how to change direction of the servo

[turbothis]

i cant remember how to do this exactly
something about changing the input?
trying to reverse the ch0 direction

also i am wanting to have the spindle axis to brake down to about 0 RPM and then disable to turn off to move my hand.

Code: Select all

#include "KMotionDef.h"

// Home and set the commutation for a 3 phase brushless motor // that is driven using two DAC Outputs // // Phase rotates until index mark is located and Encoder Zeroed 

// Function definitions

// x must be in the range 0->1 returns sin(x) and sin(x+120 degrees)

float Sine3PH (float x, float *sin2);

// put a voltage v on a 3 Phase motor at specified commutation angle

void Write3PH_DACs(CHAN *chx, float v, double angle_in_cycles); 

// return fractional part of a huge number accurately

float fractionf(double v);

// Main function entry point

void main()
{
                float k=0,A=500;   // set coil current amplitude DAC units
                double p0;
 
        // Z axis

    ch0->InputMode=ENCODER_MODE;
	ch0->OutputMode=NO_OUTPUT_MODE;
	ch0->Vel=400000;
	ch0->Accel=10000000;
	ch0->Jerk=200000000;
	ch0->P=1;
	ch0->I=0;
	ch0->D=20;
	ch0->FFAccel=0;
	ch0->FFVel=0;
	ch0->MaxI=200;
	ch0->MaxErr=1e+006;
	ch0->MaxOutput=2000;
	ch0->DeadBandGain=1;
	ch0->DeadBandRange=0;
	ch0->InputChan0=0;
	ch0->InputChan1=0;
	ch0->OutputChan0=1;
	ch0->OutputChan1=0;
	ch0->MasterAxis=-1;
	ch0->LimitSwitchOptions=0x0;
	ch0->SoftLimitPos=1e+030;
	ch0->SoftLimitNeg=-1e+030;
	ch0->InputGain0=-1;
	ch0->InputGain1=1;
	ch0->InputOffset0=0;
	ch0->InputOffset1=0;
	ch0->OutputGain=1;
	ch0->OutputOffset=0;
	ch0->SlaveGain=1;
	ch0->BacklashMode=BACKLASH_OFF;
	ch0->BacklashAmount=0;
	ch0->BacklashRate=0;
	ch0->invDistPerCycle=0.0004;
	ch0->Lead=0;
	ch0->MaxFollowingError=1000000;
	ch0->StepperAmplitude=20;

	ch0->iir[0].B0=1;
	ch0->iir[0].B1=0;
	ch0->iir[0].B2=0;
	ch0->iir[0].A1=0;
	ch0->iir[0].A2=0;

	ch0->iir[1].B0=1;
	ch0->iir[1].B1=0;
	ch0->iir[1].B2=0;
	ch0->iir[1].A1=0;
	ch0->iir[1].A2=0;

	ch0->iir[2].B0=1;
	ch0->iir[2].B1=0;
	ch0->iir[2].B2=0;
	ch0->iir[2].A1=0;
	ch0->iir[2].A2=0;


        // X axis     

        ch1->InputMode=ENCODER_MODE;
	ch1->OutputMode=NO_OUTPUT_MODE;
	ch1->Vel=5000;
	ch1->Accel=5000000;
	ch1->Jerk=30000000;
	ch1->P=3;
	ch1->I=0;
	ch1->D=20;
	ch1->FFAccel=0;
	ch1->FFVel=0;
	ch1->MaxI=200;
	ch1->MaxErr=1e+006;
	ch1->MaxOutput=500;
	ch1->DeadBandGain=1;
	ch1->DeadBandRange=0;
	ch1->InputChan0=1;
	ch1->InputChan1=1;
	ch1->OutputChan0=2;
	ch1->OutputChan1=3;
	ch1->MasterAxis=-1;
	ch1->LimitSwitchOptions=0x0;
	ch1->SoftLimitPos=1e+030;
	ch1->SoftLimitNeg=-1e+030;
	ch1->InputGain0=-1;
	ch1->InputGain1=-1;
	ch1->InputOffset0=0;
	ch1->InputOffset1=0;
	ch1->OutputGain=1;
	ch1->OutputOffset=0;
	ch1->SlaveGain=1;
	ch1->BacklashMode=BACKLASH_OFF;
	ch1->BacklashAmount=0;
	ch1->BacklashRate=0;
	ch1->invDistPerCycle=0.0004;
	ch1->Lead=0;
	ch1->MaxFollowingError=1000000;
	ch1->StepperAmplitude=20;

