CCW dosen´t Work

Hello everyone, with spumco's idea the ccw works. Only that the spindle accelerates to the maximum and ignores every S command.

As for the hardware, there is an old Contraves ADB/F converter installed for the spindle that needs +/- 10 volts. This is cams from The Mesa 7i83

I also noticed that my spindle at speed is only displayed when it is stationary.

However, the expected value for CCW now shows that the S500 only revs up to full speed.


Attached are pictures of standstill and M3 S500. M4 I don't dare take a screen shot because the spindle rotates at 6000 when cold

Thank you very much for such quick answers

The spindle PID settings are odd.

Normally you would start with:

P = 0
I = 0
D = 0
FF0 = 1
FF1 = 0
FF2 = 0
BIAS = 0
DEADBAND = 0
MAX_OUTPUT = 6000

== open loop

Once open loop is working and the feedback RPM is correct
Then it is appropriate to worry about  closing the loop (if that's even needed)

also
net spindle-vel-cmd-rpm => pid.s.command
is correct for a -10 to +10 controlled device

(I guessed wrong that you had a more common 0 to 10V controlled  VFD)
 

Mega M4 does almost what it's supposed to do,
still can't get the spindle at speed but the speed is just a little bit higher.

the problem was in the Hal, I deleted it.

I also changed the tuning as you suggested

This did the strange run up for CCW

---

# Use ACTUAL spindle speed from spindle encoder
# Spindle speed jumps back and forth, so we filter it with low pass
# Spindle speed is signed, so we use an absolute component to remove the sign
# ACTUAL speed is in RPS, not RPM, so we scale it.
setp scale.spindle.gain 60
setp lowpass.spindle.gain 1.000000
net spindle-vel-fb-rps => scale.spindle.in
net spindle-fb-rpm scale.spindle.out => abs.spindle.in
net spindle-fb-rpm-abs abs.spindle.out => lowpass.spindle.in
net spindle-fb-rpm-abs-filtered lowpass.spindle.out

---

 

All that scale x60 stuff has been obsolete for a long time
Since the -rpm velocity pin from the encoder was added:

hm2_7i95.0.encoder.02.velocity-rpm

The previous hal file without the scale stuff was much closer