110 lines
3.8 KiB
Plaintext
110 lines
3.8 KiB
Plaintext
# counting the spindle encoder in software
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loadrt encoder names=encoder_0,encoder_1
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# simulate the encoder
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loadrt sim_encoder names=sim_encoder_0,sim_encoder_1
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loadrt limit2 names=limit_speed
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addf limit_speed servo-thread
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#######################################################
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# Beginning of threading related stuff
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#######################################################
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# spindle speed control
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net spindle.0.cmd spindle.0.speed-out => sim_encoder_0.speed
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net spindle.1.cmd spindle.1.speed-out => sim_encoder_1.speed
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# simulate spindle mass
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setp limit_speed.maxv 2000.0 # rpm/second
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# spindle encoder 0
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# connect encoder signals to encoder counter
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net spindle-phase-A sim_encoder_0.phase-A => encoder_0.phase-A
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net spindle-phase-B sim_encoder_0.phase-B => encoder_0.phase-B
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net spindle-phase-Z sim_encoder_0.phase-Z => encoder_0.phase-Z
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# assume 120 ppr = 480 counts/rev for the spindle
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setp sim_encoder_0.ppr 120
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# iocontrol output is in rpm, but sim-encoder speed is rps
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setp sim_encoder_0.scale 60
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# scale encoder output to read in revolutions
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# (that way thread pitches can be straightforward,
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# a 20 tpi thread would multiply the encoder output
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# by 1/20, etc)
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setp encoder_0.position-scale 480
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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 <=> encoder_0.index-enable
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# report our revolution count to the motion controller
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net spindle.0.pos encoder_0.position => spindle.0.revs
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# spindle encoder 1
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# connect encoder signals to encoder counter
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net spindle-phase-A1 sim_encoder_1.phase-A => encoder_1.phase-A
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net spindle-phase-B1 sim_encoder_1.phase-B => encoder_1.phase-B
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net spindle-phase-Z1 sim_encoder_1.phase-Z => encoder_1.phase-Z
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# assume 120 ppr = 480 counts/rev for the spindle
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setp sim_encoder_1.ppr 120
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# iocontrol output is in rpm, but sim-encoder speed is rps
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setp sim_encoder_1.scale 60
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# scale encoder output to read in revolutions
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# (that way thread pitches can be straightforward,
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# a 20 tpi thread would multiply the encoder output
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# by 1/20, etc)
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setp encoder_1.position-scale 480
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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.1.index-enable <=> encoder_0.index-enable
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# report our revolution count to the motion controller
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net spindle.1.pos encoder_1.position => spindle.1.revs
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# for spindle velocity estimate
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loadrt lowpass names=lowpass_velocity.0,lowpass_velocity.1
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loadrt scale names=scale_to_rpm.0,scale_to_rpm.1
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net spindle-rps-raw.0 encoder_0.velocity lowpass_velocity.0.in
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net spindle-rps-filtered.0 lowpass_velocity.0.out scale_to_rpm.0.in spindle.0.speed-in
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net spindle-rpm-filtered.0 scale_to_rpm.0.out
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setp scale_to_rpm.0.gain 60
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setp lowpass_velocity.0.gain .07
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addf lowpass_velocity.0 servo-thread
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addf scale_to_rpm.0 servo-thread
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net spindle-rps-raw.1 encoder_1.velocity lowpass_velocity.1.in
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net spindle-rps-filtered.1 lowpass_velocity.1.out scale_to_rpm.1.in spindle.1.speed-in
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net spindle-rpm-filtered.1 scale_to_rpm.1.out
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setp scale_to_rpm.1.gain 60
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setp lowpass_velocity.1.gain .07
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addf lowpass_velocity.1 servo-thread
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addf scale_to_rpm.1 servo-thread
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# for at-speed detection
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loadrt near names=near_speed.0,near_speed.1
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addf near_speed.0 servo-thread
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setp near_speed.0.scale 1.1
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setp near_speed.0.difference 10
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net spindle.0.cmd => near_speed.0.in1
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net spindle-rpm-filtered.0 => near_speed.0.in2
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net spindle-at-speed.0 near_speed.0.out spindle.0.at-speed
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net spindle.0-fwd <= spindle.0.forward
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addf near_speed.1 servo-thread
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setp near_speed.1.scale 1.1
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setp near_speed.1.difference 10
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net spindle.1.cmd => near_speed.1.in1
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net spindle-rpm-filtered.1 => near_speed.1.in2
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net spindle-at-speed.1 near_speed.1.out spindle.1.at-speed
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net spindle.1-fwd <= spindle.1.forward
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addf encoder.capture-position servo-thread
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addf sim-encoder.update-speed servo-thread
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addf sim-encoder.make-pulses base-thread
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addf encoder.update-counters base-thread
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