On 07/12/2016 08:56, [email protected] wrote:
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.
Addendum
The variable would be float (4 bytes same as long int) or more correctly
hal_float_t, which is in fact a double (8 bytes) so the margin is
probably even larger.
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
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