Turning a Mill into CNC to help with an electric car conversion

[Wetmelon]

@Dev255

The spindle is still in position control (don’t mock me too much) although the AMT102 is set to 384 CPR, so a long lasts 16.9 hours at 5500RPM or 31 hours at 3000 RPM. I will look into velocity control but can’t seem to find out how to do it on 4.11 firmware.

Pretty sure it’s the same as before? odrv0.axis0.controller.config.control_mode = CTRL_MODE_VELOCITY_CONTROL (which is mode 2) Then you set vel_setpoint

[Dev255]

Hi @Wetmelon, thank you, I will have a play with that, I may upgrade the firmware as I like the idea of the filters between input command and cascade system, although that’s a lot of code change on my part which I didn’t have time before the event.

Is there a link still to the old documentation for 4.11 as my link on my desktop no longer works?

Thank you again,

Neil.

[Dev255]

Ah, I was typing this: -
odrv0.axis0.controller.config.control_mode = CONTROL_MODE_VELOCITY_CONTROL

And not: -

@Wetmelon

odrv0.axis0.controller.config.control_mode = CTRL_MODE_VELOCITY_CONTROL

Haha, thank you.