On Tue, 2008-08-05 at 12:35 -0300, juanjo wrote: > Hello Guys, Thanks you very much for your support. > > I not say "i not want to use Ladder" , i need program a control > routine to move the tool robot, due i not see a easy way to do > it in ladder (tranforming a Txx comand into a Cartesian coordinate > for example) the othe parts of the machine fit well in ladder like > tha Pallet changer or Doors logics. (for my HMM Huller nbh-150)
Like this one? http://www.mm-boerse.de/imgs/34398609_48fca1ad3a.jpeg > The Sinumeric Implementation, relly a 10% in ladder the remain > in S5 assembly (a hard one, i amaizing the complejized in this > programing lenguaje,by lucky i want to stay far away) I understand that this is a four (or really three motion controlled) axis horizontal mill with a Siemens controller which controls the axes, spindle, pallet, gantry tool changer, flood, etc. You plan on replacing the Sinumerik with EMC2? If so, is there something wrong with the Sinumerik or do you want the challenge of converting to EMC2? I suppose you have the X, Y, Z axes figured out? You mentioned that the Huller has linear scales, does it also have rotary encoders on the ballscrews? Some work has been done (Stewart?) to use both together. I assume you are using the existing servo drives? What kind of signals do they use? What about the spindle? Speed control should be easy, but you may need to figure out gear changes and spindle orientation for tool changes. Anything else that is controlled by an on/off signal should be straight forward. > Now i have the Racks of the sinumerik put side to side > to le EMC2 box, also i have a lot of Docs., and i try to > make a Diagram of the Control Routine. i have a 50% of the job > complete, but in the robotic part i get a wall. How does the tool changer work? I am guessing that it moves in one direction (X1) to engage a tool holder in the spindle, the tool is released, the changer moves in another direction (Y1) to extract the tool holder from the spindle, then moves in X1 to a tool pocket, Y1 to park it, and X1 to release. So X1, Y1 movement controls all tool change functions? Do you have a carousel? If so, the spindle and the pocket positions are always the same? If this is the case, then motion control isn't needed and should be straight forward for EMC2. > Also i study to put another EMC2 box controlling only the Robot > and sinchonizing via a serial comunications (so i need to write a > special comunications routine to comunicate the Boxs, and "C" come > again to mind). I would think that both EMC2 PC's could talk through Ethernet. I have bit-banged SPI (serial) which seems to work well, and there is some work being done on MODbus (Ethernet and serial). > The "B" axis is another pain. > Due is a Hirt ring system, i need to lift the table before to Rotate > to the commanded value, so i need to "trap" the rotate table, as i no > nned to interpolate this axis, i study to make a subroutine to do the > job. So you don't have a real B axis? This is a positioner for a tombstone? If so, it may work like my lathe tool changer, which has raise/rotate and stop/lower signals controlled by a four bit encoder signal. > So... i read the Integrator manual, and try to write a simple routine > to test my ideas. > > Any idea is wellcome > > Thanks Again > > Juanjo I think the main idea is that as long as something can be controlled by one or more on/off signals with or without timing constraints, EMC2's IO features can control it through C, Python, Ladder, etc. If you need to do real motion control (position, velocity, acceleration), currently the only way to do this is through g-codes, which most likely, is not practical. Getting a _good_ understanding of how your subsystems work is key. -- Kirk Wallace (California, USA http://www.wallacecompany.com/machine_shop/ Hardinge HNC/EMC CNC lathe, Bridgeport mill conversion, doing XY now, Zubal lathe conversion pending Craftsman AA 109 restoration Shizuoka ST-N/EMC CNC) ------------------------------------------------------------------------- This SF.Net email is sponsored by the Moblin Your Move Developer's challenge Build the coolest Linux based applications with Moblin SDK & win great prizes Grand prize is a trip for two to an Open Source event anywhere in the world http://moblin-contest.org/redirect.php?banner_id=100&url=/ _______________________________________________ Emc-users mailing list [email protected] https://lists.sourceforge.net/lists/listinfo/emc-users
