7i96S Analog Spindle

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09 Feb 2023 02:40 #264092 by PCW
Replied by PCW on topic 7i96S Analog Spindle
It looks OK (except you have not connected the pwmgen to new_offset_spindle_signal)

I would trace the signals in halshow

Scale does the expected thing here:

halcmd: loadrt scale
halcmd: addf scale.0 servo-thread
halcmd: show pin scale.0.
Component Pins:
Owner Type Dir Value Name
55 float IN 0 scale.0.gain
55 float IN 0 scale.0.in
55 float IN 0 scale.0.offset
55 float OUT 0 scale.0.out
55 s32 OUT 144 scale.0.time

halcmd: setp scale.0.gain 1
halcmd: setp scale.0.offset 2222
halcmd: getp scale.0.out
2222
halcmd: setp scale.0.in 2222
halcmd: getp scale.0.out
4444

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09 Feb 2023 23:08 #264179 by andypugh
Replied by andypugh on topic 7i96S Analog Spindle
You still have
net spindle-vel-cmd-rpm     => hm2_7i96s.0.pwmgen.00.value

You need:

[code]
net new_offset_spindle_signal scale.0.out (already in the file)
net new_offset_spindle_signal hm2_7i96s.0.pwmgen.00.value[/quote]

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10 Feb 2023 03:27 #264195 by reynolds087
Replied by reynolds087 on topic 7i96S Analog Spindle
Thanks for the reply. I tried your suggestion, but it still does not seem to be working. Do you see anything wrong with my code?

#*******************
# SPINDLE
#*******************

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-abs => pid.s.feedback
net spindle-output <= pid.s.output

# ---PWM Generator signals/setup---

setp hm2_7i96s.0.pwmgen.00.output-type 1
setp hm2_7i96s.0.pwmgen.00.scale [SPINDLE_0]OUTPUT_SCALE


#net spindle-vel-cmd-rpm => hm2_7i96s.0.pwmgen.00.value
net spindle-enable => hm2_7i96s.0.pwmgen.00.enable

# ---Custom Spindle PWM Scaling ---

loadrt scale
addf scale.0 servo-thread
setp scale.0.gain 1
setp scale.0.offset 2222
# 2222 = 1V if 11111 = 5V
net spindle-vel-cmd-rpm scale.0.in
net new_offset_spindle_signal scale.0.out
net new_offset_spindle_signal => hm2_7i96s.0.pwmgen.00.value

# ---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-revs => spindle.0.revs
net spindle-at-speed => spindle.0.at-speed
net spindle-vel-fb-rps => spindle.0.speed-in
net spindle-index-enable <=> spindle.0.index-enable

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

sets spindle-at-speed true

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10 Feb 2023 14:12 #264224 by PCW
Replied by PCW on topic 7i96S Analog Spindle
Can you post your hal and ini files and also the results of:

halcmd show all | grep spindle > spindle.txt

When LinuxCNC is running and you have the spindle enabled and set for say 1/2 of full speed

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11 Feb 2023 21:34 #264320 by reynolds087
Replied by reynolds087 on topic 7i96S Analog Spindle
Thanks, PCW. Files attached.

 
Attachments:

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16 Feb 2023 00:19 #264590 by reynolds087
Replied by reynolds087 on topic 7i96S Analog Spindle
Any update on this?

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16 Feb 2023 16:15 #264628 by PCW
Replied by PCW on topic 7i96S Analog Spindle
It looks about right, what is your issue?
Did you measure the output voltage? (with no connected load)

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16 Feb 2023 23:50 #264674 by reynolds087
Replied by reynolds087 on topic 7i96S Analog Spindle
I am not getting any output from the spindle. It also seems to cause the remote desktop session to start lagging when I open LinuxCNC.

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17 Feb 2023 00:57 - 17 Feb 2023 02:15 #264679 by PCW
Replied by PCW on topic 7i96S Analog Spindle
I would disconnect your spindle and use a voltmeter.

Edit: Just tried with your hal/ini files and the 7I96S
spindle out  works as expected with one surprise:

 M3 S1  ~1V out

M3 S5000 ~3.3V out

Surprise:

M3 S0 ~0V out

(because LinuxCNC turns the spindle off when at 0 speed
so the PWM is disabled (this could be fixed in hal if desired)
Last edit: 17 Feb 2023 02:15 by PCW.

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17 Feb 2023 19:34 - 17 Feb 2023 19:40 #264717 by reynolds087
Replied by reynolds087 on topic 7i96S Analog Spindle
Ok, my spindle has not been connected during testing, but I'll test it again to be sure. I think it might be ok if the offset is only applied to non-zero spindle speeds. I'll need to see how my spindle reacts to that. If I recall, the offset was just to get the scaling right, because it starts rotating at 1v.

This is an E-bike motor that was controlled by a hall effect sensor in a throttle assembly, so it behaves in some strange ways. Maybe there is a dead zone intentionally set below 1v as a safety feature. I also have to turn on the spindle for 2 seconds before applying voltage or it won't start.

Has a lot of torque for the size, price point, and the RPM that it operates at, so I'd really like to get it working if possible.
Last edit: 17 Feb 2023 19:40 by reynolds087.

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