On Monday 10 October 2016 11:29:43 Jon Elson wrote: > On 10/10/2016 08:39 AM, Gene Heskett wrote: > > The running spindle did emit a fairly heavy > > click, I assume because it was already turning at 400 revs, but my > > halfile does a boot sequence on Jon's pwmservo driver that runs the > > spindle any time a stop/start is done, this reboot of the spindle > > driver is inserted. > > You only need to do the "boot sequence" once after the > enable input to the servo amp is turned on.
Critical info, Jon, thanks, because I think (IIRC) that the enable is being taken down with the stop since it coasts to a stop rather than being snubbed to a quick stop by the driver. Its been a while since I last kicked the tires of that .hal file, so I'll have to refresh my own memory about that. > You really do NOT want to do it when the motor is running, > as it sends a 1 ms reverse command to the motor. > > > No other indications of an error but I did note that the former > > spindle speed would drift downward and if I sat there scratching my > > head long enough, it would even start running backwards, very slowly > > gaining speed. > > This sounds like maybe the closed loop PID is getting fouled > up, somehow. > > And, there is no need to stop the spindle before changing speed. I was thinking of tossing in the stop for a head gear change, but it works well enough w/o it. Thanks Jon. Cheers, Gene Heskett -- "There are four boxes to be used in defense of liberty: soap, ballot, jury, and ammo. Please use in that order." -Ed Howdershelt (Author) Genes Web page <http://geneslinuxbox.net:6309/gene> ------------------------------------------------------------------------------ Check out the vibrant tech community on one of the world's most engaging tech sites, SlashDot.org! http://sdm.link/slashdot _______________________________________________ Emc-developers mailing list [email protected] https://lists.sourceforge.net/lists/listinfo/emc-developers
