Moving axis by Classic Ladder for ATC?

I think you might want to visit the tool change remapping that is in master.

Impressive tool changer! I can't wait for the video...

John

machete wrote:

BigJohnT wrote:

I think you might want to visit the tool change remapping that is in master.

Looks like i have to implement all tool changing process in phyton, but it's too complicated for me, and i almost finish program for tool changer in Classic Ladder.

Is it somehow possible to control movement of axis by Classic Ladder (i.e. by sending hal-comands? Or maybe i can execute pyton scripts, by sending hal-commands from CL?)

I'm not aware of any way to move an axis via classicladder. It might be possible to write a comp and use a hal pin to hijack the Y axis and move it in and out. Take a look at the thc component to see how I hijack the Z axis for torch height control. Also be aware of the tool change preposition options in the EMCIO ] section of the ini file that allow you to position the axes before the tool change.

John

machete wrote:

Looks like i have to implement all tool changing process in phyton, but it's too complicated for me, and i almost finish program for tool changer in Classic Ladder.

No, you can actually program all the moves for the toolchanger as a G-code subroutine, as long as all motions of the toolchanger can be programmed to look like machine axes. (ie, you would set up the toolchanger motors to be be some of the ABCUVW axes).

It is, however, possible to move a motor without it being an axis. For example you can connect the stepgen or PID to a G-code analogue output pin, or an output from Classic Ladder.
for example instead of
net V-pos axis.7.motor-pos-cmd => stepgen.7.position-cmd
you could use
net V-pos motion.analog-out-00 => stepgen.7.position-cmd
(pin names are illustrative and are not necessarily correct)

What is not so easy if you do this is homing the joint. You would need a homing routine written in G-code or inside Classic ladder.
(I imagine that G-code homing would have to use a conditional loop and a sequence of short moves, so might be a bit inelegant)