	ch1->iir[0].B0=1;
	ch1->iir[0].B1=0;
	ch1->iir[0].B2=0;
	ch1->iir[0].A1=0;
	ch1->iir[0].A2=0;

	ch1->iir[1].B0=1;
	ch1->iir[1].B1=0;
	ch1->iir[1].B2=0;
	ch1->iir[1].A1=0;
	ch1->iir[1].A2=0;

	ch1->iir[2].B0=1;
	ch1->iir[2].B1=0;
	ch1->iir[2].B2=0;
	ch1->iir[2].A1=0;
	ch1->iir[2].A2=0;

        // A  axis / spindle

	ch2->InputMode=ENCODER_MODE;
	ch2->OutputMode=NO_OUTPUT_MODE;
	ch2->Vel=  300000;
	ch2->Accel=100000;
	ch2->Jerk= 2000000;
	ch2->P=10;
	ch2->I=0;
	ch2->D=20;
	ch2->FFAccel=0;
	ch2->FFVel=0;
	ch2->MaxI=200;
	ch2->MaxErr=1e+006;
	ch2->MaxOutput=2000;
	ch2->DeadBandGain=1;
	ch2->DeadBandRange=0;
	ch2->InputChan0=2;
	ch2->InputChan1=2;
	ch2->OutputChan0=5;
	ch2->OutputChan1=4;
	ch2->MasterAxis=-1;
	ch2->LimitSwitchOptions=0x0;
	ch2->SoftLimitPos=1e+030;
	ch2->SoftLimitNeg=-1e+030;
	ch2->InputGain0=-1;
	ch2->InputGain1=1;
	ch2->InputOffset0=0;
	ch2->InputOffset1=0;
	ch2->OutputGain=1;
	ch2->OutputOffset=0;
	ch2->SlaveGain=1;
	ch2->BacklashMode=BACKLASH_OFF;
	ch2->BacklashAmount=0;
	ch2->BacklashRate=0;
	ch2->invDistPerCycle=0.0003662109375;
	ch2->Lead=0;
	ch2->MaxFollowingError=1000000;
	ch2->StepperAmplitude=20;

	ch2->iir[0].B0=1;
	ch2->iir[0].B1=0;
	ch2->iir[0].B2=0;
	ch2->iir[0].A1=0;
	ch2->iir[0].A2=0;

	ch2->iir[1].B0=1;
	ch2->iir[1].B1=0;
	ch2->iir[1].B2=0;
	ch2->iir[1].A1=0;
	ch2->iir[1].A2=0;

	ch2->iir[2].B0=1;
	ch2->iir[2].B1=0;
	ch2->iir[2].B2=0;
	ch2->iir[2].A1=0;
	ch2->iir[2].A2=0;


               

                // rotate until we find the index mark
                // Use f0 and f1 and f2 to flag when index found for ch0 and ch1 and ch2->
                // Break out when both indexes found (f0=1 and f1=1 and f2=1)

                ch0->Enable=FALSE;
                ch1->Enable=FALSE;
                ch2->Enable=FALSE;

                int f0,f1,f2;		// Index found flags
				f0=0;f1=0;f2=0;		// Set all to index not found

                for (;;)		//Indefinite loop
                {
				if (f0==1 && f1==1 && f2==1) break;		// Done if all indexes found


     //
                   if (f0==0)				// If Ch0 index not found
				  {
				                    WaitNextTimeSlice();

                                    Write3PH_DACs(ch0,A, ++k/10000.0);  // move the pole 

                                    if (ReadBit(36))  // check for index mark ch0
                                    {

