idk why lathe changes

[TomKerekes]

No

You've included CSSJog.c and also pasted its contents. Only Include it.

You have 2 main() functions. There must only be one. main() is where the program starts. There can be only one starting place for a program.

Code is incorrectly indented making it hard to understand or read. Use Auto Indent to clean it up.

[turbothis]

gotcha
Can grounding the E stop from the servo amp to the electronics case bring in noise?
getting some nice run off on Z axis in the Z negative direction only
even after the MaxFollowingError=5000 trips
X axis works great

[turbothis]

anything else i should do to the init or is it runnable for spindle turning?

Code: Select all

#include "KMotionDef.h"
#include "MySpindleDefs.h"
#include "CSSJog.c"


int main() {

    // X axis
    
	ch0->InputMode=ENCODER_MODE;
	ch0->OutputMode=DAC_SERVO_MODE;
	ch0->Vel=80000;
	ch0->Accel=5e+07;
	ch0->Jerk=5e+07;
	ch0->P=5;
	ch0->I=0;
	ch0->D=20;
	ch0->FFAccel=0;
	ch0->FFVel=0;
	ch0->MaxI=200;
	ch0->MaxErr=200;
	ch0->MaxOutput=2000;
	ch0->DeadBandGain=1;
	ch0->DeadBandRange=0;
	ch0->InputChan0=0;
	ch0->InputChan1=0;
	ch0->OutputChan0=0;
	ch0->OutputChan1=0;
	ch0->MasterAxis=-1;
	ch0->LimitSwitchOptions=0x100;
	ch0->LimitSwitchNegBit=0;
	ch0->LimitSwitchPosBit=0;
	ch0->SoftLimitPos=1e+09;
	ch0->SoftLimitNeg=-1e+09;
	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=1;
	ch0->Lead=0;
	ch0->MaxFollowingError=1000000000;
	ch0->StepperAmplitude=250;

	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;
    
    // Z axis
    
	ch1->InputMode=ENCODER_MODE;
	ch1->OutputMode=DAC_SERVO_MODE;
	ch1->Vel=80000;
	ch1->Accel=5e+07;
	ch1->Jerk=5e+07;
	ch1->P=10;
	ch1->I=0;
	ch1->D=20;
	ch1->FFAccel=0;
	ch1->FFVel=0;
	ch1->MaxI=200;
	ch1->MaxErr=200;
	ch1->MaxOutput=2000;
	ch1->DeadBandGain=1;
	ch1->DeadBandRange=0;
	ch1->InputChan0=1;
	ch1->InputChan1=0;
	ch1->OutputChan0=1;
	ch1->OutputChan1=0;
	ch1->MasterAxis=-1;
	ch1->LimitSwitchOptions=0x114;
	ch1->LimitSwitchNegBit=11;
	ch1->LimitSwitchPosBit=0;
	ch1->SoftLimitPos=1e+09;
	ch1->SoftLimitNeg=-1e+09;
	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=1;
	ch1->Lead=0;
	ch1->MaxFollowingError=5000;
	ch1->StepperAmplitude=250;

	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=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=0;
	ch2->OutputChan0=2;
	ch2->OutputChan1=0;
	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(0);
    EnableAxis(1);
    EnableAxis(2);
    
	DefineCoordSystem(0,-1,1,-1);
  }

[turbothis]

ok i got the spindle performing well
the only issue is i have to double push the CW/CCW buttons to work

which ever button i push first is the way it will rotate. (first push does nothing but pick which way to rotate)
the second time i push one of the buttons it will turn on spindle. ( this can be either CW or CCW as the first button push locks in which direction to rotate)

my CW

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[SPEEDVAR];  // value stored is actually a float 
	int LastState = persist.UserData[STATEVAR];  // get last state 

	if (CS0_axis_a == -1 && !ch2->Enable)		// is A axis not defined in the Coordinate System and not enabled?
		EnableAxis(2);			// yes, enable the axis

	
	if (LastState==-1)  
	{
		// if spindle was CCW now we want CW 
		// spin down
		
		ClearBit(SPINDLECW_BIT);
		ClearBit(SPINDLECCW_BIT);
		Jog(SPINDLEAXIS,0);
		while (!CheckDone(SPINDLEAXIS)) ;
	}
	
	// turn spindle on CW and ramp to new speed
	SetBit(SPINDLECW_BIT);
	
	
	LastState = 1;          														 //  Add string
	
	
	if (*css_mode != 2)
	{
		// 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);
	}
	persist.UserData[STATEVAR] = 1;  // remember we are CW
}

my CCW

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[SPEEDVAR];  // value stored is actually a float 
	int LastState = persist.UserData[STATEVAR];  // get last state 
	
		if (CS0_axis_a == -1 && !ch2->Enable)		// is A axis not defined in the Coordinate System and not enabled?
		EnableAxis(2);			// yes, enable the axis
	
	if (LastState==1)  
	{
		// if spindle was CW now we want CCW 
		// spin down
		
		ClearBit(SPINDLECW_BIT);
		ClearBit(SPINDLECCW_BIT);
		Jog(SPINDLEAXIS,0);
		while (!CheckDone(SPINDLEAXIS)) ;
	}
	
	// turn spindle on CCW and ramp to new speed
	SetBit(SPINDLECCW_BIT);
	
	LastState = -1;
	
	if (*css_mode != 2)
	{
		// 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);
	}	
	persist.UserData[STATEVAR] = -1;  // remember we are CCW
}

my jog

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 
	int  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);
}

my off

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

	ClearBit(SPINDLECW_BIT);
	ClearBit(SPINDLECCW_BIT);
	Jog(SPINDLEAXIS, 0);
	printf("Jogging Spindle Stop\n");
	persist.UserData[STATEVAR] = 0;	// remember we are Off
	while (!CheckDone(SPINDLEAXIS));
	if (CS0_axis_a == -1)		// is A axis not defined in the Coordinate System?
		DisableAxis(2);			// yes, disable the axis, otherwise leave it enabled
}

[turbothis]

sigh....
so i just tried some other C code examples that did the same double push thing
i re-load my own ones i posted above and now it works perfect
this is what blows my mind.

i am about to get a go pro camera and film what happens

[turbothis]

ok, i got another used AMC drive ( 250$ ebay ) and the Z axis works as it should again!
everything works.
stoked

[TomKerekes]

Congrats you are persistent.

[turbothis]

i take pride in completion.