Re: [Machinekit] Re: how to add toolchanger funtion to BBB with Xylotex cape

[schoone...@btinternet.com]

On 07/12/16 03:27, Mike Ross wrote: By defining the axis as a LINEAR axis in the ini, and by messing just a little with toolchanger.comp (removed the adjusting for greater than 360 degrees - just let it accumulate) I am able to get repeatable tool changes for hundreds of tool changes - more than I expect would ever happen in a session. I prefer this method to using degrees of rotation too, it is simpler and should be bullet proof.  As a hobby / weekend warrior I tend to shut my machines down quite regularly.  It may be that after several hundred (thousand) tool changes the toolchanger will try and reset or overflow its position but I'm good with it as is now. If you made the accumulation variable an unsigned long int and the move between tool positions was 1000 machine units (extremely unlikely, more like 100) that would still give you 4 million tool moves before overflow! Probably enough for the lifetime of the machine.   I'll try and post this weekend the working files for anybody interested - the Beaglebone is terrible to use for internet connectivity so I tend to post from my main pc,,,, Mike On Saturday, December 3, 2016 at 2:07:51 AM UTC-5, Schooner wrote: There is an inherent problem with rotary axes when moving to absolute positions, that they will try to take the shortest path. I prevented this in another component, by making the axis a linear one and by trial and error getting the linear distance command that equated to the rotation required and using this figure instead of degrees. It just requires holding a cumulative total and incrementing or decrementing as required. You probably need to debug by checking the pin values over a series of moves and check when this occurs and whether the amended calculation for rolling over at 360 degrees is working, but the above is another way regards On 03/12/2016 03:07, Mike Ross wrote: Ok, I still have a small issue with the toolchanger I'm trying to sort out - again pointers on where to look or how to troubleshoot are appreciated. It seems that either after many tool changes or many tool positions (i.e T1 to T6, then to T5, etc) it attempts to drive in the wrong direction. I'll try and figure this one out but I'm afraid its in the toolchanger.comp code... I'm going to write a simple program that cycles the tool change and see if I can get a repeatable result. Mike -- website: http://www.machinekit.io blog: http://blog.machinekit.io github: https://github.com/machinekit --- You received this message because you are subscribed to the Google Groups "Machinekit" group. To unsubscribe from this group and stop receiving emails from it, send an email to machinekit+...@googlegroups.com. Visit this group at https://groups.google.com/group/machinekit. For more options, visit https://groups.google.com/d/optout. -- website: http://www.machinekit.io blog: http://blog.machinekit.io github: https://github.com/machinekit --- You received this message because you are subscribed to the Google Groups "Machinekit" group. To unsubscribe from this group and stop receiving emails from it, send an email to machinekit+unsubscr...@googlegroups.com. Visit this group at https://groups.google.com/group/machinekit. For more options, visit https://groups.google.com/d/optout. -- website: http://www.machinekit.io blog: http://blog.machinekit.io github: https://github.com/machinekit --- You received this message because you are subscribed to the Google Groups "Machinekit" group. To unsubscribe from this group and stop receiving emails from it, send an email to machinekit+unsubscr...@googlegroups.com. Visit this group at https://groups.google.com/group/machinekit. For more options, visit https://groups.google.com/d/optout.