                                                p0=ch0->Position; // Index found so save position
                                                ch0->Position=0;  // set current position to Zero

                                                ch0->CommutationOffset = 658;  // from auto phase find
                                             
                                                printf("Position ch0 = %f\n",p0);

                                                f0=1;		// Mark as ch0 index found

                                    }  // End readbit
                   }  // End if f0=0
  
       //         

                   if (f1==0)				// If Ch1 index not found
				  {
				                WaitNextTimeSlice();

                                Write3PH_DACs(ch1,A, ++k/10000.0);  // move the pole 

                                if (ReadBit(37))  // check for index mark ch1
				                {
                                                p0=ch1->Position; // Index found so save position
                                                ch1->Position=0;  // set current position to Zero

                                                ch1->CommutationOffset = 658;  // from auto phase find
                                                printf("Position ch1 = %f\n",p0);

                                                f1=1;		// Mark as ch1 index found

                                    }  // End readbit
                         }  // End f1=0

        //

                    if (f2==0)				// If Ch2 index not found
				  {
				                WaitNextTimeSlice();

                                Write3PH_DACs(ch2,A, ++k/10000.0);  // move the pole 

                                if (ReadBit(38))  // check for index mark ch2
				                {
                                                p0=ch2->Position; // Index found so save position
                                                ch2->Position=0;  // set current position to Zero

                                                ch2->CommutationOffset = 1920;  // from auto phase find
                                                printf("Position ch2 = %f\n",p0);

                                                f2=1;		// Mark as ch2 index found

                                    }  // End readbit
                         }  // End f2=0


                    }  // End for loop
                

                EnableAxisDest(0,0.0f);  // Enable servo at destination of 0   Z axis
                EnableAxisDest(1,0.0f);  // Enable servo at destination of 0   X axis
                EnableAxisDest(2,0.0f);  // Enable servo at destination of 0   A axis

                DefineCoordSystem(1,-1,0,2); // define which axes are in use

                // Loop forever outputting Servo output to dual DAC_SERVO_MODE

                for (;;)
             
                {
                                WaitNextTimeSlice();

                                if (ch0->Enable)  // if axis enabled commutate and output else command zero to DACs

                                                Write3PH_DACs(ch0,ch0->Output, (ch0->Position + ch0->CommutationOffset) * ch0->invDistPerCycle);                           
                                else
                                                Write3PH_DACs(ch0, 0.0,0.0);

                                if (ch1->Enable)  // if axis enabled commutate and output else command zero to DACs

                                                Write3PH_DACs(ch1,ch1->Output, (ch1->Position + ch1->CommutationOffset) * ch1->invDistPerCycle);                           
                                else
                                                Write3PH_DACs(ch1, 0.0,0.0);  


                                 if (ch2->Enable)  // if axis enabled commutate and output else command zero to DACs

                                                Write3PH_DACs(ch2,ch2->Output, (ch2->Position + ch2->CommutationOffset) * ch2->invDistPerCycle);                           
                                else
                                                Write3PH_DACs(ch2, 0.0,0.0);                 

                }  // End for loop

} // End main()

                // put a voltage v on a 3 Phase motor at specified commutation angle

                void Write3PH_DACs(CHAN *chx, float v, double angle_in_cycles)

                {

                float theta,sin1f;
                if (angle_in_cycles<0)

                                theta = 1.0f-fractionf(-angle_in_cycles);

                else

                                theta = fractionf(angle_in_cycles);


                DAC(chx->OutputChan0, (int)(v * Sine3PH(theta,&sin1f)));
                DAC(chx->OutputChan1, (int)(v * sin1f));

               }  // End Write3PH()

[TomKerekes]

Hi turbothis,

i cant remember how to do this exactly
something about changing the input?
trying to reverse the ch0 direction

You can reverse the direction of a servo by changing the sign of the InputGain0 parameter. This will cause the encoder to read in the opposite direction.

However if this is a working servo with negative feedback, the Output Drive will also need to be reversed to avoid positive feedback and runaway.

