Re: [Emc-users] spindle speed in PID mode
I'm pretty sure you're right: to work correctly, bot the "command" and "feedback" of a PID have to be in the same units, e.g., in revolutions per second. Jeff -- This SF.net email is sponsored by: SourcForge Community SourceForge wants to tell your story. http://p.sf.net/sfu/sf-spreadtheword ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
[Emc-users] spindle speed in PID mode
This is my code spindle.hal loadrt threads name1=slow-thread period1=1 loadrt ddt count=1 addf ddt.0 slow-thread net SpindleRevs m5i20.0.enc-03-position => motion.spindle-revs ddt.0.in net SpindleSpeedRps ddt.0.out => motion.spindle-speed-in # VFD spindle 0-10V control absolute # route speed command through abs block to get 0-10V loadrt abs addf abs.0 servo-thread net spindle-rpm-cmd motion.spindle-speed-out => abs.0.in net spindle-rpm-cmd-abs abs.0.out => m5i20.0.dac-03-value # scale factor converts RPM into DAC volts setp m5i20.0.dac-03-gain [SPINDLE]DAC_SCALE net spindle-on motion.spindle-on => m5i20.0.dac-03-enable #pid spindle speed net spindle-rpm-cmd => pid.3.command net SpindleSpeedRps <= pid.3.feedback net spindle-on => pid.3.enable #turning pid parameters setp pid.3.Pgain [SPINDLE]P setp pid.3.Igain [SPINDLE]I setp pid.3.Dgain [SPINDLE]D setp pid.3.deadband [SPINDLE]DEADBAND setp pid.3.maxoutput [SPINDLE]MAX_OUTPUT net spindle-rpm-cmd-abs => pid.3.output m5i20.ini [SPINDLE] # Encoder INPUT_SCALE = -4096 # DAC output to VFD DAC_SCALE = -0.04 OUTPUT_OFFSET = 0 MAX_OUTPUT =10 # PID tuning params DEADBAND = 1. P = 0 I = 0 D = 0 Would this work or it woun't, becouse spindle-speed-in is in rev/second and not in rev/minute? Will i have to use gain and multiply spindle-speed-in * 60 ? I would like to thank you all to help me configure ' absolute spindle output 0 - 10 Volt ' my last question . -- This SF.net email is sponsored by: SourcForge Community SourceForge wants to tell your story. http://p.sf.net/sfu/sf-spreadtheword ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
