Spinx1 to 7i85
28 Nov 2015 17:25 #65960
by OT-CNC
Replied by OT-CNC on topic Spinx1 to 7i85
net spindle-pwm pwmgen.0.pwm paraport.0.pin-nn-out
I'm trying to replace with hm2_5i25.0.pwmgen.00. or something related to hm2. It tells me the pin does not exist. How do I connect properly to net spindle-pwm?
I'm trying to replace with hm2_5i25.0.pwmgen.00. or something related to hm2. It tells me the pin does not exist. How do I connect properly to net spindle-pwm?
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28 Nov 2015 20:28 #65971
by OT-CNC
Replied by OT-CNC on topic Spinx1 to 7i85
I'm re-attaching work in progress. I'm stuck with the basics of connecting the cw/ccw and pwm. I'm trying to replace the paraport examples in the file with hm2_5i25 that works.
# HAL config file for vismach simulation of vertical milling machine
# This file deomstrates closed-loop spindle control in both position and
# Velocity modes.
# see http://wiki.linuxcnc.org/cgi-bin/wiki.pl?SpindleOrient for a diagram
# Note that the connections of the signals to "hardware" are all in the
# sim_vmc.hal file rather than here
# First load 2x pid components. These would normally have to be loaded at
# the same time as the Axis PID components
#loadrt pid num_chan=2
#addf pid.0.do-pid-calcs servo-thread # Velocity
#addf pid.1.do-pid-calcs servo-thread # Position
loadrt orient
addf orient.0 servo-thread
#loadrt mux2 -- This has already been loaded in the sim_vmc.hal
addf mux2.0 servo-thread # chooses which pid output goes to the spindle speed control
#Use this to detect that the spindle is oriented
#in the 2.8 release there will be a pin for this as an output of the orient comp
#and the edge-detector isn't needed
#loadrt near count=1 (loaded in sim_vmc.hal)
loadrt edge
addf near.0 servo-thread
addf edge.0 servo-thread
setp edge.0.both 0
setp edge.0.in-edge 0
setp edge.0.out-width-ns 10000000
net spindle-pos pid.1.feedback orient.0.position
net spindle-vel pid.0.feedback hm2_5i25.0.encoder.03.velocity
#net spindle-vel pid.0.feedback.0.encoder.03.velocity
net spindle-vel-cmd motion.spindle-speed-out pid.0.command
net spindle-vel-pid pid.0.output mux2.0.in0
net spindle-pos pid.1.feedback orient.0.position near.0.in1 hm2_5i25.0.encoder.03.position
#net spindle-pos pid.1.feedback orient.0.position near.0.in1 encoder.03.position
net spindle-pos-cmd orient.0.command pid.1.command near.0.in2
net spindle-angle motion.spindle-orient-angle orient.0.angle
net spindle-pos-pid pid.1.output mux2.0.in1
setp near.0.difference 0.0005
net spindle-in-pos-raw near.0.out edge.0.in #not needed v2.8+, use orient.0.is-oriented
net spindle-in-pos edge.0.out motion.spindle-is-oriented
# this switches modes
net orient-mode motion.spindle-orient orient.0.enable pid.1.enable mux2.0.sel
#net velocity-mode motion.spindle-on pid.0.enable pwmgen.0.enable
net velocity-mode motion.spindle-on pid.0.enable hm2_5i25.0.pwmgen.00.enable
###############################################################################################
#I'm stuck here: net spindle-pwm and net spindle-fwd/rev. I'm trying to replace paraport examples with hm2_5i25
###############################################################################################
# this is simple for the simulated spindle.
#net spindle-cmd mux2.0.out
#for a real spindle run by a VFD
loadrt abs
addf abs.0 servo-thread
net spindle-cmd mux2.0.out abs.0.in
#net spindle-cmd-abs abs.0.out pwmgen.0.value
net spindle-cmd-abs abs.0.out hm2_5i25.0.pwmgen.00.value
#net spindle-pwm pwmgen.0.pwm parport.0.pin-NN-out
#net spindle-pwm hm2_5i25.0.pwmgen.00.enable
# net spindle-fwd abs.0.is-positive parport.0.pin-NN-out
# net spindle-rev abs.0.is-negative parport.0.pin-NN-out
net spindle-cw abs.0.hm2_5i25.0.gpio.002.invert_output 1
net spindle-ccw abs.0.hm2_5i25.0.gpio.002.is_output 1
#setp hm2_5i25.0.encoder.03.velocity
setp hm2_5i25.0.encoder.03.counter-mode 0
setp hm2_5i25.0.encoder.03.filter 1
setp hm2_5i25.0.encoder.03.index-invert 0
setp hm2_5i25.0.encoder.03.index-mask 0
setp hm2_5i25.0.encoder.03.index-mask-invert 0
#setp hm2_5i25.0.encoder.03.scale [SPINDLE]ENCODER_SCALE
#setp hm2_5i25.0.encoder.03.scale [SPINDLE]OUTPUT_MIN_LIMIT
##################################################################################################
#This worked before for cw/ccw, pwm and enable can't figure out how to link that to the above cw/ccw
##################################################################################################