With a dual DAC Output drive like yours the Output Drive can be reversed by shifting the commutation by 1/2 cycle.

The simplest thing is to change the InputGain definition in the AutoPhaseFind program and let it re-determine the appropriate CommutationOffset.

also i am wanting to have the spindle axis to brake down to about 0 RPM and then disable to turn off to move my hand.

How is your Spindle being controlled? Maybe change your M5 Program to wait until the Spindle is stopped and then disable your Drive. M3 and M4 would then need to re-enable the Drive and Axis.

[turbothis]

ok i will get after the phase find and see what i can present you on the spindle.....
thanks!

[turbothis]

ok, got the CH0 reversed.

now i would like to disable the spindle/CH2 after it comes to around >20 RPM and then kick back on accordingly to the next cycle start.

i am using this for the off/M5

Code: Select all

#include "KMotionDef.h"

#include "MySpindleDefs.h"


// desired speed is passed from KMotionCNC in variable KMVAR
// save in user variable STATEVAR whether it was off, CW, or CCW (0,1,-1)
// save in user variable SPEEDVAR the last desired speed

main()
{
	// spin down
	
	Jog(SPINDLEAXIS,0);
	printf("Jogging Spindle Stop\n");
	persist.UserData[STATEVAR] = 0;  // remember we are Off
	while (!CheckDone(SPINDLEAXIS)) ;
}

here is my spindle header info

Code: Select all

#define SPINDLEAXIS 2			// Axis Channel to Jog to rotate Spindle
#define FACTOR (11872.46/60.0)  	// to convert RPM to counts/sec (counts/rev / 60.0sec)
#define SPINDLECW_BIT 154   	// bit to activate to cause CW rotation
#define SPINDLECCW_BIT 155		// bit to activate to cause CCW rotation
#define SPEEDVAR 99				// global persistant variable to store latest speed
#define STATEVAR 98				// global persistant variable to store latest state (-1=CCW,0=off,1=CW)
#define KMVAR PC_COMM_CSS_S 	// variable KMotionCNC will pass speed parameter (113)
#define USE_POS_NEG_VOLTAGE 1 	// 0 = output Magnitude, 1 = output positive and negative speed 

[TomKerekes]

Hi turbothis,

It seems you are using axis channel 2 as both an A axis and a Spindle at the same time. If it is included in the coordinated motion system it should not then be jogged independently. How are you using channel 2?

[turbothis]

well, the end goal is to have an A axis for indexing and also to have the spindle for turning.
i would like to be able to choose between them in the form of 2 user buttons.

this is my main axis channel code i use now

Code: Select all

#include "KMotionDef.h"
 
// Home and set the commutation for a 3 phase brushless motor // that is driven using two DAC Outputs // // Phase rotates until index mark is located and Encoder Zeroed 
 
// Function definitions
 
// x must be in the range 0->1 returns sin(x) and sin(x+120 degrees)
 
float Sine3PH (float x, float *sin2);
 
// put a voltage v on a 3 Phase motor at specified commutation angle
 
void Write3PH_DACs(CHAN *chx, float v, double angle_in_cycles); 
 
// return fractional part of a huge number accurately
 
float fractionf(double v);
 
// Main function entry point
 
void main()
{
                float k=0,A=500;   // set coil current amplitude DAC units
                double p0;
  
