0.input-02-not
# --- MAX-Y ---
net max-y <= hm2_5i25.0.7i77.0.0.input-03-not
# --- MIN-Y ---
net min-y <= hm2_5i25.0.7i77.0.0.input-04-not
# --- MAX-Z ---
net max-z <= hm2_5i25.0.7i77.0.0.input-05-not
# --- MIN-Z ---
net min-z <= hm2_5i25.0.7i77.0.0.input-06-not
# --- HOME-X ---
net home-x <= hm2_5i25.0.7i77.0.0.input-07
# --- HOME-Y ---
net home-y <= hm2_5i25.0.7i77.0.0.input-08
# --- HOME-Z ---
net home-z <= hm2_5i25.0.7i77.0.0.input-09
# --- MAGAZINE_BACK_POSITION ---
net Magazine_Back_Position <= hm2_5i25.0.7i77.0.0.input-10
# --- MAGAZINE_FORWARD_POSITION ---
net Magazine_Forward_Position <= hm2_5i25.0.7i77.0.0.input-11
# --- MAGAZINE_UP_POSITION ---
net Magazine_Up_Position <= hm2_5i25.0.7i77.0.0.input-12
# --- MAGAZINE_DOWN_POSITION ---
net Magazine_Down_Position <= hm2_5i25.0.7i77.0.0.input-13
# --- POSITION_COUNTER ---
net Position_Counter <= hm2_5i25.0.7i77.0.0.input-14
# --- MAGAZINE_HOME ---
net Magazine_Home <= hm2_5i25.0.7i77.0.0.input-15
# --- TOOL_CLAMP_POSITION ---
#net Tool_Clamp_Position <= hm2_5i25.0.7i77.0.0.input-16
# --- TOOL_UNCLAMP_POSITION ---
#net Tool_Unclamp_Position <= hm2_5i25.0.7i77.0.0.input-17
# --- SPINDLE_UP_TO_SPEED ---
net Spindle_Up_To_Speed <= hm2_5i25.0.7i77.0.0.input-18
# --- ESTOP ---
net ESTOP <= hm2_5i25.0.7i77.0.0.input-19
# --- SPINDLE_ORIENT_COMPLETE ---
net Spindle_Orient_Complete <= hm2_5i25.0.7i77.0.0.input-20
# --- LUBE_PRESSURE_SWITCH ---
net Lube_Pressure_Switch <= hm2_5i25.0.7i77.0.0.input-21-not
# --- AIR_PRESSURE_SWITCH ---
net Air_Pressure_Switch <= hm2_5i25.0.7i77.0.0.input-22
# --- MACHINE_ON_CMD ---
net Machine_On_CMD <= hm2_5i25.0.7i77.0.0.input-23
# --- SPINDLE_ON_CMD ---
net Spindle_On_CMD <= hm2_5i25.0.7i77.0.0.input-24
# --- TOOL_UNCLAMP_CMD ---
net Tool_Unclamp_CMD <= hm2_5i25.0.7i77.0.0.input-25
# --- MIST_ON_CMD ---
net Mist_On_CMD <= hm2_5i25.0.7i77.0.0.input-26
# --- MAGAZINE_CW_CMD ---
net Magazine_CW_CMD <= hm2_5i25.0.7i77.0.0.input-27
# --- MAGAZINE_CCW_CMD ---
net Magazine_CCW_CMD <= hm2_5i25.0.7i77.0.0.input-28
#*******************
# AXIS X
#*******************
setp pid.x.Pgain [AXIS_0]P
setp pid.x.Igain [AXIS_0]I
setp pid.x.Dgain [AXIS_0]D
setp pid.x.bias [AXIS_0]BIAS
setp pid.x.FF0 [AXIS_0]FF0
setp pid.x.FF1 [AXIS_0]FF1
setp pid.x.FF2 [AXIS_0]FF2
setp pid.x.deadband [AXIS_0]DEADBAND
setp pid.x.maxoutput [AXIS_0]MAX_OUTPUT
setp pid.x.error-previous-target true
net x-index-enable <=> pid.x.index-enable
net x-enable => pid.x.enable
net x-pos-cmd => pid.x.command
net x-vel-cmd => pid.x.command-deriv
net x-pos-fb => pid.x.feedback
net x-output => pid.x.output
# ---PWM Generator signals/setup---
setp hm2_5i25.0.7i77.0.1.analogout0-scalemax [AXIS_0]OUTPUT_SCALE
setp hm2_5i25.0.7i77.0.1.analogout0-minlim [AXIS_0]OUTPUT_MIN_LIMIT
setp hm2_5i25.0.7i77.0.1.analogout0-maxlim [AXIS_0]OUTPUT_MAX_LIMIT
net x-output => hm2_5i25.0.7i77.0.1.analogout0
net x-pos-cmd axis.0.motor-pos-cmd
net x-enable axis.0.amp-enable-out
# enable _all_ sserial pwmgens
net x-enable hm2_5i25.0.7i77.0.1.analogena
# ---Encoder feedback signals/setup---
setp hm2_5i25.0.encoder.00.counter-mode 0
setp hm2_5i25.0.encoder.00.filter 1
setp hm2_5i25.0.encoder.00.index-invert 0
setp hm2_5i25.0.encoder.00.index-mask 0
setp hm2_5i25.0.encoder.00.index-mask-invert 0
