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Spindle sync
** PRELIMINARY **
Spindle synced motion requires an encoder with two outputs, one generating one pulse per revolution (index) and one generating more than one per revolution (pulse).
$32 Mode of operation. This has to be set to 2 - lathe mode.
$38 Spindle PPR. Set to number of pulses per revolution (PPR) from the encoder.
$80 Spindle P gain. Control loop P gain. Typically set to 1 or more at the start of tuning.
$81 Spindle I gain. Control loop I gain. Typically set to a small value, start with 0 or 0.005.
$82 Spindle D gain. Control loop D gain. Typically set to 0.
$84 Spindle max error.
$85 Spindle max I error.
$341 Spindle at speed tolerance. Percent allowed deviation from progammed speed that is acceptable. If set to 0 ensure that the spindle has spun up before commanding spindle synced moves, e.g. by a G4 command.
The poition of the controlled point (tooltip) is constatly adjusted to keep it in sync with the angular position of the spindle. This is done via a PID control loop which has to be "tuned" to match the dynamic properties of the machine.
ioSender has a PID tuning tab for visualizing the system behaviour which greatly simplifies this task.
This is autmatically shown if PID logging is enabled in the controller.
Execute a G33 command to fill the log with data and then fetch it in the tab to see how close the actual position matches the programmed position over the move.
Adjust the PID parameters so that the actual position catches up as quicly as possible with the programmed position and then do not oscillate by any significant amount afterwards.
2023-06-01