Hi all
Unfortunatly i have another question related to spindle :
The linked DAC seems to work correctly with my PWM output, but need to
tweak pwm for output something like :
0% PWM = -3300rpm
50% PWM = 0rpm
100% PWM = 3300rpm
(i think i have understand that is better to not use 0% to 100% but
something like 5% to 95%)
I have try to play with BIAS = 50 with this settings but seems to not work
fine for reversing direction.
Also try to change output_scale = 120
hal:
#####################################################################
# Spindel VFD closed loop with PID LOWPASS NEAR SCALE
#####################################################################
newinst pid pid-s # used for closed loop spindle
newinst lowpass lp-s-fb
newinst near near-s-fb # used for spindle at speed
newinst scale scale-spindle-rpm # used for display RPM to user
# maxerror is related to the Igain (max value possible to add by pid =
Igain x maxerrorI)
setp pid-s.maxerrorI 0
setp pid-s.Pgain 0
setp pid-s.Igain 1
setp pid-s.Dgain 0
setp pid-s.bias 50
setp pid-s.FF0 1
setp pid-s.FF1 0
setp pid-s.FF2 0
setp pid-s.deadband .05
setp pid-s.maxoutput [SPINDLE]OUTPUT_SCALE
setp near-s-fb.scale 1.01 # 1.01 Allow 1% / 1.1 Allow 10% for speed
cmd vs real
setp lp-s-fb.gain 0.005
# --- Spindle encoder
setp hpg.encoder.00.chan.00.scale [SPINDLE]ENCODER_SCALE # counts per
revolution
setp hpg.encoder.00.chan.00.filter 1 # Currently
unsupported, included for compatability with hm2. ????
setp hpg.encoder.00.chan.00.index-mask 1 # Currently
unsupported, included for compatability with hm2. ????
# disable encoder
index as it is not working in pru encoder (finally seems to be ok)
#setp hpg.encoder.00.chan.00.counter-mode 0 # Quadrature mode
AB default
net spindle-index-enable motion.spindle-index-enable <=> hpg.encoder.00.chan
.00.index-enable pid-s.index-enable # need testing
# ---Spindle VFD closed loop with PID and compensation
net spindle-pos hpg.encoder.00.chan.00.position => motion.spindle-revs
# report our revolution count to the motion controller
net spindle-vel-fb hpg.encoder.00.chan.00.velocity => lp-s-fb.in
#pid-s.feedback
# report encoder speed to pid and speed filter input
net spindle-vel-fb-lp lp-s-fb.out => near-s-fb.in2 motion.spindle-speed-in
scale-spindle-rpm.in pid-s.feedback # report speed filtered to motion
controller + scale input
# +report speed filtered to near component = Yes/No
allowed with 1% difference
net spindle-at-speed near-s-fb.out => motion.spindle-at-speed
# connect the near output to motion spindle-at-speed =
Yes/No
setp scale-spindle-rpm.gain 60
# scale filtered speed RPSx60 = asked RPM
net spindle-vel-rpm scale-spindle-rpm.out
# create hal for user display asked RPM connected with
scale
# ---setup spindle control signals and soft start---
newinst limit2 lim-s-speed
setp lim-s-speed.min -[SPINDLE]OUTPUT_MAX_LIMIT
setp lim-s-speed.max [SPINDLE]OUTPUT_MAX_LIMIT
setp lim-s-speed.maxv [SPINDLE]MAX_ACC
setp hpg.pwmgen.00.out.00.scale [SPINDLE]OUTPUT_SCALE
setp hpg.pwmgen.00.pwm_period [SPINDLE]OUTPUT_PERIOD # spec du
controler ACRF16
net spindle.is-on motion.spindle-on hpg.pwmgen.00.out.00.enable
# active pwmgen only when spindle is on from motion
net spindle-vel-cmd-rps motion.spindle-speed-out-rps lim-s-speed.in near-s-
fb.in1
net spindle-vel-cmd-rps-lim lim-s-speed.out => pid-s.command
# WITH PID FOR WORKING
#net spindle-vel-cmd-rps-lim lim-s-speed.out => hpg.pwmgen.00.out.00.value
# WITOUT PID FOR TEST
net spindle-output pid-s.output => hpg.pwmgen.00.out.00.value
net spindle-vel-cmd <= motion.spindle-speed-out
net spindle-vel-cmd-rpm-abs <= motion.spindle-speed-out-abs
net spindle.is-on => pid-s.enable fur.do-6 # output pin
Ini :
# Spindle
[SPINDLE]
ENCODER_SCALE = 400
# Settings below are in Hz
OUTPUT_PERIOD = 10000000
# Settings below are in unit/second
OUTPUT_SCALE = 60
OUTPUT_MAX_LIMIT = 55
# #55*60seconde = 3300rpm
MAX_ACC = 17
I'm really lost with these spindle settings from long time, any help are
really welcome.
Ps : i hope a very good end of the years at all !
--
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https://github.com/machinekit
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