# ---PWM Generator signals/setup from Andy---
# PWM/dir mode and PWM rather than PDM
setp hm2_5i25.0.pwmgen.00.output-type 1
setp hm2_5i25.0.gpio.002.invert_output 1
# spindle speed at 10v output, ie max spindle speed
setp hm2_5i25.0.pwmgen.00.scale 3600
# set the PWM frequency to 5khz
setp hm2_5i25.0.pwmgen.pwm_frequency 5000
# connect the spindle speed command to the pwmgen
#net spindle-speed motion.spindle-speed-out => hm2_5i25.0.pwmgen.00.value
# connect the spindle enable to GPIO 018.
#net spindle-enable motion.spindle-on => hm2_5i25.0.gpio.018.out
net spindle-enable => hm2_5i25.0.gpio.018.out
#the SPINX1 has an enable (active low)
setp hm2_5i25.0.gpio.018.invert_output 1
setp hm2_5i25.0.gpio.018.is_output 1
#net spindle-vel-cmd-rpm => hm2_5i25.0.pwmgen.00.value
#net spindle-enable => hm2_5i25.0.pwmgen.00.enable
#############################################################################################
# Tune the PID from the INI values
setp pid.0.Pgain [SPINDLE]PGAIN_V
setp pid.0.Igain [SPINDLE]IGAIN_V
setp pid.0.Dgain [SPINDLE]DGAIN_V
setp pid.0.FF0 [SPINDLE]FF0_V
setp pid.0.FF1 [SPINDLE]FF1_V
setp pid.1.Pgain [SPINDLE]PGAIN_P
setp pid.1.Igain [SPINDLE]IGAIN_P
setp pid.1.Dgain [SPINDLE]DGAIN_P
setp pid.1.FF0 [SPINDLE]FF0_P
setp pid.1.FF1 [SPINDLE]FF1_P
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29 Nov 2015 00:45 #65981
by andypugh
Replied by andypugh on topic Spinx1 to 7i85
Thinking about this...
For closed loop speed control you might need to use the motion.spindle-speed-out-rps pin, because the encoder velocity feedback is in revs per second.
That also means setting up the pwmgen scale to max speed in revs-per-sec, not rpm.
For closed loop speed control you might need to use the motion.spindle-speed-out-rps pin, because the encoder velocity feedback is in revs per second.
That also means setting up the pwmgen scale to max speed in revs-per-sec, not rpm.
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29 Nov 2015 17:43 #66019
by OT-CNC
Replied by OT-CNC on topic Spinx1 to 7i85
I changed the pwm scale.
Where exactly do I add the motion.spindle-speed-out-rps and connect it? I'm still not getting the pwm or dir out when I check with the hal meter.
Where exactly do I add the motion.spindle-speed-out-rps and connect it? I'm still not getting the pwm or dir out when I check with the hal meter.
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29 Nov 2015 17:46 #66020
by andypugh
Use it instead of motion.spindle-speed-out throughout the file.
Replied by andypugh on topic Spinx1 to 7i85
Where exactly do I add the motion.spindle-speed-out-rps and connect it?
Use it instead of motion.spindle-speed-out throughout the file.
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29 Nov 2015 17:52 #66021
by OT-CNC
Replied by OT-CNC on topic Spinx1 to 7i85
Okay, I will try that now.
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29 Nov 2015 19:37 #66030
by OT-CNC
Replied by OT-CNC on topic Spinx1 to 7i85
Still not getting motion. I'm going to clean up the hal and re-attach.
What is working when I check the config, pwm gen values are changing, I can influence them by manually rotating the spindle, M19 R180 changes the status led for the orient mode, spindle-cmd-abs values are the same as pwmgen values.
I'm assuming cw/ccw is working as clicking cw/ccw on the UI initiates the pwm values. the enable led is on as well, just not on the spin x.
I need to re-connect my hm2_5i25.0.gpio.018.out (my enable to the spinx).
What is working when I check the config, pwm gen values are changing, I can influence them by manually rotating the spindle, M19 R180 changes the status led for the orient mode, spindle-cmd-abs values are the same as pwmgen values.
I'm assuming cw/ccw is working as clicking cw/ccw on the UI initiates the pwm values. the enable led is on as well, just not on the spin x.
I need to re-connect my hm2_5i25.0.gpio.018.out (my enable to the spinx).
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29 Nov 2015 20:32 #66034
by OT-CNC
Replied by OT-CNC on topic Spinx1 to 7i85
Andy,
I'm sorry to eat up your time. Can you have another look at this? I tried cleaning it up a bit. It loads but no spindle rotation.
I'm having trouble with the net spindle-pwm line and the enable out to the gpio.018 below it.
Thank you.
I'm sorry to eat up your time. Can you have another look at this? I tried cleaning it up a bit. It loads but no spindle rotation.
I'm having trouble with the net spindle-pwm line and the enable out to the gpio.018 below it.
Thank you.