setp hm2_5i25.0.encoder.00.scale [AXIS_0]ENCODER_SCALE
net x-pos-fb <= hm2_5i25.0.encoder.00.position
net x-vel-fb <= hm2_5i25.0.encoder.00.velocity
net x-pos-fb => axis.0.motor-pos-fb
net x-index-enable axis.0.index-enable <=> hm2_5i25.0.encoder.00.index-enable
net x-pos-rawcounts <= hm2_5i25.0.encoder.00.rawcounts
# ---setup home / limit switch signals---
net home-x => axis.0.home-sw-in
net min-x => axis.0.neg-lim-sw-in
net max-x => axis.0.pos-lim-sw-in
#*******************
# AXIS Y
#*******************
setp pid.y.Pgain [AXIS_1]P
setp pid.y.Igain [AXIS_1]I
setp pid.y.Dgain [AXIS_1]D
setp pid.y.bias [AXIS_1]BIAS
setp pid.y.FF0 [AXIS_1]FF0
setp pid.y.FF1 [AXIS_1]FF1
setp pid.y.FF2 [AXIS_1]FF2
setp pid.y.deadband [AXIS_1]DEADBAND
setp pid.y.maxoutput [AXIS_1]MAX_OUTPUT
setp pid.y.error-previous-target true
net y-index-enable <=> pid.y.index-enable
net y-enable => pid.y.enable
net y-pos-cmd => pid.y.command
net y-vel-cmd => pid.y.command-deriv
net y-pos-fb => pid.y.feedback
net y-output => pid.y.output
# ---PWM Generator signals/setup---
setp hm2_5i25.0.7i77.0.1.analogout1-scalemax [AXIS_1]OUTPUT_SCALE
setp hm2_5i25.0.7i77.0.1.analogout1-minlim [AXIS_1]OUTPUT_MIN_LIMIT
setp hm2_5i25.0.7i77.0.1.analogout1-maxlim [AXIS_1]OUTPUT_MAX_LIMIT
net y-output => hm2_5i25.0.7i77.0.1.analogout1
net y-pos-cmd axis.1.motor-pos-cmd
net y-enable axis.1.amp-enable-out
# ---Encoder feedback signals/setup---
setp hm2_5i25.0.encoder.01.counter-mode 0
setp hm2_5i25.0.encoder.01.filter 1
setp hm2_5i25.0.encoder.01.index-invert 0
setp hm2_5i25.0.encoder.01.index-mask 0
setp hm2_5i25.0.encoder.01.index-mask-invert 0
setp hm2_5i25.0.encoder.01.scale [AXIS_1]ENCODER_SCALE
net y-pos-fb <= hm2_5i25.0.encoder.01.position
net y-vel-fb <= hm2_5i25.0.encoder.01.velocity
net y-pos-fb => axis.1.motor-pos-fb
net y-index-enable axis.1.index-enable <=> hm2_5i25.0.encoder.01.index-enable
net y-pos-rawcounts <= hm2_5i25.0.encoder.01.rawcounts
# ---setup home / limit switch signals---
net home-y => axis.1.home-sw-in
net min-y => axis.1.neg-lim-sw-in
net max-y => axis.1.pos-lim-sw-in
#*******************
# AXIS Z
#*******************
setp pid.z.Pgain [AXIS_2]P
setp pid.z.Igain [AXIS_2]I
setp pid.z.Dgain [AXIS_2]D
setp pid.z.bias [AXIS_2]BIAS
setp pid.z.FF0 [AXIS_2]FF0
setp pid.z.FF1 [AXIS_2]FF1
setp pid.z.FF2 [AXIS_2]FF2
setp pid.z.deadband [AXIS_2]DEADBAND
setp pid.z.maxoutput [AXIS_2]MAX_OUTPUT
setp pid.z.error-previous-target true
net z-index-enable <=> pid.z.index-enable
net z-enable => pid.z.enable
net z-pos-cmd => pid.z.command
net z-vel-cmd => pid.z.command-deriv
net z-pos-fb => pid.z.feedback
net z-output => pid.z.output
# ---PWM Generator signals/setup---
setp hm2_5i25.0.7i77.0.1.analogout2-scalemax [AXIS_2]OUTPUT_SCALE
setp hm2_5i25.0.7i77.0.1.analogout2-minlim [AXIS_2]OUTPUT_MIN_LIMIT
setp hm2_5i25.0.7i77.0.1.analogout2-maxlim [AXIS_2]OUTPUT_MAX_LIMIT
net z-output => hm2_5i25.0.7i77.0.1.analogout2
net z-pos-cmd axis.2.motor-pos-cmd
net z-enable axis.2.amp-enable-out
# ---Encoder feedback signals/setup---
setp hm2_5i25.0.encoder.02.counter-mode 0
setp hm2_5i25.0.encoder.02.filter 1
setp hm2_5i25.0.encoder.02.index-invert 0
setp hm2_5i25.0.encoder.02.index-mask 0
setp hm2_5i25.0.encoder.02.index-mask-invert 0