        // Z axis
 
    ch0->InputMode=ENCODER_MODE;
    ch0->OutputMode=NO_OUTPUT_MODE;
    ch0->Vel=400000;
    ch0->Accel=10000000;
    ch0->Jerk=200000000;
    ch0->P=1;
    ch0->I=0;
    ch0->D=20;
    ch0->FFAccel=0;
    ch0->FFVel=0;
    ch0->MaxI=200;
    ch0->MaxErr=1e+006;
    ch0->MaxOutput=2000;
    ch0->DeadBandGain=1;
    ch0->DeadBandRange=0;
    ch0->InputChan0=0;
    ch0->InputChan1=0;
    ch0->OutputChan0=1;
    ch0->OutputChan1=0;
    ch0->MasterAxis=-1;
    ch0->LimitSwitchOptions=0x0;
    ch0->SoftLimitPos=1e+030;
    ch0->SoftLimitNeg=-1e+030;
    ch0->InputGain0=1;
    ch0->InputGain1=1;
    ch0->InputOffset0=0;
    ch0->InputOffset1=0;
    ch0->OutputGain=1;
    ch0->OutputOffset=0;
    ch0->SlaveGain=1;
    ch0->BacklashMode=BACKLASH_OFF;
    ch0->BacklashAmount=0;
    ch0->BacklashRate=0;
    ch0->invDistPerCycle=-0.0004;
    ch0->Lead=0;
    ch0->MaxFollowingError=1000000;
    ch0->StepperAmplitude=20;
 
    ch0->iir[0].B0=1;
    ch0->iir[0].B1=0;
    ch0->iir[0].B2=0;
    ch0->iir[0].A1=0;
    ch0->iir[0].A2=0;
 
    ch0->iir[1].B0=1;
    ch0->iir[1].B1=0;
    ch0->iir[1].B2=0;
    ch0->iir[1].A1=0;
    ch0->iir[1].A2=0;
 
    ch0->iir[2].B0=1;
    ch0->iir[2].B1=0;
    ch0->iir[2].B2=0;
    ch0->iir[2].A1=0;
    ch0->iir[2].A2=0;
 
 
        // X axis     
 
        ch1->InputMode=ENCODER_MODE;
    ch1->OutputMode=NO_OUTPUT_MODE;
    ch1->Vel=5000;
    ch1->Accel=5000000;
    ch1->Jerk=30000000;
    ch1->P=3;
    ch1->I=0;
    ch1->D=20;
    ch1->FFAccel=0;
    ch1->FFVel=0;
    ch1->MaxI=200;
    ch1->MaxErr=1e+006;
    ch1->MaxOutput=500;
    ch1->DeadBandGain=1;
    ch1->DeadBandRange=0;
    ch1->InputChan0=1;
    ch1->InputChan1=1;
    ch1->OutputChan0=2;
    ch1->OutputChan1=3;
    ch1->MasterAxis=-1;
    ch1->LimitSwitchOptions=0x0;
    ch1->SoftLimitPos=1e+030;
    ch1->SoftLimitNeg=-1e+030;
    ch1->InputGain0=1;
    ch1->InputGain1=1;
    ch1->InputOffset0=0;
    ch1->InputOffset1=0;
    ch1->OutputGain=1;
    ch1->OutputOffset=0;
    ch1->SlaveGain=1;
    ch1->BacklashMode=BACKLASH_OFF;
    ch1->BacklashAmount=0;
    ch1->BacklashRate=0;
    ch1->invDistPerCycle=0.0004;
    ch1->Lead=0;
    ch1->MaxFollowingError=1000000;
    ch1->StepperAmplitude=20;
 
    ch1->iir[0].B0=1;
    ch1->iir[0].B1=0;
    ch1->iir[0].B2=0;
    ch1->iir[0].A1=0;
    ch1->iir[0].A2=0;
 
    ch1->iir[1].B0=1;
    ch1->iir[1].B1=0;
    ch1->iir[1].B2=0;
    ch1->iir[1].A1=0;
    ch1->iir[1].A2=0;
 
    ch1->iir[2].B0=1;
    ch1->iir[2].B1=0;
    ch1->iir[2].B2=0;
    ch1->iir[2].A1=0;
    ch1->iir[2].A2=0;
 
