Emco lathe - c11 breakout + 7i92 help with spindle setup

27 Nov 2021 23:19 - 27 Nov 2021 23:21 #227787 by blitz355
When I run in the other direction it simply shows 100 (not -100). One is cw, the other is ccw.

I don't plan to support reverse rotation, do I simply add that line "spindle.0.speed-out-abs" into the hal or are there other attributes I need to include with the addition?

btw, new hal with my newfound ability to turn spindle on via m3/4. Just no spindle speed control
# Generated by PNCconf at Fri Nov 26 20:31:43 2021
# Using LinuxCNC version:  Master (2.9)
# If you make changes to this file, they will be
# overwritten when you run PNCconf again

loadusr -Wn pyvcp pyvcp -c pyvcp [DISPLAY](PYVCP)
loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS
loadrt hostmot2
loadrt hm2_eth board_ip="" config="num_encoders=2 num_pwmgens=2 num_stepgens=3" 
setp    hm2_7i92.0.pwmgen.pwm_frequency 20000
setp    hm2_7i92.0.pwmgen.pdm_frequency 6000000
setp    hm2_7i92.0.watchdog.timeout_ns 5000000
loadrt pid names=pid.x,pid.z,pid.s
loadrt abs names=abs.spindle
loadrt lowpass names=lowpass.spindle

addf hm2_7i92.0.read          servo-thread
addf motion-command-handler   servo-thread
addf motion-controller        servo-thread
addf pid.x.do-pid-calcs       servo-thread
addf pid.z.do-pid-calcs       servo-thread
addf pid.s.do-pid-calcs       servo-thread
addf abs.spindle              servo-thread
addf lowpass.spindle          servo-thread
addf hm2_7i92.0.write         servo-thread
setp hm2_7i92.0.dpll.01.timer-us -50
setp hm2_7i92.0.stepgen.timer-number 1

# external output signals

# --- SPINDLE-CW ---
setp hm2_7i92.0.gpio.000.is_output true
net spindle-cw  =>     hm2_7i92.0.gpio.000.out

# --- SPINDLE-CCW ---
setp hm2_7i92.0.gpio.005.is_output true
net spindle-ccw  =>     hm2_7i92.0.gpio.005.out

# external input signals


setp   pid.x.Pgain     [JOINT_0]P
setp   pid.x.Igain     [JOINT_0]I
setp   pid.x.Dgain     [JOINT_0]D
setp   pid.x.bias      [JOINT_0]BIAS
setp   pid.x.FF0       [JOINT_0]FF0
setp   pid.x.FF1       [JOINT_0]FF1
setp   pid.x.FF2       [JOINT_0]FF2
setp   pid.x.deadband  [JOINT_0]DEADBAND
setp   pid.x.maxoutput [JOINT_0]MAX_OUTPUT
setp   pid.x.error-previous-target true
# This setting is to limit bogus stepgen
# velocity corrections caused by position
# feedback sample time jitter.
setp   pid.x.maxerror 0.000500

net x-index-enable  <=> pid.x.index-enable
net x-enable        =>  pid.x.enable
net x-pos-cmd       =>  pid.x.command
net x-pos-fb        =>  pid.x.feedback
net x-output        <=  pid.x.output

# Step Gen signals/setup

setp   hm2_7i92.0.stepgen.00.dirsetup        [JOINT_0]DIRSETUP
setp   hm2_7i92.0.stepgen.00.dirhold         [JOINT_0]DIRHOLD
setp   hm2_7i92.0.stepgen.00.steplen         [JOINT_0]STEPLEN
setp   hm2_7i92.0.stepgen.00.stepspace       [JOINT_0]STEPSPACE
setp   hm2_7i92.0.stepgen.00.position-scale  [JOINT_0]STEP_SCALE
setp   hm2_7i92.0.stepgen.00.step_type        0
setp   hm2_7i92.0.stepgen.00.control-type     1
setp   hm2_7i92.0.stepgen.00.maxaccel         [JOINT_0]STEPGEN_MAXACCEL
setp   hm2_7i92.0.stepgen.00.maxvel           [JOINT_0]STEPGEN_MAXVEL

# ---closedloop stepper signals---

net x-pos-cmd    <= joint.0.motor-pos-cmd
net x-vel-cmd    <= joint.0.vel-cmd
net x-output     <= hm2_7i92.0.stepgen.00.velocity-cmd
net x-pos-fb     <= hm2_7i92.0.stepgen.00.position-fb
net x-pos-fb     => joint.0.motor-pos-fb
net x-enable     <= joint.0.amp-enable-out
net x-enable     => hm2_7i92.0.stepgen.00.enable

