A separate Stepgen configured in Hal, setup in position mode, which is driven by Classic Ladder should work.
ClassicLadder can monitor hal pins set by an Mcode (you can access the M6 tool change hal pins via classic ladder and the hal configuration file) and then respond by swinging the tool changer. If the changer has some position feedback via Prox switches, etc. Classicladder could determine where it is and where it needs to go and then spin the step gen up or down to drive the stepper motor. The ClassicLadder and Hal combination is very powerful and reliable. Dave On 7/25/2010 1:44 PM, John Prentice wrote: > ----- Original Message ----- > From: "Chris Radek"<ch...@timeguy.com> > <snip> > >> I admit that I don't quite see how these tool changers are supposed to >> work. When the stepper backs up against the stop, doesn't it stall >> and lose position? Is there some kind of feedback available? When >> you start up, how do you know what position it's in? >> >> I have never seen a machine with a tool changer that operates like >> this. >> >> > Boxford in UK used this for small and medium sized changers. > > For an 8 position turret you have a ratchet with 8 teeth and a spring-loaded > pawl. Assuming you know where you are now (say tool 2) and each click needs > 100 steps. > > To move to tool 5 you output 330 steps. You now know that ratchet is about > 30 steps after a "click". Send 40 reverse steps. The stepper stalls, as you > say, but you are in the known position for tool 5. Next move to say tool 6 > just outputs 130 steps forward and 40 back. > > John Prentice > > > > > ------------------------------------------------------------------------------ > This SF.net email is sponsored by Sprint > What will you do first with EVO, the first 4G phone? > Visit sprint.com/first -- http://p.sf.net/sfu/sprint-com-first > _______________________________________________ > Emc-users mailing list > Emc-users@lists.sourceforge.net > https://lists.sourceforge.net/lists/listinfo/emc-users > > ------------------------------------------------------------------------------ This SF.net email is sponsored by Sprint What will you do first with EVO, the first 4G phone? Visit sprint.com/first -- http://p.sf.net/sfu/sprint-com-first _______________________________________________ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
