HAL Component — ORIENT
INSTANTIABLE COMPONENTS — General
All instantiable components can be loaded in two manners
Using loadrt with or without count= | names= parameters as per legacy components
Using newinst, which names the instance and allows further parameters and arguments
primarily pincount= which can set the number of pins created for that instance (where applicable)
orient — Provide a PID command input for orientation mode based on current spindle position, target angle and orient mode
newinst orient <newinstname> [ pincount=N | iprefix=prefix ] [instanceparamX=X | argX=X ]
( args in [ ] denote possible args and parameters, may not be used in all components )
This component is designed to support a spindle orientation PID loop by providing a command value, and fit with the motion spindle-orient support pins to support the M19 code.
The spindle is assumed to have stopped in an arbitrary position. The spindle encoder position is linked to the \fBposition\fR pin. The current value of the position pin is sampled on a positive edge on the \fBenable\fR pin, and \fBcommand\fR is computed and set as follows: floor(number of full spindle revolutions in the \fBposition\fR sampled on positive edge) plus \fBangle\fR/360 (the fractional revolution) +1/-1/0 depending on \fBmode\fR.
The \fBmode\fR pin is interpreted as follows:
0: the spindle rotates in the direction with the lesser angle, which may be clockwise or counterclockwise.
1: the spindle rotates always rotates clockwise to the new angle.
2: the spindle rotates always rotates counterclockwise to the new angle.
On \fBmotion.spindle-orient\fR disconnect the spindle control and connect to the orient-pid loop:
loadrt orient names=orient .br loadrt pid names=orient-pid .br net orient-angle motion.spindle-orient-angle orient.angle .br net orient-mode motion.spindle-orient-mode orient.mode .br net orient-enable motion.spindle-orient orient.enable orient-pid.enable .br net spindle-pos …encoder..position orient.position orient-pid.feedback .br net orient-command orient.command orient-pid.command .br
orient.N.funct ( OR <newinstname>.funct (requires a floating-point thread) )
Update \fBcommand\fR based on \fBenable\fR, \fBposition\fR, \fBmode\fR and \fBangle\fR.
orient.N.enable bit in ( OR <newinstname>.enable bit in ) - enable angular output for orientation mode
orient.N.mode s32 in ( OR <newinstname>.mode s32 in ) - 0: rotate - shortest move; 1: always rotate clockwise; 2: always rotate counterclockwise
orient.N.position float in ( OR <newinstname>.position float in ) - spindle position input, unit 1 rev
orient.N.angle float in ( OR <newinstname>.angle float in ) - orient target position in degrees, 0 ⇐ angle < 360
orient.N.command float out ( OR <newinstname>.command float out ) - target spindle position, input to PID command
orient.N.poserr float out ( OR <newinstname>.poserr float out ) - in degrees - aid for PID tuning