        // A  axis / spindle
 
    ch2->InputMode=ENCODER_MODE;
    ch2->OutputMode=NO_OUTPUT_MODE;
    ch2->Vel=  300000;
    ch2->Accel=100000;
    ch2->Jerk= 2000000;
    ch2->P=10;
    ch2->I=0;
    ch2->D=20;
    ch2->FFAccel=0;
    ch2->FFVel=0;
    ch2->MaxI=200;
    ch2->MaxErr=1e+006;
    ch2->MaxOutput=2000;
    ch2->DeadBandGain=1;
    ch2->DeadBandRange=0;
    ch2->InputChan0=2;
    ch2->InputChan1=2;
    ch2->OutputChan0=5;
    ch2->OutputChan1=4;
    ch2->MasterAxis=-1;
    ch2->LimitSwitchOptions=0x0;
    ch2->SoftLimitPos=1e+030;
    ch2->SoftLimitNeg=-1e+030;
    ch2->InputGain0=-1;
    ch2->InputGain1=1;
    ch2->InputOffset0=0;
    ch2->InputOffset1=0;
    ch2->OutputGain=1;
    ch2->OutputOffset=0;
    ch2->SlaveGain=1;
    ch2->BacklashMode=BACKLASH_OFF;
    ch2->BacklashAmount=0;
    ch2->BacklashRate=0;
    ch2->invDistPerCycle=0.0003662109375;
    ch2->Lead=0;
    ch2->MaxFollowingError=1000000;
    ch2->StepperAmplitude=20;
 
    ch2->iir[0].B0=1;
    ch2->iir[0].B1=0;
    ch2->iir[0].B2=0;
    ch2->iir[0].A1=0;
    ch2->iir[0].A2=0;
 
    ch2->iir[1].B0=1;
    ch2->iir[1].B1=0;
    ch2->iir[1].B2=0;
    ch2->iir[1].A1=0;
    ch2->iir[1].A2=0;
 
    ch2->iir[2].B0=1;
    ch2->iir[2].B1=0;
    ch2->iir[2].B2=0;
    ch2->iir[2].A1=0;
    ch2->iir[2].A2=0;
 
 
                
 
                // rotate until we find the index mark
                // Use f0 and f1 and f2 to flag when index found for ch0 and ch1 and ch2->
                // Break out when both indexes found (f0=1 and f1=1 and f2=1)
 
                ch0->Enable=FALSE;
                ch1->Enable=FALSE;
                ch2->Enable=FALSE;
 
                int f0,f1,f2;       // Index found flags
                f0=0;f1=0;f2=0;     // Set all to index not found
 
                for (;;)        //Indefinite loop
                {
                if (f0==1 && f1==1 && f2==1) break;     // Done if all indexes found
 
 
     //
                   if (f0==0)               // If Ch0 index not found
                  {
                                    WaitNextTimeSlice();
 
                                    Write3PH_DACs(ch0,A, ++k/10000.0);  // move the pole 
 
                                    if (ReadBit(36))  // check for index mark ch0
                                    {
 
                                                p0=ch0->Position; // Index found so save position
                                                ch0->Position=0;  // set current position to Zero
 
                                                ch0->CommutationOffset = 600;  // from auto phase find
                                              
                                                printf("Position ch0 = %f\n",p0);
 
                                                f0=1;       // Mark as ch0 index found
 
                                    }  // End readbit
                   }  // End if f0=0
   
       //         
 
                   if (f1==0)               // If Ch1 index not found
                  {
                                WaitNextTimeSlice();
 
                                Write3PH_DACs(ch1,A, ++k/10000.0);  // move the pole 
 
                                if (ReadBit(37))  // check for index mark ch1
                                {
                                                p0=ch1->Position; // Index found so save position
                                                ch1->Position=0;  // set current position to Zero
 
                                                ch1->CommutationOffset = 658;  // from auto phase find
                                                printf("Position ch1 = %f\n",p0);
 
                                                f1=1;       // Mark as ch1 index found
 
                                    }  // End readbit
                         }  // End f1=0
 
        //
 
                    if (f2==0)              // If Ch2 index not found
                  {
                                WaitNextTimeSlice();
 
                                Write3PH_DACs(ch2,A, ++k/10000.0);  // move the pole 
 
                                if (ReadBit(38))  // check for index mark ch2
                                {
                                                p0=ch2->Position; // Index found so save position
                                                ch2->Position=0;  // set current position to Zero
 
                                                ch2->CommutationOffset = 1920;  // from auto phase find
                                                printf("Position ch2 = %f\n",p0);
 