setp hm2_5i25.0.encoder.02.scale [AXIS_2]ENCODER_SCALE
net z-pos-fb <= hm2_5i25.0.encoder.02.position
net z-vel-fb <= hm2_5i25.0.encoder.02.velocity
net z-pos-fb => axis.2.motor-pos-fb
net z-index-enable axis.2.index-enable <=> hm2_5i25.0.encoder.02.index-enable
net z-pos-rawcounts <= hm2_5i25.0.encoder.02.rawcounts
# ---setup home / limit switch signals---
net home-z => axis.2.home-sw-in
net min-z => axis.2.neg-lim-sw-in
net max-z => axis.2.pos-lim-sw-in
#*******************
# SPINDLE S
#*******************
setp pid.p.Pgain [SPINDLE]P_P
setp pid.p.Igain [SPINDLE]I_P
setp pid.p.Dgain [SPINDLE]D_P
setp pid.p.FF0 [SPINDLE]FF0_P
setp pid.p.FF1 [SPINDLE]FF1_P
# ---PWM Generator signals/setup---
# ---Encoder feedback signals/setup---
setp hm2_5i25.0.encoder.05.counter-mode 0
setp hm2_5i25.0.encoder.05.filter 1
setp hm2_5i25.0.encoder.05.index-invert 0
setp hm2_5i25.0.encoder.05.index-mask 0
setp hm2_5i25.0.encoder.05.index-mask-invert 0
setp hm2_5i25.0.encoder.05.scale [SPINDLE]ENCODER_SCALE
setp hm2_5i25.0.7i77.0.1.analogout5-scalemax [SPINDLE]OUTPUT_SCALE
setp hm2_5i25.0.7i77.0.1.analogout5-minlim [SPINDLE]OUTPUT_MIN_LIMIT
setp hm2_5i25.0.7i77.0.1.analogout5-maxlim [SPINDLE]OUTPUT_MAX_LIMIT
## Velocity Mode ##
net spindle-vel-rps hm2_5i25.0.encoder.05.velocity motion.spindle-speed-in
net velocity-enable motion.spindle-on or2.0.in0
net spindle-vel-rpm motion.spindle-speed-out mux2.0.in0
## Orient Mode ##
net spindle-pos-rev hm2_5i25.0.encoder.05.position
net spindle-pos-rev pid.p.feedback orient.0.position near.0.in1 motion.spindle-revs
net orient-enable motion.spindle-orient pid.p.enable orient.0.enable mux2.0.sel or2.0.in1
net orient-mode motion.spindle-orient-mode orient.0.mode
net spindle-index motion.spindle-index-enable hm2_5i25.0.encoder.05.index-enable
net spindle-angle motion.spindle-orient-angle orient.0.angle
net spindle-pos-cmd pid.p.command orient.0.command near.0.in2
net spindle-in-pos-raw near.0.out edge.0.in #not needed v2.8+, use orient.0.is-oriented
net spindle-oriented edge.0.out motion.spindle-is-oriented
net spindle-pid-out pid.p.output scale.0.in
net spindle-pid-rpm scale.0.out mux2.0.in1
## Spindle Output##
net spindle-cmd-rpm mux2.0.out scale.1.in
net spindle-cmd-vfd scale.1.out hm2_5i25.0.7i77.0.1.analogout5
net spindle-enable or2.0.out hm2_5i25.0.7i77.0.1.spinena hm2_5i25.0.7i77.0.0.output-06
net spindle-cw or2.1.in0 motion.spindle-forward
net spindle-ccw or2.1.in1 motion.spindle-reverse
net spindle-move or2.1.out
# ---setup spindle control signals---
net spindle-vel-cmd-rps-abs <= motion.spindle-speed-out-rps-abs
net spindle-vel-cmd-rpm-abs <= motion.spindle-speed-out-abs
net spindle-brake <= motion.spindle-brake
# ---Setup spindle at speed signals---
#sets spindle-at-speed true
net spindle-vel-cmd-rps motion.spindle-speed-out-rps near.1.in1
net spindle-at-speed motion.spindle-at-speed near.1.out
#******************************
# connect miscellaneous signals
#******************************
# ---HALUI signals---
net joint-select-a halui.joint.0.select
net x-is-homed halui.joint.0.is-homed
net jog-x-pos halui.jog.0.plus
net jog-x-neg halui.jog.0.minus
net jog-x-analog halui.jog.0.analog
net joint-select-b halui.joint.1.select
net y-is-homed halui.joint.1.is-homed
