Open jschoch opened 6 months ago
wezhunter
commented
5 months ago Initial Axis Encoder support has been added, yet to be committed to the repo. Spindle and lathe motor encoder support will use the same foundation but decoupled from the motion engine and with configurable host (LCNC) frequency update rate (10ms to 2000ms).
See initial proof of concept here: https://youtu.be/yj95752KbJ4
jschoch
commented
5 months ago very cool!
how is the latency for the udp over usb? I didn't think usb was viable for realtime....
Also, this is great for closed loop motion, but spindle encoder also typically needs an index pulse and it needs to have a LCNC component to help calculate velocity. You aren't trying to control the spindle position so much as map the Z axis to the spindle movement. There doesn't need to be a closed loop velocity between the spindle and the spindle motor.
wezhunter
commented
5 months ago Thanks for the info. Yeah I'm aware of the required indexing :) That will be included since it involves using the same underlying framework. Ideally including lathe motor/mill spindle RPM is best, for those that have encoders, including index, to ensure it's operating within spec. Since it's possible to include it - then why not?
wezhunter
commented
5 months ago Regarding the latency over USB please could you ask the question over in the open UDP issue so others who visit this project can see it? Thanks :)
jschoch
commented
5 months ago maybe just this links them
https://github.com/wezhunter/ESP32_LinuxCNC_MotionController_RealTime/issues/14
Encoder should update counts ( int64 would be nice) as well as send velocity units so that G96 can work.
remora has encoders as does linuxcnc-rio for reference.
PCNT could be used but it is limited to int32 AFAIK. It is polling, and wouldn't work for my ELS but i don't think linuxcnc needs super fast updates for velocity and maybe not for position (G33)