I need a little help, I can't get the spindle speed in rpm.
I have a 1024 pulse/revolution encoder on the spindle
The encoder A phase is connected to the hm2_7i97.0.7i84.0.0.input-28
The encoder index pulse is connected to the hm2_7i97.0.7i84.0.0.input-30
I have the impression that my encoder transmits the pulses correctly, but the value of low.pass.0.out and encoder.0.velocity-rpm is not fixed and displays values from 3 to 19 for a rotation speed of 500 RPM.
what do I need to change ?
Attachment not found
INI
Code:
[SPINDLE_0]
P = 0
I = 0
D = 0
FF0 = 1
FF1 = 0
FF2 = 0
BIAS = 0
DEADBAND = 0
MAX_OUTPUT = 2554
ENCODER_SCALE = 1024
OUTPUT_SCALE = 2554
OUTPUT_MIN_LIMIT = 0
OUTPUT_MAX_LIMIT = 2600
HAL
Code:
# Axis: SPINDLE Joint: 5 Output: 5
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-abs => pid.s.command
net spindle-vel-fb-rpm => pid.s.feedback
net spindle-output <= pid.s.output
# ---PWM Generator signals/setup---
setp hm2_[MESA](BOARD).0.pwmgen.05.scale [SPINDLE_0]OUTPUT_SCALE
setp hm2_[MESA](BOARD).0.pwmgen.05.output-type 1
setp hm2_[MESA](BOARD).0.pwmgen.05.offset-mode 1
# ---Encoder feedback signals/setup---
setp encoder.3.position-scale [SPINDLE_0]ENCODER_SCALE
setp encoder.3.counter-mode true
net spindle-position encoder.3.position => spindle.0.revs
#net spindle-velocity encoder.3.velocity => spindle.0.speed-in
setp scale.0.gain 60
setp lowpass.0.gain 1.2
net spindle-velocity-rps encoder.3.velocity => scale.0.in
net spindle-velocity-rpm scale.0.out => abs.0.in
net spindle-velocity-rpm-abs abs.0.out => lowpass.0.in
net spindle-velocity-rpm-abs-filtered lowpass.0.out
net spindle-index-enable encoder.3.index-enable <=> spindle.0.index-enable
net spindle-phase-a encoder.3.phase-A <= hm2_7i97.0.7i84.0.0.input-28
net spindle-phase-b encoder.3.phase-B
net spindle-index encoder.3.phase-Z <= hm2_7i97.0.7i84.0.0.input-30
# ---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-at-speed => spindle.0.at-speed
# ---Setup spindle at speed signal
net spindle-cw => hm2_7i97.0.7i84.0.0.output-05
net spindle-ccw => hm2_7i97.0.7i84.0.0.output-06
net spindle-output => hm2_7i97.0.pwmgen.05.value
net spindle-enable => hm2_7i97.0.pwmgen.05.enable