# ---setup home / limit switch signals---

net x-home-sw     =>  joint.0.home-sw-in
net x-neg-limit     =>  joint.0.neg-lim-sw-in
net x-pos-limit     =>  joint.0.pos-lim-sw-in


setp   pid.z.Pgain     [JOINT_1]P
setp   pid.z.Igain     [JOINT_1]I
setp   pid.z.Dgain     [JOINT_1]D
setp   pid.z.bias      [JOINT_1]BIAS
setp   pid.z.FF0       [JOINT_1]FF0
setp   pid.z.FF1       [JOINT_1]FF1
setp   pid.z.FF2       [JOINT_1]FF2
setp   pid.z.deadband  [JOINT_1]DEADBAND
setp   pid.z.maxoutput [JOINT_1]MAX_OUTPUT
setp   pid.z.error-previous-target true
# This setting is to limit bogus stepgen
# velocity corrections caused by position
# feedback sample time jitter.
setp   pid.z.maxerror 0.000500

net z-index-enable  <=> pid.z.index-enable
net z-enable        =>  pid.z.enable
net z-pos-cmd       =>  pid.z.command
net z-pos-fb        =>  pid.z.feedback
net z-output        <=  pid.z.output

# Step Gen signals/setup

setp   hm2_7i92.0.stepgen.02.dirsetup        [JOINT_1]DIRSETUP
setp   hm2_7i92.0.stepgen.02.dirhold         [JOINT_1]DIRHOLD
setp   hm2_7i92.0.stepgen.02.steplen         [JOINT_1]STEPLEN
setp   hm2_7i92.0.stepgen.02.stepspace       [JOINT_1]STEPSPACE
setp   hm2_7i92.0.stepgen.02.position-scale  [JOINT_1]STEP_SCALE
setp   hm2_7i92.0.stepgen.02.step_type        0
setp   hm2_7i92.0.stepgen.02.control-type     1
setp   hm2_7i92.0.stepgen.02.maxaccel         [JOINT_1]STEPGEN_MAXACCEL
setp   hm2_7i92.0.stepgen.02.maxvel           [JOINT_1]STEPGEN_MAXVEL

# ---closedloop stepper signals---

net z-pos-cmd    <= joint.1.motor-pos-cmd
net z-vel-cmd    <= joint.1.vel-cmd
net z-output     <= hm2_7i92.0.stepgen.02.velocity-cmd
net z-pos-fb     <= hm2_7i92.0.stepgen.02.position-fb
net z-pos-fb     => joint.1.motor-pos-fb
net z-enable     <= joint.1.amp-enable-out
net z-enable     => hm2_7i92.0.stepgen.02.enable

# ---setup home / limit switch signals---

net z-home-sw     =>  joint.1.home-sw-in
net z-neg-limit     =>  joint.1.neg-lim-sw-in
net z-pos-limit     =>  joint.1.pos-lim-sw-in


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_7i92.0.pwmgen.00.output-type 1
setp   hm2_7i92.0.pwmgen.00.scale  [SPINDLE_0]OUTPUT_SCALE

net spindle-vel-cmd-rpm     => hm2_7i92.0.pwmgen.00.value
net spindle-enable      => hm2_7i92.0.pwmgen.00.enable

# ---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

# connect miscellaneous signals

#  ---HALUI signals---

net axis-select-x  halui.axis.x.select
net jog-x-pos      halui.axis.x.plus
net jog-x-neg      halui.axis.x.minus
net jog-x-analog   halui.axis.x.analog
net x-is-homed     halui.joint.0.is-homed
net axis-select-z  halui.axis.z.select
net jog-z-pos      halui.axis.z.plus
net jog-z-neg      halui.axis.z.minus
net jog-z-analog   halui.axis.z.analog
net z-is-homed     halui.joint.1.is-homed
net jog-selected-pos      halui.axis.selected.plus
net jog-selected-neg      halui.axis.selected.minus
net spindle-manual-cw     halui.spindle.0.forward
net spindle-manual-ccw    halui.spindle.0.reverse
net spindle-manual-stop   halui.spindle.0.stop
net machine-is-on         halui.machine.is-on
net jog-speed             halui.axis.jog-speed
net MDI-mode              halui.mode.is-mdi

#  ---coolant signals---

net coolant-mist      <=  iocontrol.0.coolant-mist
net coolant-flood     <=  iocontrol.0.coolant-flood

#  ---probe signal---

net probe-in     =>  motion.probe-input

#  ---motion control signals---

net in-position               <=  motion.in-position
net machine-is-enabled        <=  motion.motion-enabled

#  ---digital in / out signals---

#  ---estop signals---

net estop-out     <=  iocontrol.0.user-enable-out
net estop-out     =>  iocontrol.0.emc-enable-in

#  ---manual tool change signals---

net tool-change-request    <= iocontrol.0.tool-change
net tool-change-confirmed  => iocontrol.0.tool-changed
net tool-number            <= iocontrol.0.tool-prep-number

#  ---ignore tool prepare requests---
net tool-prepare-loopback   iocontrol.0.tool-prepare      =>  iocontrol.0.tool-prepared
Thank you,
Last edit: 27 Nov 2021 23:21 by blitz355.

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30 Nov 2021 22:17 #228075 by andypugh
There seems to be an unused spindle pid in your HAL, slightly complicating matters.

You are using "output_type 1" for the pwmgen, which sets which pin is PWM and which is DIR. Are you sure that those match the breakout board's expectations?

If you use halmeter and turn the spindle on, do you see the pwmgen enable go "true" and the pwmgen.value go the require rpm?

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