net jog-y-pos halui.jog.1.plus
net jog-y-neg halui.jog.1.minus
net jog-y-analog halui.jog.1.analog
net joint-select-c halui.joint.2.select
net z-is-homed halui.joint.2.is-homed
net jog-z-pos halui.jog.2.plus
net jog-z-neg halui.jog.2.minus
net jog-z-analog halui.jog.2.analog
net jog-selected-pos halui.jog.selected.plus
net jog-selected-neg halui.jog.selected.minus
net spindle-manual-cw halui.spindle.forward
net spindle-manual-ccw halui.spindle.reverse
net spindle-manual-stop halui.spindle.stop
net machine-is-on halui.machine.is-on
net jog-speed halui.jog-speed
net MDI-mode halui.mode.is-mdi
# ---coolant signals---
net coolant-mist <= iocontrol.0.coolant-mist
net coolant-flood <= iocontrol.0.coolant-flood
# ---probe signal---
net probe-in => motion.probe-input
# ---motion control signals---
net in-position <= motion.in-position
net machine-is-enabled <= motion.motion-enabled
# ---digital in / out signals---
# ---estop signals---
net estop-out <= iocontrol.0.user-enable-out
net estop-out => iocontrol.0.emc-enable-in
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8 years 2 months ago #116287
by giz
Replied by giz on topic Lagunmatic 3516-SX Retrofit
One challenge is that as the spindle passes the targeted angle, it thinks it has fulfilled the orient and disables the orient enable/position PID and the spindle then drifts off target.
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8 years 2 months ago #116348
by andypugh
Replied by andypugh on topic Lagunmatic 3516-SX Retrofit
Maybe debounce the spindle-oriented signal so the spindle has to be in-position for a certain length of time.
The other way might be to require spindle in-position _and_ velocity=0 (or close)
The other way might be to require spindle in-position _and_ velocity=0 (or close)
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8 years 2 months ago #116349
by giz
Replied by giz on topic Lagunmatic 3516-SX Retrofit
I'm using the edge component from your spindle.hal file. Does edge give me this type of time control?
I can see how adding an ADD test with position and velocity. I haven't seen this discussion come up anywhere, seems like something that would have been solved already
I can see how adding an ADD test with position and velocity. I haven't seen this discussion come up anywhere, seems like something that would have been solved already
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8 years 2 months ago #116363
by giz
Replied by giz on topic Lagunmatic 3516-SX Retrofit
I added an and2 component and used that to force the orientation remain enabled until both the spindle velocity is near zero and the spindle is near commanded angle.
The logic works - so thanks for the suggestion andy. Although it can take 5-10 seconds of searching for the spindle to lock on. I played with the PID gain values a bit but I probably need a more methodical way of tuning than just random guesses/observations.
The logic works - so thanks for the suggestion andy. Although it can take 5-10 seconds of searching for the spindle to lock on. I played with the PID gain values a bit but I probably need a more methodical way of tuning than just random guesses/observations.
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