Hi again
I have spent a few days reading all the manuals etc and studying the
various links you all passed on.
I decided that Kirks solution of a component written in C was most
viable for me.
In the interim I have written a G Code sub routine called m6 which does
the tool change and I just have to do a M6Tx to get the tool number set
correctly from the manual tool change module.
Gets me by for now.
Below is my idea of how I could achieve the tool change with a component
and the associated .hal entries.
Before I start trying to test it, I would be grateful if you could run
an eye over it and tell me if I am going in the right direction.
There could be an absolute howler in there and I currently am not far
enough up the learning curve to know it.
Also, does EMC or Axis store the current tool number somewhere that can
be read or will I have to implement some sort of .conf file to hold that
very necessary data?
With no encoder etc, the whole operation hinges on knowing the start point.
regards
ArcEye
/***************************************************************************************************
## .hal entries
loadusr -W hal_ATC
net tool-change iocontrol.0.tool-change => hal_ATC.0.toolchange
net tool-changed iocontrol.0.tool-changed <= hal_ATC.0.toolchanged
net tool-number iocontrol.0.tool-prep-number => hal_ATC.0.toolnumber
net move-to stepgen.3.position-cmd <= hal_ATC.0.steps
# signal apos-fb already declared in .hal (net apos-fb
stepgen.3.position-fb => axis.3.motor-pos-fb)
net apos-fb => hal_ATC.0.stepstaken
## unless need a tool-prepare signal this always connects straight back
to tool-prepared ##
net tool-prepare-loopback iocontrol.0.tool-prepare =>
iocontrol.0.tool-prepared
********************************************************************************************************/
/// ATC.comp
component ATC "This component controls the Auto Tool Changer. M6
calls this via net tool-change iocontrol.0.tool-change =>
hal_ATC.0.toolchange";
pin in bit toolchange "Receives signal from M6 that tool change required";
pin in s32 toolnumber "Receives Tx data from M6 (tool number
requested) Only allows 1-8";
pin in s32 stepstaken "Receives feedback from stepgen of position in
commanded units";
pin out s32 steps "Sends number required, positive for forward and
negative for backward, scale is 80 / mm on this setup";
pin out bit toolchanged "Sends signal when tool change finished";
param rw s32 currenttoolnumber "Holds current position - get from file?";
function _;
license "GPL";
;;
FUNCTION(_)
{
int moves, index;
bool bEven, bToggle;
moves = index = 0;
bEven = bToggle = false;
//TODO get current tool number
if(toolchange) // will receive input from stepgen.3.position-fb
even when ATC jogged externally but no toolchange requested
{
if(toolnumber != currenttoolnumber && toolnumber > 0 &&
toolnumber < 9) // if a valid number
{
if(currenttoolnumber == 2 || currenttoolnumber == 4 ||
currenttoolnumber == 6 || currenttoolnumber == 8)
bEven = true;
if(currenttoolnumber < toolnumber)
moves = toolnumber - currenttoolnumber;
else
moves = (8 - currenttoolnumber) + toolnumber;
bToggle = bEven;
while(index < moves)
{
if(bToggle)
steps = (24 * 80);
else
steps = (22.2 * 80);
index++;
bToggle = !bToggle;
while(steps > stepstaken)
usleep(1000 * 1000); // wait for move to happen
before next command
}
steps = (((moves / 2) + 1) * 80) * -1); // negative
figure to lock back against pawl
}
toolchanged = 1; // signal finished
}
//TODO set new tool number
}
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