                                                f2=1;       // Mark as ch2 index found
 
                                    }  // End readbit
                         }  // End f2=0
 
 
                    }  // End for loop
                 
 
                EnableAxisDest(0,0.0f);  // Enable servo at destination of 0   Z axis
                EnableAxisDest(1,0.0f);  // Enable servo at destination of 0   X axis
                EnableAxisDest(2,0.0f);  // Enable servo at destination of 0   A axis
 
                DefineCoordSystem(1,-1,0,2); // define which axes are in use
 
                // Loop forever outputting Servo output to dual DAC_SERVO_MODE
 
                for (;;)
              
                {
                                WaitNextTimeSlice();
 
                                if (ch0->Enable)  // if axis enabled commutate and output else command zero to DACs
 
                                                Write3PH_DACs(ch0,ch0->Output, (ch0->Position + ch0->CommutationOffset) * ch0->invDistPerCycle);                           
                                else
                                                Write3PH_DACs(ch0, 0.0,0.0);
 
                                if (ch1->Enable)  // if axis enabled commutate and output else command zero to DACs
 
                                                Write3PH_DACs(ch1,ch1->Output, (ch1->Position + ch1->CommutationOffset) * ch1->invDistPerCycle);                           
                                else
                                                Write3PH_DACs(ch1, 0.0,0.0);  
 
 
                                 if (ch2->Enable)  // if axis enabled commutate and output else command zero to DACs
 
                                                Write3PH_DACs(ch2,ch2->Output, (ch2->Position + ch2->CommutationOffset) * ch2->invDistPerCycle);                           
                                else
                                                Write3PH_DACs(ch2, 0.0,0.0);                 
 
                }  // End for loop
 
} // End main()
 
                // put a voltage v on a 3 Phase motor at specified commutation angle
 
                void Write3PH_DACs(CHAN *chx, float v, double angle_in_cycles)
 
                {
 
                float theta,sin1f;
                if (angle_in_cycles<0)
 
                                theta = 1.0f-fractionf(-angle_in_cycles);
 
                else
 
                                theta = fractionf(angle_in_cycles);
 
 
                DAC(chx->OutputChan0, (int)(v * Sine3PH(theta,&sin1f)));
                DAC(chx->OutputChan1, (int)(v * sin1f));
 
               }  // End Write3PH()

[TomKerekes]

Hi turbothis,

You might create User buttons to switch modes.

To use axis 2 as the A axis include it in the coordinate system with:
DefineCoordSystem(1,-1,0,2); // define which axes are in use

To use axis 2 as a Spindle remove it from the coordinate system with:
DefineCoordSystem(1,-1,0,-1); // define which axes are in use

To disable axis 2 which will force the DACs to 0 (add to the end of M5):
DisableAxis(SPINDLEAXIS);

To re-enable the axis (add to beginning of M3/M4):
EnableAxis(SPINDLEAXIS);

HTH

[turbothis]

awesome i will try this as soon as the new computer starts working up to speed again!
thanks a ton as always

[turbothis]

ok great that works 100%!
my new question is how do i have the 2 modes toggle and not both be on at the same time?
when i push the "turning" and then "indexing" user button all the servos will phase find and enable each time. when i go from one button to another the servos gives off its little fax machine whine until phase found.....

i think i need a "phase find" user button and then have the "turning" and "indexing" buttons just swap the

DefineCoordSystem(1,-1,0,2); and DefineCoordSystem(1,-1,0,-1);

can the user button and C code just say that????????

[TomKerekes]

Hi turbothis,

Correct you shouldn't need to re-initialize and phase find to only switch Spindle modes.

Every C program needs a "main" function to define where execution starts and ends. It also needs to include the KMotionDef.h header file to define to the compiler all the available functions and variables such as "DefineCoordSystem". So a minimal C Program to only change the Coordinated Motion System might be:

Code: Select all

#include "KMotionDef.h"

void main()
{
	DefineCoordSystem(1,-1,0,2);  // define the coordinate system
}