On my lathe the gearchange is automatically controlled but it behaves in
a similar way. If I tell it to change gear it commands a low speed,
waits for the spindle to decelerate then changes gear with the motor
turning slowly. It then winds back up to the commanded speed. I did it
mostly with ClassicLadder. There's quite a lot of ladder logic on this
machine.
Les
On 10/12/2017 01:44, Gene Heskett wrote:
Greeting;
But now I've violated one of my basic premises in that I did have a limit
setup to keep it from going above a 98% duty cycle, but thats now broken
for both speeds.
So now I take a year old printout, and compare it with a fresh one and
see where I broke it.
But all the hal code, with this exception, is working as I intended it to
work. The spindle speed also seems many times stiffer than before, using
an FF0 = 1.000 and an Igain much less than .01 so far. Thats a MAJOR
improvement. And the gear shifting help by running the motor at 15-20
rpms when the knob is not seated in a gear, but is turned on means I can
dial up a thousand revs, reach over and change the gears as the motor is
slowed to a creep long before the gear is disengaged, and slides right
into mesh in the other gear with the spindle coming back up to 1k rpms a
few milliseconds after the knob is seated under that switch. The pid_s
is disabled on purpose during the gear to gear transition, so theres no
windup to unwind. Sweet!
Cheers, Gene Heskett
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