I have read the message about a custom toolchanger: http://sourceforge.net/mailarchive/message.php?msg_id=47E551A7.7040908%40sover.net
We plan to implement a toolchanger by moving the spindle to a fixed location and then use the spindle motor at low rpm to perform the toolchange using a solenoid to secure the toolchanger fixed to the spindle. The tools would be in a linear rack with springs in the base. The procedure would be something like this: Receive change command: net tool-change iocontrol.0.tool-change => myprogram.change net tool-number iocontrol.0.tool-prep-number => myprogram.number If there is no current tool in the spindle: 1 Lookup the position of the tool 2 Perform a linear move the spindle in z to a safe position 3 Perform a linear move the spindle in x and y to the position of the tool 4 Perform a linear move in z to the position of the tool 5 Turn on Solenoid 6 Rotate spindle until torque limit reached, tool now gripped 7 reverse of movements 4,3,2 Inform emc that the tool has been prepared net tool-changed iocontrol.0.tool-changed <= myprogram.changed What does this line do? net tool-prepare-loopback iocontrol.0.tool-prepare => iocontrol.0.tool-prepared Do I need to set this using the program or is the loopback setting ok. How can you override the emc g code control of the motion and send these custom linear movement commands, temporarily? I have looked at the file tp.c, but am not sure how to call it or whether calling it will interfere with emc motion control. * Trajectory planner based on TC elements http://cvs.linuxcnc.org/cgi-bin/cvsweb.cgi/emc2/src/emc/kinematics/tp.c?rev=1.86.2.2;content-type=text%2Fplain int tpAddLine(TP_STRUCT * tp, EmcPose end, int type, double vel, double ini_maxvel, double acc, unsigned char enables) Hope someone can help out. Any code we write will be contributed back to the community. Thanks in advance. -- Andrew Bailey ------------------------------------------------------------------------- Sponsored by: SourceForge.net Community Choice Awards: VOTE NOW! Studies have shown that voting for your favorite open source project, along with a healthy diet, reduces your potential for chronic lameness and boredom. Vote Now at http://www.sourceforge.net/community/cca08 _______________________________________________ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
