some values and parts will need to be changed around to sute other machines etc. hope it helps someone as a starting point i have tryed to keep it neat and tidy so a copy and paste will work fine with comments to help along the way.
How it works when a tool change or spindle orientation is requested, the spindle is spun to 200rpm, when at speed the PID is enabled when the Wcomp reeds true for in position, the oriention-finish output becomes true.
known problems. can not stop spindle while in Automode so please do a M05 before using a Mcode to do a spindle orientation. maybe someone can add a proper M19 output? i also found it best to spin the spindle and then try and potion than it is to poition from zero speed if in flux mode you might find it works ok from zero speed.
must add Ladder logic, to show oriention logic steps.
# Insert this into the ini file for quick and easy changing.
[SPINDLE_0]
# 500ppr encoder on spindle # INPUT_SCALE=500 ppr x4 (quad) = 2000 ppr # 2000/360=5.555* p/degreeINPUT_SCALE = -5.55555556 ORIENT_POS = 78.0
# COMP FOR ORI POS CHECK + or - 2DegWCOMP_MAX = 2.0 WCOMP_MIN = -2.0
# PID tuning valuesMAX_OUTPUT = 300 DEADBAND = 0.0 P = 3 I = 1.0 D = 0.1 FF0 = 0.0 FF1 = 0.1 FF2 = 0.0 BIAS = 0.0 MAXI = 20.0 MAXD = 20.0 MAXERROR = 250.0
HAL File parts
#Compoents needed. #scale0 = Spindle RPM Scale #scale1 = Spindle ABS #scale6 = Spindle Deg to Rev #scale7 spindle load addf scale.0 servo-thread addf scale.6 servo-thread addf scale.7 servo-thread addf scale.1 servo-thread
setp scale.1.gain 0.16667 #spindle speed gain #pwm/speed=1/6000=0.0001667 #6k setp scale.0.gain 0.000166667
#load abs comp make spindle pos loadrt abs count=3 addf abs.0 servo-thread addf abs.1 gui-thread addf abs.2 servo-thread
#convert spindle speed to s32 loadrt conv_float_s32 count=1 addf conv-float-s32.0 servo-thread #covert spindle s32 to float loadrt conv_s32_float count=1 addf conv-s32-float.0 servo-thread
#comp for sp ori loadrt wcomp count=1 addf wcomp.0 servo-thread
loadrt mux2 count=1 addf mux2.0 servo-thread loadrt mux4 count=1 addf mux4.0 servo-thread
loadrt tristate_bit count=1 addf tristate-bit.0 servo-thread
#Spindle Section
#set scale and pwm setp hm2_5i20.0.encoder.03.scale [SPINDLE_0]INPUT_SCALE setp hm2_[HOSTMOT2](BOARD).0.pwmgen.03.output-type 3 setp hm2_[HOSTMOT2](BOARD).0.gpio.020.invert_output true
#set spindle encoder type setp hm2_[HOSTMOT2](BOARD).0.encoder.03.counter-mode 0 setp hm2_[HOSTMOT2](BOARD).0.encoder.03.filter 1 setp hm2_[HOSTMOT2](BOARD).0.encoder.03.index-invert 0 setp hm2_[HOSTMOT2](BOARD).0.encoder.03.index-mask 0 setp hm2_[HOSTMOT2](BOARD).0.encoder.03.index-mask-invert 0
setp pid.4.Pgain [SPINDLE_0]P setp pid.4.Igain [SPINDLE_0]I setp pid.4.Dgain [SPINDLE_0]D setp pid.4.bias [SPINDLE_0]BIAS setp pid.4.FF0 [SPINDLE_0]FF0 setp pid.4.FF1 [SPINDLE_0]FF1 setp pid.4.FF2 [SPINDLE_0]FF2 setp pid.4.deadband [SPINDLE_0]DEADBAND #limit spindle speed setp pid.4.maxoutput [SPINDLE_0]MAX_OUTPUT #set ori postion setp pid.4.command [SPINDLE_0]ORIENT_POS
# prevent integrator windup at the beginning of an orient # after running the spindle for a long time. The error is # very high before the first index happens. setp pid.4.maxerrorI [SPINDLE_0]MAXI setp pid.4.maxerrorD [SPINDLE_0]MAXD setp pid.4.maxerror [SPINDLE_0]MAXERROR
#spindle sync
net ori-index <= classicladder.0.out-17
#spindle sync newsig tristate.index bit sets tristate.index true net tristate.index => tristate-bit.0.in net spindle-index <= tristate-bit.0.out net ori-index => tristate-bit.0.enable net spindle-index <= motion.spindle-index-enable net spindle-index <=> hm2_[HOSTMOT2](BOARD).0.encoder.03.index-enable
net spindle-velocity motion.spindle-speed-in <= hm2_[HOSTMOT2](BOARD).0.encoder.03.velocity net spindle-deg <= hm2_[HOSTMOT2](BOARD).0.encoder.03.position
#convert degrees to revs for spindle sync moves #1/360=0.002777778 #deg*0.002777778=revs setp scale.6.gain 0.002777778 net spindle-deg <= scale.6.in net spinde-revs scale.6.out => motion.spindle-revs
#ori net spindle-deg => pid.4.feedback
# check position error with window comparator # set a +/- 2 degree window setp wcomp.0.min [SPINDLE_0]WCOMP_MIN setp wcomp.0.max [SPINDLE_0]WCOMP_MAX net sp-orient-pos-err wcomp.0.in <= pid.4.error net ori-finish classicladder.0.in-17 <= wcomp.0.out
#spindle enable net spindle-enable-out classicladder.0.out-04 => hm2_[HOSTMOT2](BOARD).0.pwmgen.03.enable net spindle-enable-in motion.spindle-on => classicladder.0.in-16
#for pyvcp net spindle-velocity => abs.1.in net spindle-s-abs abs.1.out => scale.1.in net spindle-s-abs-out <= scale.1.out
#spindle enable net spindle-enable-out => hm2_[HOSTMOT2](BOARD).0.gpio.046.out net Satspeed classicladder.0.in-20 <= hm2_[HOSTMOT2](BOARD).0.gpio.036.in_not net Satspeed2 motion.spindle-at-speed <= classicladder.0.out-15 net spindle-ok classicladder.0.in-34 <= hm2_[HOSTMOT2](BOARD).0.gpio.032.in_not
net spindle-float conv-float-s32.0.in <= motion.spindle-speed-out net spindle-s32 classicladder.0.s32in-03 <= conv-float-s32.0.out net spindle-s32-out conv-s32-float.0.in <= classicladder.0.s32out-03 net spindle-rpm-in <= conv-s32-float.0.out
net ori-enable pid.4.enable <= classicladder.0.out-14 #output net sp-orient-rpm-cmd pid.4.output
# select between normal speed and orient speed # based on ori-enable (M119) command net sp-orient-rpm-cmd => mux2.0.in1 net spindle-rpm-in => mux2.0.in0 net ori-enable => mux2.0.sel # output of mux is desired spindle RPM net spindle-rpm-out mux2.0.out => scale.0.in net spindle-speed-DAC scale.0.out => hm2_[HOSTMOT2](BOARD).0.pwmgen.03.value
Change Mods: please note any updates or changed made here to the above.
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