After rewriting my HAL file and adding spindle-at-speed detection, I found out my spindle was not running at the correct RPM. After some investigation I found out this is because the HAL file generated by PnCConf does not correctly connect any feedback to the spindle PID loop.
Only spindle-fb-rps is connected directly to the signal from the 5i25 encoder signal, however the spindle feedback is connected to the RPM signal instead of RPS (spindle-feedback-rpm). This signal however is not connected anywhere else, meaning there is no RPM feedback going to the PID loop.
I have included an older HAL file that should be almost the exact same as the one generated by PnCConf, only some small alterations and none to the relevant sections. I have since resolved it in my HAL file by simply using the scale component, however this should probably be fixed within PnCConf as well.
It would probably be cleaner to use RPM everywhere and avoid the scale component
(since the driver in 2.8 exports the encoder velocity in RPM as well as RPS)
net spindle-vel-fb-rpm <= hm2_5i25.0.encoder.05.velocity-rpm
Note that the encoder velocity signal "spindle-vel-fb-rpm" is not connected to anything
Code:
#*******************
# SPINDLE
#*******************
--------------------------------------------
net spindle-vel-fb-rpm-abs => pid.s.feedback
# ---Encoder feedback signals/setup---
net spindle-vel-fb-rpm <= hm2_7i76e.0.encoder.00.velocity-rpm
I would change this:
Code:
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
to this:
Code:
setp lowpass.spindle.gain 1.000000
net spindle-vel-fb-rpm => abs.spindle.in
net spindle-fb-rpm-abs abs.spindle.out => lowpass.spindle.in
net spindle-fb-rpm-abs-filtered lowpass.spindle.out
and remove the scale component since it is not used:
