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.

SEE ALSO

       motion(9)

NOTES

       The following pins are created depending the 'numgears=' 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=2 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 then the highest is selected.

AUTHOR

       Les Newell

LICENSE

       GPL