Bridgeport Torq-Cut TC4G Retrofit

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23 Mar 2021 10:04 #203369 by andypugh

They said that the DX32 controller used a PID to orient the spindle. Basically just like I am attempting in LCNC.


What does the VFD orient to? Is there any way to change the VFD orientation angle?

What might work would be to use a LinuxCNC PID to control the VFD orient position to achieve the desired spindle position.

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24 Mar 2021 21:42 - 24 Mar 2021 21:45 #203546 by chopper79
I am going to create a different config and focus on just the spindle for a bit. This will eliminate any odd items I have in my HAL now that may be conflicting with the orientation. I will do this tonight and post what the results are. Spoke with Yaskawa again today and did verify a few things on the VFD and how this was being controlled. It was being oriented via a PID, so I need to just focus on a single gear and see what happens.

Having a funny feeling there is something in my config causing the conflict, but then again maybe not.
Last edit: 24 Mar 2021 21:45 by chopper79.

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24 Mar 2021 21:47 - 24 Mar 2021 21:51 #203547 by chopper79
Yes I can change the orient angle to what ever I choose between 0 and 360. The angle is set in the VFD constants. I thought about seeing if there was a way to call set the orient based on the spindle encoder and PID. Did not know if I could or not.
Last edit: 24 Mar 2021 21:51 by chopper79.

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24 Mar 2021 21:49 - 26 Mar 2021 00:44 #203548 by chopper79
Created a new config last night.

* Spindle is functioning in both directions
* Spindle seems smoother now also (lack of better words is seemed a little noisy and choppy before)
* Speeds are all matched everywhere
* Encoder is working and signed correctly
* Spindle still turns when I press CW or CCW (same issue as before)
* Analog 5 has ~ 0.006vdc on the outputs when I press CW or CCW which is causing the rotation

I went through the settings a bit on the VFD and found that the VFD is running is servo mode. This makes me think that the spindle was being used in a closed loop arrangement by Bridgeport and not in open loop that it is currently being used in.

So now with my current test config (generated by pncconf) I should be able to adjust the PID for closed loop operation and remove the FF0 = 1 value or am I incorrect on this?

I will reconstruct the config to add items in slowly and confirm results each time to see if I can find what ever issue the old config may have had. Need figure out the closed loop bit first to test.
Last edit: 26 Mar 2021 00:44 by chopper79.

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26 Mar 2021 14:12 #203714 by andypugh

Yes I can change the orient angle to what ever I choose between 0 and 360.


How? ie can you change it while the system is "live"? If it is a front panel parameter then it probably is not possible to control the orient angle via a LinuxCNC PID.

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26 Mar 2021 20:11 #203746 by chopper79
The VFD can only be changed when stopped, in digital operator mode (keypad), and after a tune up process. This rules out the possibility to control the orientation angle of the VFD via LCNC I would think.

Seems the only way is to do a PID loop for orient or purchase an obsolete orientation card.

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27 Mar 2021 22:09 #203847 by andypugh
Have you looked at the output of the PID with halscope?
Do the numbers coming out look reasonable compared to normal command signals to the VFD?

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29 Mar 2021 02:18 #203972 by chopper79
Played around with the orient some more and I have not found a way to keep the spindle from oscillating once oriented, even with the new minimal configuration.

I have settled on using the is-oriented signals which once oriented the commands stop. This keeps the spindle from oscillating and achieves the target by +- 0.2°. Then when the tool release cylinder is activated it locks the spindle anyway so everything should work out fine I would think. Need to purchase some tool holders to test with as I do not have any at this moment.

I will reassemble my config over the next couple days and test again.

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29 Mar 2021 02:21 #203973 by chopper79

Have you looked at the output of the PID with halscope?
Do the numbers coming out look reasonable compared to normal command signals to the VFD?


I have not yet, just used halshow and monitored the positions, command, feedback, and error. I got the error down pretty well by not using so much P and still achieving decent orientation time.

Main reason for not using halscope is that I forgot how to use it... Need to brush up on it again.

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29 Mar 2021 14:09 #204032 by andypugh

Played around with the orient some more and I have not found a way to keep the spindle from oscillating once oriented, even with the new minimal configuration


Did you try deadband at any point?

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