Spindle Step/Dir servo ramp down before stop on M stop command.

andypugh wrote:

This might actually be possible...

Firstly, the machine would probably need to be configured to start up in C-axis mode, and with the C-axis as part of the homing sequence.
The C axis should then be configured in the INI with HOME_USE_INDEX = 1 , HOME_SEARCH_VELOCITY = 0 and HOME_LATCH_VELOCITY = 100 (or some suitable number)

Then connect joint.2.index-enable to the encoder index-enable
Not sure how to do this - where/what is 'encoder index-enable' ?


Remove the "setp index-enable" line from the M100 script. Instead use:

halcmd setp halui.joint.2.unhome 1
sleep 1
halcmd setp halui.joint.2.unhome 0
halcmd setp joint.2.home 1
sleep 1
halcmd setp joint.2.home 0

#! /bin/bash
halcmd setp pid.c.enable 1
halcmd setp mux2.0.sel 1
halcmd sets spindle-index-enable 1

andypugh wrote:

NoJo wrote:

net spindle-index-enable joint.2.index-enable 
net spindle-index-enable pid.c.index-enable

Shows still how little I understand...

I tried 'almost' that in the file, but swapped like so
net joint.2.index-enable spindle-index-enable

as you sort of had that sentence order in your comment:
Then connect joint.2.index-enable to the encoder index-enable...
And it gave an error about same name pins...

Ok, I have the files set as I think you want, but am sure I still have something incorrect.
The behaviour now -
Do HOME ALL - All axes home, C rotates slowly to index and stops ( is it the index position?)
Then in MDI, do M100
> gives error = 'must be in joint mode or disabled to un-home'

Then M101, and spin the axis in manual - M03 S100 M05.
The M100 > C oscillates wildly, and goes back to the C DRO position that was set before the M101. The axis is not 'homed' .
and > gives error = 'must be in joint mode or disabled to un-home'

Hal file section:

#*******************
#  AXIS C JOINT 2
#*******************

setp   pid.c.Pgain     [JOINT_2]P
setp   pid.c.Igain     [JOINT_2]I
setp   pid.c.Dgain     [JOINT_2]D
setp   pid.c.bias      [JOINT_2]BIAS
setp   pid.c.FF0       [JOINT_2]FF0
setp   pid.c.FF1       [JOINT_2]FF1
setp   pid.c.FF2       [JOINT_2]FF2
setp   pid.c.deadband  [JOINT_2]DEADBAND
setp   pid.c.maxoutput [JOINT_2]MAX_OUTPUT
setp   pid.c.error-previous-target true

net c-pos-cmd       =>  pid.c.command
net spindle-revs         scale.degrees.in
setp scale.degrees.gain 360
net spindle-degrees scale.degrees.out => pid.c.feedback
net c-output            pid.c.output => mux2.0.in1

net spindle-index-enable joint.2.index-enable 
net spindle-index-enable pid.c.index-enable

# Here we setup to start machine in C_Axis mode
setp pid.c.enable 1
setp mux2.0.sel 1

net c-pos-cmd    <= joint.2.motor-pos-cmd  joint.2.motor-pos-fb
net c-vel-cmd    <= joint.2.vel-cmd

INI Section:

#******************************************
#-# Add Axis C

[AXIS_C]
MAX_VELOCITY = 1440.0
#was 360
MAX_ACCELERATION = 12000.0
#was 3000
MIN_LIMIT = -3600
MAX_LIMIT = 3600

[JOINT_2]
TYPE = ANGULAR
HOME = 0
FERROR = 1.0
MIN_FERROR = .1
MAX_VELOCITY = 1440
MAX_ACCELERATION = 12000

P =0.1
I = 0.0
D = 0.0
FF0 = 0.0
FF1 = 0.0027777
FF2 = 0.0
BIAS = 0.0
DEADBAND = 0.05
MAX_OUTPUT = 400
MIN_LIMIT = -3600
MAX_LIMIT = 3600
HOME_OFFSET = 0.000000
HOME_SEARCH_VEL = 0.0
HOME_LATCH_VEL = 50
HOME_SEQUENCE =  1
HOME_USE_INDEX = 1
#******************************************

M100 Script:

#! /bin/bash
halcmd setp pid.c.enable 1
halcmd setp mux2.0.sel 1
halcmd setp halui.joint.2.unhome 1
sleep 1
halcmd setp halui.joint.2.unhome 0
halcmd setp joint.2.home 1
sleep 1
halcmd setp joint.2.home 0

M101 Script

#! /bin/bash
halcmd setp pid.c.enable 0
halcmd setp mux2.0.sel 0

andypugh wrote:

NoJo wrote:

Do HOME ALL - All axes home, C rotates slowly to index and stops ( is it the index position?)

Should be. Does it look like it?

You can make it move faster by changing the [JOINT_2]LATCH_VELOCITY

andypugh wrote:

I have been thinking about this a little more, and it might be necessary to do a little more fiddling with pins.

I think that, at the very least, we need to turn on the pid and the mux at the same time as the homing command. At the moment they are active for 2 seconds before homing begins and that is probably a problem.