Ok so I still need PID that's great to know.
Had it running last night on the test bench, feeding (using correct hal notation)
spindle.0.speed-out straight to hm2_7i92.0.7i83.1.5.analogout5 and was able to get movement, the 7i83 was supplying a calculated voltage that was correct.
Code:
#*******************
# SPINDLE S (open loop)
#*******************
setp pid.s.Pgain 0
setp pid.s.Igain 0
setp pid.s.Dgain 0
setp pid.s.bias 0
setp pid.s.FF0 "adjust to suit"
setp pid.s.FF1 0
setp pid.s.FF2 0
setp pid.s.deadband 0
setp pid.s.maxoutput 4000
setp pid.s.error-previous-target true
#net spindle-index-enable <=> pid.s.index-enable hm2_7i92.0.encoder.00.index-enable
net spindle-enable => pid.s.enable
net spindle-vel-cmd-rpm => pid.s.command
#net spindle-fb-rpm => pid.s.feedback
net spindle-output <= pid.s.output
setp hm2_7i92.0.7i83.1.5.analogout5-scalemax 4000
setp hm2_7i92.0.7i83.1.5.analogout5-minlim -4000
setp hm2_7i92.0.7i83.1.5.analogout5-maxlim 4000
net spindle-output => hm2_7i92.0.7i83.1.5.analogout5
net spindle-vel-cmd-rpm <= spindle.0.speed-out
Does the above look right or am I wayyyyy off ? (assuming I have loaded pid.s)
Eventually the encoder output from the servo driver will get connected up, just need to get hold of a small amount of 3 pair shielded twisted pair.
