Help needed to get my 7i76E + 7i85S + 7i73 on my mill going.

tecno wrote:

andypugh wrote:

Code:

net some-signal-name axis.N.motor-position-fb hm2_7i76e.0.encoder.MM.position

Choose the N and MM any way that you fancy.
If you are using a PID component for each axis (this is optional, but pncconf currently sets things up that way) then you also need

Code:

net some-signal-name pid.X.feedback

(That is the same "some-signal-name" as the above, and you can combine them all on one line, or split over 3 lines, as you prefer)

Want to have spindle encoder on 4th encoder input, what syntax in hal for this.

Code:

net spindle-pos hm2_7i76e.0.encoder.04.position motion.spindle-revs net spindle-vel hm2_7i76.0.encoder.04.velocity motion,spindle-vel

Is it something like this?

#*******************
# SPINDLE S
#*******************



setp pid.s.Pgain [SPINDLE_9]P
setp pid.s.Igain [SPINDLE_9]I
setp pid.s.Dgain [SPINDLE_9]D
setp pid.s.bias [SPINDLE_9]BIAS
setp pid.s.FF0 [SPINDLE_9]FF0
setp pid.s.FF1 [SPINDLE_9]FF1
setp pid.s.FF2 [SPINDLE_9]FF2
setp pid.s.deadband [SPINDLE_9]DEADBAND
setp pid.s.maxoutput [SPINDLE_9]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 some-signal-name pid.X.feedback >> already declared ---
net spindle-vel-fb-rpm => pid.s.feedback
net spindle-output <= pid.s.output

# ---setup spindle control signals---

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

### --- net some-signal-name axis.N.motor-position-fb hm2_7i76e.0.encoder.MM.position -- is the line below to be changed???
net spindle-vel-fb-rps => motion.spindle-speed-in
net spindle-index-enable <=> motion.spindle-index-enable

net spindle-pos hm2_7i76e.0.encoder.04.position motion.spindle-revs ### new added line
net spindle-vel hm2_7i76.0.encoder.04.velocity motion.spindle-vel ### new added line

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

sets spindle-at-speed true

setp hm2_7i76e.0.7i76.0.0.spinout-scalemax 1200
setp hm2_7i76e.0.7i76.0.0.spinout-maxlim 2500

net spindle-enable hm2_7i76e.0.7i76.0.0.spinena
net spindle-vel-cmd-rpm-abs hm2_7i76e.0.7i76.0.0.spinout
net spindle-ccw hm2_7i76e.0.7i76.0.0.spindir

tecno wrote: Are above edit OK or something wrong still?

andypugh wrote:

tecno wrote: Are above edit OK or something wrong still?

It is wrong in many ways.

There is almost a PID for closed-loop speed control, but it is set up with rpm command and rps feedback. Luckily this won't be disasterous, because the output doesn't go anywhere.

Why not keep it simple?

Code:

#******************* # SPINDLE S #******************* net spindle-cmd-rpm motion.spindle-speed-out-abs => hm2_7i76e.0.7i76.0.0.spinout net spindle-enable motion.spindle-on => hm2_7i76e.0.7i76.0.0.spinena net spindle-ccw motion.spindle-reverse => hm2_7i76e.0.7i76.0.0.spindir net spindle-index-enable motion.spindle-index-enable <=> hm2_7i76e.0.encoder.04.index-enable net spindle-pos hm2_7i76e.0.encoder.04.position => motion.spindle-revs net spindle-vel hm2_7i76.0.encoder.04.velocity => motion.spindle-speed-in setp hm2_7i76e.0.7i76.0.0.spinout-scalemax 1200 setp hm2_7i76e.0.7i76.0.0.spinout-maxlim 2500

andypugh wrote: Yes, it is time to not use pncconf any more. You have a set of config files, now tweak them to suit.
Starting with the spindle section above. You can always add closed-loop spindle control later.

tecno wrote: Without closed-loop = no G33.1 ?