From 5718f0bbf7bce5bbac9196f411027800fb8d6149 Mon Sep 17 00:00:00 2001
From: electrolab <electrolab@Maurice.hq.electrolab.fr>
Date: Thu, 20 Oct 2022 17:37:04 +0200
Subject: [PATCH] Atv-vfd connections correcting threading adding relays for
 hydraulics and lubrication

---
 atv_vfd.hal               | 13 +++++++++++--
 lathemacros/threading.ngc | 16 ++++++++--------
 maurice.hal               |  5 ++++-
 mb2hal.ini                |  3 ++-
 mesa.hal                  |  6 +++---
 5 files changed, 28 insertions(+), 15 deletions(-)

diff --git a/atv_vfd.hal b/atv_vfd.hal
index d5bb925..b59554d 100644
--- a/atv_vfd.hal
+++ b/atv_vfd.hal
@@ -1,3 +1,12 @@
+loadrt mult2 names=ATV_coef
+
+addf ATV_coef servo-thread
+
+# ---magic constant to uncompensate slip---
+
+net spindle-vel-cmd-rpm			ATV_coef.in0			
+setp ATV_coef.in1 			0.97
+
 # ---setup spindle control signals---
 
 net spindle-vel-cmd-rps			spindle.0.speed-out-rps
@@ -16,6 +25,6 @@ net spindle-index-enable		spindle.0.index-enable
 net state-op				atv_vfd.enable
 net MachineIsOn				atv_vfd.machine-on
 
-net spindle-vel-cmd-rpm			atv_vfd.speed-command
+net ATV_correct_speed			ATV_coef.out atv_vfd.speed-command
 net spindle-enable			atv_vfd.spindle-on
-net Estop				atv_vfd.is-estop
\ No newline at end of file
+net Estop				atv_vfd.is-estop
diff --git a/lathemacros/threading.ngc b/lathemacros/threading.ngc
index f50e888..e38a10b 100644
--- a/lathemacros/threading.ngc
+++ b/lathemacros/threading.ngc
@@ -36,7 +36,7 @@ G4 P2         ; Wait to reach speed
 #<height> = [0.86603 * #<pitch>]
 #<majorflat> = [#<height> * 0.125]
 #<minorflat> = [#<height> * 0.250]
-#<threaddepth> = [#<height> * 0.625]
+#<threaddepth> = [#<height> -0.06]
 ;(DEBUG,#<height> #<majorflat> #<minorflat> #<threaddepth>)
 
         O200 if [#<_metric>]
@@ -71,14 +71,14 @@ G95 F#<flatfeed> ; Feed-Per-Rev Mode
             ; cut the major diameter
             (DEBUG,EXTERNAL Threading thread dia-#<X_coord> startZ-#<starting_Z> finishZ-#<Z_coord> Pitch-#<pitch> Tool-#<tool_number> MF #<majorflat>)
             G0 Z #<starting_Z>
-            G0 X #<X_coord>
-            G1 X [#<X_coord> - #<majorflat>]
-            G1 Z #<Z_coord>
-            G0 X #<X_coord>
+            G0 X [#<X_coord> +1]
+            ;G1 X [#<X_coord> - #<majorflat>]
+            ;G1 Z #<Z_coord>
+            ;G0 X #<X_coord>
             G0 Z #<starting_Z>
-            G96 D1000 S#<feed_rpm> ; limit RPM in threading mode
-			G4 p2
-            G76 P#<pitch> Z#<Z_coord> i[-#<majorflat>] j#<cutdepth> k#<threaddepth> H3 R1.5 Q29.5 E0 L0
+            ;G96 D1000 S#<feed_rpm> ; limit RPM in threading mode
+			G97 S1000
+            G76 P#<pitch> Z#<Z_coord> i-1 j#<cutdepth> k#<threaddepth> H2 R1.5 Q29.5 E0 L0
             G0 X [#<X_coord> + 0.5]
         O300 endif
 		;(DEBUG,Test4)
diff --git a/maurice.hal b/maurice.hal
index aa2d811..22c44f9 100644
--- a/maurice.hal
+++ b/maurice.hal
@@ -13,6 +13,7 @@ loadrt weighted_sum wsum_sizes=4,4,2
 loadrt conv_s32_float count=3
 loadrt scale names=FeedScale,RapidScale,SpindleScale
 loadrt and2 names=EstopAnd
+loadrt not names=EstopNot
 
 loadusr atv_vfd -r 38400 -p even
 
@@ -26,6 +27,7 @@ addf FeedScale servo-thread
 addf RapidScale servo-thread
 addf SpindleScale servo-thread
 addf EstopAnd servo-thread
+addf EstopNot servo-thread
 #loadusr halui -ini maurice.ini
 #loadusr io
 
@@ -35,7 +37,8 @@ addf EstopAnd servo-thread
 
 net state-op    => 	EstopAnd.in0
 net STBEstop		EstopAnd.in1
-net Estop-and-out	EstopAnd.out iocontrol.0.emc-enable-in
+net Estop-and-out	EstopAnd.out iocontrol.0.emc-enable-in EstopNot.in
+net Estop		EstopNot.out
 
 
 #==========================================
diff --git a/mb2hal.ini b/mb2hal.ini
index 33d4d53..31caf77 100644
--- a/mb2hal.ini
+++ b/mb2hal.ini
@@ -206,7 +206,8 @@ HAL_MAP_PIN=ChuckOpen, 1, bit, 5
 HAL_MAP_PIN=MachineReady, 2, bit, 0
 HAL_MAP_PIN=ServoPower, 2, bit, 1
 
-#HAL_MAP_PIN=test2, 3, bit, 0
+HAL_MAP_PIN=HydraulicPump, 3, bit, 0
+HAL_MAP_PIN=LubricationPump, 3, bit, 0
 
 MAX_UPDATE_RATE=0.0
 DEBUG=1
diff --git a/mesa.hal b/mesa.hal
index 186f8ef..653feb6 100644
--- a/mesa.hal
+++ b/mesa.hal
@@ -5,7 +5,7 @@ loadrt mux8 names=mpg
 loadrt abs count=1
 loadrt near names=atspeed
 
-addf hm2_5i24.0.read 	servo-thread
+addf hm2_5i24.0.read	servo-thread
 addf hm2_5i24.0.write	servo-thread
 addf mpg		servo-thread
 addf atspeed		servo-thread
@@ -40,7 +40,7 @@ addf abs.0		servo-thread
 #net spindle-vel-cmd-rpm		hm2_5i24.0.pwmgen.00.value
 #net spindle-enable		hm2_5i24.0.pwmgen.00.enable
 
-setp 				hm2_5i24.0.encoder.00.scale 4096
+setp				hm2_5i24.0.encoder.00.scale 4096
 net spindle-revs		hm2_5i24.0.encoder.00.position
 net spindle-vel-fb-rps		hm2_5i24.0.encoder.00.velocity
 net spindle-vel-fb-rpm		abs.0.in hm2_5i24.0.encoder.00.velocity-rpm
@@ -73,4 +73,4 @@ net JogScale			mpg.out
 setp				hm2_5i24.0.encoder.01.scale 4
 net JogCount			hm2_5i24.0.encoder.01.count
 net JogScale			joint.0.jog-scale joint.2.jog-scale
-net JogCount			joint.0.jog-counts joint.2.jog-counts
\ No newline at end of file
+net JogCount			joint.0.jog-counts joint.2.jog-counts
-- 
GitLab