Sorry bad clicl publish too early
Hi Happy new year to all !! A ton of thanks, i's more than expected ! For sure your file is really better writed for reading/understanding. setp hpg.pwmgen.00.out.00.pin 807 # Digital out from cape Do-0 maybee this is the type of this cape output that make it work directly to the isolator/convertor ? As you can see i have short knowledge for all this pwm dac spindle stuff. As i have check all work as wanted from -10.2v to +9.6v accroding to asked speed and direction. Only one problem with the half (55) value that provide ~+2v to the isolator output in place of wanted 0v (maybee only need to replace change the offset value not tested for now) I paste the updated file like you write : ##################################################################### # Spindel VFD closed loop with PID NEAR SCALE and OFFSET for Rev/fw -10v 0v +10v # from 0/24v PWM out to 0/10v Analog to -10v 0v +10v isolator/convertissor ##################################################################### loadrt pid names=pid.spindle loadrt offset names=offset.pwmgen loadrt near names=near.at-speed loadrt scale names=scale.spindle-vel-rpm addf pid.spindle.do-pid-calcs servo-thread addf offset.pwmgen.update-output servo-thread addf near.at-speed servo-thread addf scale.spindle-vel-rpm servo-thread # scale RPS to RPM setp scale.spindle-vel-rpm.gain [SPINDLE]VELOCITY_RPM_GAIN # setup Spindle PID setp pid.spindle.Pgain [SPINDLE]P setp pid.spindle.Igain [SPINDLE]I setp pid.spindle.Dgain [SPINDLE]D setp pid.spindle.FF0 [SPINDLE]FF0 setp pid.spindle.FF1 [SPINDLE]FF1 setp pid.spindle.FF2 [SPINDLE]FF2 setp pid.spindle.bias [SPINDLE]BIAS setp pid.spindle.deadband [SPINDLE]DEADBAND setp pid.spindle.maxerror [SPINDLE]MAX_ERROR setp pid.spindle.maxoutput [SPINDLE]MAX_OUTPUT setp hpg.encoder.00.chan.00.scale [SPINDLE]ENCODER_SCALE setp hpg.encoder.00.chan.00.counter-mode 0 setp hpg.pwmgen.00.pwm_period [SPINDLE]PWM_PERIOD setp hpg.pwmgen.00.out.00.enable 1 # allow to be at half value when spindle is off due to offset use but maybee bad idea ?? setp near.at-speed.scale [SPINDLE]AT_SPEED_SCALE # offset the pid output the value of max output to shift the output above 0 setp offset.pwmgen.offset [SPINDLE]MAX_OUTPUT net DAC-ctrl-in <= pid.spindle.output net DAC-ctrl-in => offset.pwmgen.in # scale max expected input * 2 to equal a PWM duty cycle of 1.0 setp hpg.pwmgen.00.out.00.scale [SPINDLE]PWM_OUTPUT_SCALE # encoder connections net spindle-pos <= hpg.encoder.00.chan.00.position net spindle-pos => motion.spindle-revs net spindle-vel-fb-rps <= hpg.encoder.00.chan.00.velocity net spindle-vel-fb-rps => motion.spindle-speed-in net spindle-vel-fb-rps => scale.spindle-vel-rpm.in net spindle-vel-rpm <= scale.spindle-vel-rpm.out # name changed according to my other config for display axctual rpm (actually unfiltered) net spindle-vel-cmd <= motion.spindle-speed-out # added according to my other config for display asked rpm # Speed command in RPS net spindle-vel-cmd-rps <= motion.spindle-speed-out-rps net spindle-vel-cmd-rps => pid.spindle.command # offset output to feed to pwmgen output net DAC-ctrl-out <= offset.pwmgen.out net DAC-ctrl-out => hpg.pwmgen.00.out.00.value # Spindle control signals net spindle-enable <= motion.spindle-on net spindle-enable => pid.spindle.enable net spindle-enable => fur.do-6 net spindle-vel-cmd-rps <= motion.spindle-speed-out-rps net spindle-vel-cmd-rps => near.at-speed.in1 net spindle-vel-fb-rps => near.at-speed.in2 net spindle-at-speed <= near.at-speed.out net spindle-at-speed => motion.spindle-at-speed [SPINDLE] # PID, input is RPS P = 1 I = 0.0 D = 0.0 FF0 = 0.0 FF1 = 0.0 FF2 = 0.0 BIAS = 0.0 DEADBAND = 0.0 MAX_ERROR = 0.0 #Max desired spindle speed in RPMs (3300) / 60 = Spindle Speed in RPS. MAX_OUTPUT = 55.00 # quadrature mode (mode-0) is encoder PPR * 4 ENCODER_SCALE = 400 # scale pid output to pwm control value. Max duty cycle of 1.0 / (Max speed * 2) ---range of both directions PWM_OUTPUT_SCALE = 110 # PWMgen output frequency in Hz PWM_PERIOD = 10000000 AT_SPEED_SCALE = 1.01 VELOCITY_RPM_GAIN = 60 -- website: http://www.machinekit.io blog: http://blog.machinekit.io github: https://github.com/machinekit --- You received this message because you are subscribed to the Google Groups "Machinekit" group. To unsubscribe from this group and stop receiving emails from it, send an email to machinekit+unsubscr...@googlegroups.com. To view this discussion on the web visit https://groups.google.com/d/msgid/machinekit/6a7175bb-efd5-403d-a2d0-510ccec177a7%40googlegroups.com.
