40 lines
1.2 KiB
Plaintext
40 lines
1.2 KiB
Plaintext
# simulated spindle encoder (for spindle-synced moves)
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loadrt sim_spindle names=sim_spindle
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setp sim_spindle.scale 0.01666667
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loadrt limit2 names=limit_speed
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loadrt lowpass names=spindle_mass
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loadrt near names=near_speed
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# this limit doesnt make any sense to me:
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setp limit_speed.maxv 5000.0 # rpm/second
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# encoder reset control
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# hook up motion controller's sync output
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net spindle-index-enable spindle.0.index-enable <=> sim_spindle.index-enable
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# report our revolution count to the motion controller
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net spindle-pos sim_spindle.position-fb => spindle.0.revs
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# simulate spindle mass
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setp spindle_mass.gain .07
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# spindle speed control
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net spindle-speed-cmd spindle.0.speed-out => limit_speed.in
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net spindle-speed-limited limit_speed.out => sim_spindle.velocity-cmd spindle_mass.in
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# for spindle velocity estimate
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net spindle-rpm-filtered spindle_mass.out spindle.0.speed-in near_speed.in2
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# at-speed detection
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setp near_speed.scale 1.1
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setp near_speed.difference 10
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net spindle-speed-cmd => near_speed.in1
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net spindle-at-speed near_speed.out spindle.0.at-speed
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addf limit_speed servo-thread
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addf spindle_mass servo-thread
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addf near_speed servo-thread
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addf sim_spindle servo-thread
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