NAME

       spindle - Control a spindle with different acceleration and deceleration and optional gear
       change scaling

SYNOPSIS

       loadrt spindle [count=N|names=name1[,name2...]]

DESCRIPTION

       This component will control a spindle with adjustable acceleration and deceleration.

        NOTE: This 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
        http://linuxcnc.org/docs/html/man/man9/motion.9.html instead.

       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.

FUNCTIONS

       spindle.N (requires a floating-point thread)

PINS

       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
              Scaled output

       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.

NOTES

       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.0
               spindle.N.scale.1

       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.

LICENSE

       GPL