Just looking now at other examples on the forum and I can't find anyone using position control
The step gen seems to be always set to velocity or mode 1 Like here https://www.forum.linuxcnc.org/media/kunena/attachments/26696/toolchange_index_2022-03-19.hal On Wed, 2 Oct 2024, 16:45 andrew beck, <andrewbeck0...@gmail.com> wrote: > also here is the relevant part of my config > > this is as simple as i can make it > > 1 sensor for index > > and just a step direction servo drive for movement > if anyone else has this working i would much appreciate it to see how > cheers > > # ---------- CAROUSEL TOOL CHANGER ---------- > net index carousel.0.sense-0 > net index hm2_7i92.0.7i77.0.0.input-12 > > > # Drive Setup > setp hm2_7i92.0.stepgen.00.dirsetup 5000 > setp hm2_7i92.0.stepgen.00.dirhold 5000 > setp hm2_7i92.0.stepgen.00.steplen 5000 > setp hm2_7i92.0.stepgen.00.stepspace 5000 > setp hm2_7i92.0.stepgen.00.position-scale 100 > setp hm2_7i92.0.stepgen.00.step_type 0 > setp hm2_7i92.0.stepgen.00.control-type 0 > setp hm2_7i92.0.stepgen.00.enable 1 > setp hm2_7i92.0.stepgen.00.maxaccel 300 > setp hm2_7i92.0.stepgen.00.maxvel 600 > > setp carousel.0.fwd-dc 0 > setp carousel.0.hold-dc 0 > setp carousel.0.rev-dc 0 > setp carousel.0.rev-pulse 0 > setp carousel.0.align-dc 0 > setp carousel.0.decel-time 0 > setp carousel.0.scale 100 > > > net carousel_position carousel.0.counts-target > hm2_7i92.0.stepgen.00.position-cmd > > > > > On Wed, Oct 2, 2024 at 3:00 PM andrew beck <andrewbeck0...@gmail.com> > wrote: > >> Hey Andy >> >> I got it compiled and rotating >> >> And homing >> >> But I'm getting a error message >> >> "The toolchanger has failed the final alignment check" >> >> Then when I turn the carousel enable off and back on the motor rotates a >> few pockets. And it keeps doing this. >> >> Do you have any ideas >> >> I'm loading the carousel component with >> Loadrt carousel pockets=16 dir=2 encoding=counts num-sense=1 >> >> And I have one sensor for home >> >> And feeding carousel.0.counts-target to hm2_7i92.0.stepgen.00.position-cmd >> >> And I have a step gen set up. >> >> Also when I trigger the carousel.0.jog-fwd it doesn't change. >> >> Cheers Andrew >> >> On Mon, 30 Sept 2024, 23:00 andy pugh, <bodge...@gmail.com> wrote: >> >>> On Mon, 30 Sept 2024 at 10:21, andrew beck <andrewbeck0...@gmail.com> >>> wrote: >>> >>> > but the motor just runs away and out of control >>> >>> Is the stepgen set up in velocity mode or position mode? >>> >>> It should be set up in position mode, with carousel.0.counts-target as >>> the position. And probably with a counts-scale of 1, if you have >>> position feedback. >>> >>> The component has grown so complicated that it probably needs a >>> special docs section, in addition to the manpage. >>> (Ironically I have never had a toolchanger, so my only experience is >>> second-hand other than the three toochangers I have worked on at >>> LinuxCNC fests) >>> >>> -- >>> atp >>> "A motorcycle is a bicycle with a pandemonium attachment and is >>> designed for the especial use of mechanical geniuses, daredevils and >>> lunatics." >>> — George Fitch, Atlanta Constitution Newspaper, 1912 >>> >>> >>> _______________________________________________ >>> Emc-users mailing list >>> Emc-users@lists.sourceforge.net >>> https://lists.sourceforge.net/lists/listinfo/emc-users >>> >> _______________________________________________ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
