spindle - Control a spindle with different acceleration and deceleration and optional gear change scaling
loadrt spindle [count=N|names=name1[,name2...]]
This component will control a spindle with adjustable acceleration and deceleration.
component is unfortunately named and creates pins with
names very much like those created by the motion component
In nearly every case this is not the documentation page that you are
looking for. See
It is designed for use with non-servo spindle drives that have separate fwd/reverse inputs, such as DC drives and inverters. If a spindle encoder is available it is used to tailor the acceleration and deceleration to the spindle load. If not the spindle speed is simulated. The component allows for gearboxes with up to 16 gears. Each gear has individual control of speeds, acceleration, driver gain and direction.
spindle.N (requires a floating-point thread)
spindle.N.select-gear u32 in
Select a gear. Must be in the range 0 -> number of available gears -1. If you use this, do not use the select.x input pins.
spindle.N.commanded-speed float in
Commanded spindle speed (in RPM)
spindle.N.actual-speed float in
Actual spindle speed from a spindle encoder (in RPS) If you do not have a spindle encoder set the simulate_encoder parameter to 1
spindle.N.simulate-encoder bit in
If you do not have an encoder, set this to 1
spindle.N.enable bit in
If FALSE, the spindle is stopped at the gear’s maximum deceleration
spindle.N.spindle-lpf float in
Smooth the spindle-rpm-abs output when at speed. 0 = disabled. Suitable values are probably between 1 and 20 depending on how stable your spindle is
spindle.N.spindle-rpm float out
Current spindle speed in RPM.+ve = forward, -ve = reverse. Uses the encoder input if available. If not, uses a simulated encoder speed.
spindle.N.spindle-rpm-abs float out
Absolute spindle speed in RPM. Useful for spindle speed displays
spindle.N.output float out
spindle.N.current-gear u32 out
Currently selected gear.
spindle.N.at-speed bit out
TRUE when the spindle is at speed
spindle.N.forward bit out
TRUE for forward rotation
spindle.N.reverse bit out
TRUE for reverse rotation. Both forward and reverse are false when the spindle is stopped.
spindle.N.brake bit out
TRUE when decelerating
spindle.N.zero-speed bit out
TRUE when the spindle is stationary
spindle.N.limited bit out
TRUE when the commanded spindle speed is >max or <min.
The following pins are created depending the ’gears=’ parameter.
One of each pin is created for
each gear. If no gears are specified then one gear will be
created. For instance if you have gears=1 on your command
line, you will have two scale pins:
spindle.N.scale.x float in
Scale the output. For multiple gears you would use a different scale for each gear. If you need to reverse the output for some gears, use a negative scale.
spindle.N.min.x float in
Set the minimum speed allowed (in RPM). The limit output will be TRUE while the commanded speed is between 0 RPM and the min speed.
spindle.N.max.x float in
Set the maximum speed allowed (in RPM). The limit output will be TRUE while the commanded speed is above this value
spindle.N.accel.x float in
Set the maximum acceleration. If you do not have a spindle encoder this is in RPM/second. If you do have an encoder the output is the actual speed plus this value. This way the acceleration can be dependent on the spindle load.
spindle.N.decel.x float in
Set the minimum deceleration. If you do not have a spindle encoder this is in RPM/second. If you do have an encoder the output is the actual speed minus this value.
spindle.N.speed-tolerance.x float in
Tolerance for ’at-speed’ signal (in RPM). Actual spindle speeds within this amount of the commanded speed will cause the at-speed signal to go TRUE.
spindle.N.zero-tolerance.x float in
Tolerance for ’zero-speed’ signal (in RPM).
spindle.N.offset.x float in
The output command is offset by this amount (in RPM).
spindle.N.select.x bit in
Selects this gear. If no select inputs are active, gear 0 is selected. If multiple select inputs are active the highest is selected.