Moderators: TomKerekes, dynomotion
Code: Select all
#include "KMotionDef.h"
#include "MySpindleDefs.h"
int *css_mode = &persist.UserData[PC_COMM_CSS_MODE]; // Mode 1=Normal RPM mode. 2=CSS
// 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()
{
float speed = *(float *)&persist.UserData[KMVAR]; // value stored is actually a float
float LastState = persist.UserData[STATEVAR]; // get last state
persist.UserData[SPEEDVAR] = persist.UserData[KMVAR]; // Always save the last desired speed
if (LastState==0 || *css_mode == 2)
{
// if spindle is off (or CSS mode) and User Changes the speed
// just save the desired speed
return 0;
}
// spindle is already on, so ramp to new speed
if (USE_POS_NEG_VOLTAGE)
Jog(SPINDLEAXIS,speed * FACTOR * LastState);
else
Jog(SPINDLEAXIS,speed * FACTOR);
printf("Jogging Spindle %f counts/sec\n",speed * FACTOR);
}
Code: Select all
#include "KMotionDef.h"
void main()
{
// A axis / spindle
ch2->InputMode=ENCODER_MODE;
ch2->OutputMode=DAC_SERVO_MODE;
ch2->Vel=300000;
ch2->Accel=80000;
ch2->Jerk=150000;
ch2->P=10;
ch2->I=0;
ch2->D=10;
ch2->FFAccel=0;
ch2->FFVel=0;
ch2->MaxI=200;
ch2->MaxErr=1e+06;
ch2->MaxOutput=2000;
ch2->DeadBandGain=1;
ch2->DeadBandRange=0;
ch2->InputChan0=2;
ch2->InputChan1=2;
ch2->OutputChan0=7;
ch2->OutputChan1=4;
ch2->MasterAxis=-1;
ch2->LimitSwitchOptions=0x100;
ch2->LimitSwitchNegBit=0;
ch2->LimitSwitchPosBit=0;
ch2->SoftLimitPos=1e+30;
ch2->SoftLimitNeg=-1e+30;
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=1;
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;
DefineCoordSystem(1,-1,0,-1); // define the coordinate system
}
Code: Select all
#include "KMotionDef.h"
void main()
{
// A axis / spindle
ch2->InputMode=ENCODER_MODE;
ch2->OutputMode=DAC_SERVO_MODE;
ch2->Vel=100000;
ch2->Accel=300000;
ch2->Jerk=3e+06;
ch2->P=30;
ch2->I=0.001;
ch2->D=20;
ch2->FFAccel=0;
ch2->FFVel=0;
ch2->MaxI=200;
ch2->MaxErr=1e+06;
ch2->MaxOutput=2000;
ch2->DeadBandGain=1;
ch2->DeadBandRange=0;
ch2->InputChan0=2;
ch2->InputChan1=2;
ch2->OutputChan0=7;
ch2->OutputChan1=4;
ch2->MasterAxis=-1;
ch2->LimitSwitchOptions=0x100;
ch2->LimitSwitchNegBit=0;
ch2->LimitSwitchPosBit=0;
ch2->SoftLimitPos=1e+30;
ch2->SoftLimitNeg=-1e+30;
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=1;
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;
EnableAxis(2);
DefineCoordSystem(1,-1,0,2); // define the coordinate system
}
Code: Select all
#define SPINDLEAXIS 2 // Axis Channel to Jog to rotate Spindle
#define FACTOR (2000/60.0) // 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
No. Its only one bit going into KFLOP JP7 Bit 36spindle Z to A4+ and A4- ( bits 8 and 9? )
That depends on how your Spindles have an on/off input and +/- 10V to control speed and direction. Some have 2 inputs: on-forward and on-reverse to control direction and 0-10V to control speedi dont really under stand the SpindleOnJog examples as the 3 of them all seem to do something with ClearBit(154); ClearBit(155);
with using DAC output there is no need for any FET bit toggling right?
idk what is your Init Program doing? Post it. What are the Position values on the KMotion.exe Axis Screen?likely jumping the gun but wondering why i can "init" and have encoders read position zero and then when i push either turn or index button i get a new encoder position?
i mean neither index or turn have a set position type command in there right?
