Yishin Li wrote: > We don't have a spindle in our Lab. We've quoted a 80-mm motor spindle > with encoder for position control. However, it costs $3500, which is beyond > our budget. > > What kind of spindle is required for verifying above tests? > We'd like to know the most economic ones. > Or, we would be great appreciate if the community would be willing to > donate us a spindle for this development. > set up a step generator in HAL, it doesn't even have to connect to outside-world pins. Set the step generator to produce wave output, and operate in velocity mode. This is one of the options. This mode produces a signal exactly the same as a quadrature encoder. Now, feed the wave outputs to the HAL encoder component's A and B inputs. The only other thing to do would be to create an index pulse. What I'd do there is run the position through a modulo function and make it trip the Z encoder input when the modulo of the step gen position is zero. This ought to be a very good simulation of a spindle.
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