# HAL config file for vismach simulation of vertical milling machine
# This file deomstrates closed-loop spindle control in both position and
# Velocity modes.
# see http://wiki.linuxcnc.org/cgi-bin/wiki.pl?SpindleOrient for a diagram
# Note that the connections of the signals to "hardware" are all in the
# sim_vmc.hal file rather than here
# First load 2x pid components. These would normally have to be loaded at
# the same time as the Axis PID components
#loadrt pid num_chan=2
#addf pid.0.do-pid-calcs servo-thread # Velocity
#addf pid.1.do-pid-calcs servo-thread # Position
# ---PWM Generator signals/setup from Andy---
# PWM/dir mode and PWM rather than PDM
setp hm2_5i25.0.pwmgen.00.output-type 1
setp hm2_5i25.0.gpio.002.invert_output 1
# spindle speed at 10v output, ie max spindle speed in revs per second
setp hm2_5i25.0.pwmgen.00.scale 216000
# set the PWM frequency to 5khz
setp hm2_5i25.0.pwmgen.pwm_frequency 5000
############ Spindle Encoder###################################################
setp hm2_5i25.0.encoder.03.counter-mode 0
setp hm2_5i25.0.encoder.03.filter 1
setp hm2_5i25.0.encoder.03.index-invert 0
setp hm2_5i25.0.encoder.03.index-mask 0
setp hm2_5i25.0.encoder.03.index-mask-invert 0
#################################################################################
loadrt orient
addf orient.0 servo-thread
#loadrt mux2 -- This has already been loaded in the sim_vmc.hal
addf mux2.0 servo-thread # chooses which pid output goes to the spindle speed control
#Use this to detect that the spindle is oriented
#in the 2.8 release there will be a pin for this as an output of the orient comp
#and the edge-detector isn't needed
#loadrt near count=1 (loaded in sim_vmc.hal)
loadrt edge
addf near.0 servo-thread
addf edge.0 servo-thread
setp edge.0.both 0
setp edge.0.in-edge 0
setp edge.0.out-width-ns 10000000
net spindle-pos pid.1.feedback orient.0.position
net spindle-vel pid.0.feedback hm2_5i25.0.encoder.03.velocity
net spindle-vel-cmd motion.spindle-speed-out-rps pid.0.command
net spindle-vel-pid pid.0.output mux2.0.in0
net spindle-pos pid.1.feedback orient.0.position near.0.in1 hm2_5i25.0.encoder.03.position
net spindle-pos-cmd orient.0.command pid.1.command near.0.in2
net spindle-angle motion.spindle-orient-angle orient.0.angle
net spindle-pos-pid pid.1.output mux2.0.in1
setp near.0.difference 0.0005
net spindle-in-pos-raw near.0.out edge.0.in #not needed v2.8+, use orient.0.is-oriented
net spindle-in-pos edge.0.out motion.spindle-is-oriented
# this switches modes
net orient-mode motion.spindle-orient orient.0.enable pid.1.enable mux2.0.sel
net velocity-mode motion.spindle-on pid.0.enable hm2_5i25.0.pwmgen.00.enable
# this is simple for the simulated spindle.
#net spindle-cmd mux2.0.out
#for a real spindle run by a VFD
loadrt abs
addf abs.0 servo-thread
net spindle-cmd mux2.0.out abs.0.in
net spindle-cmd-abs abs.0.out hm2_5i25.0.pwmgen.00.value
#net spindle-pwm hm2_5i25.0.pwmgen.00.value ###### this section needs looking at and the one below ###
# connect the spindle enable to GPIO 018. #### this does not work #######
net spindle-pwmgen.00.enable => hm2_5i25.0.gpio.018.out
#the SPINX1 has an enable (active low)
setp hm2_5i25.0.gpio.018.invert_output 1
setp hm2_5i25.0.gpio.018.is_output 1
# Tune the PID from the INI values
setp pid.0.Pgain [SPINDLE]PGAIN_V
setp pid.0.Igain [SPINDLE]IGAIN_V
setp pid.0.Dgain [SPINDLE]DGAIN_V
setp pid.0.FF0 [SPINDLE]FF0_V
setp pid.0.FF1 [SPINDLE]FF1_V
setp pid.1.Pgain [SPINDLE]PGAIN_P
setp pid.1.Igain [SPINDLE]IGAIN_P
setp pid.1.Dgain [SPINDLE]DGAIN_P
setp pid.1.FF0 [SPINDLE]FF0_P
setp pid.1.FF1 [SPINDLE]FF1_P
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29 Nov 2015 20:50 #66047
by andypugh
<confused> Which Enable LED?
The SPIN1X enable is active-low. You will need to invert the output on that pin.
Replied by andypugh on topic Spinx1 to 7i85
the enable led is on as well, just not on the spin x.
<confused> Which Enable LED?
The SPIN1X enable is active-low. You will need to invert the output on that pin.
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29 Nov 2015 20:53 #66048
by PCW
Replied by PCW on topic Spinx1 to 7i85
Also, unless you have a air bearing spindle, 216000 RPM is probably a bit fast
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