ATC - Servo, Analog, Carousel
- bassti
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04 Oct 2025 19:11 #335831
by bassti
ATC - Servo, Analog, Carousel was created by bassti
Hello,
I got some trouble - with my ATC
Problem:
ATC wont align to the right pocket number
Homing works not correct
The ATC has one INI to find Pocket 1
A servo drives the magazin but i cant use the index for homing because the in comes several times per magazin rev.
my questions:
1. is it possible with the carousel comp to drive these ATC ?
2. if the first answer is yes - can anyone help me finding the errors in my config?
Thanks, bassti
I got some trouble - with my ATC
Problem:
ATC wont align to the right pocket number
Homing works not correct
The ATC has one INI to find Pocket 1
A servo drives the magazin but i cant use the index for homing because the in comes several times per magazin rev.
my questions:
1. is it possible with the carousel comp to drive these ATC ?
2. if the first answer is yes - can anyone help me finding the errors in my config?
Thanks, bassti
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- andypugh
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07 Oct 2025 12:12 #335994
by andypugh
Replied by andypugh on topic ATC - Servo, Analog, Carousel
It looks like there is one target (with a magnet?)
Is the problem that the sensor is also detecting the bolt heads?
Can you describe the system in more detail, including what position feedback there is and how the system is driven?
Is the problem that the sensor is also detecting the bolt heads?
Can you describe the system in more detail, including what position feedback there is and how the system is driven?
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07 Oct 2025 21:53 #336060
by bassti
Replied by bassti on topic ATC - Servo, Analog, Carousel
The ATC has one sensor (inductive). One bolt is longer, so it is used as a reference (pocket 1).
The other bolts have no effect to the sensor.The disk is driven by a servomotor (JMC 750W, analog input velocity mode)—it's connected to a 7i97.I have encoder counts from the motor as feedback.The linear move toward the spindle is done by a pneumatic cylinder.
this is how it should work :
The ATC moves pneumatically into the working area. The disk rotates to the corresponding tool pocket, and then the main spindle retrieves the tool.
The other bolts have no effect to the sensor.The disk is driven by a servomotor (JMC 750W, analog input velocity mode)—it's connected to a 7i97.I have encoder counts from the motor as feedback.The linear move toward the spindle is done by a pneumatic cylinder.
this is how it should work :
The ATC moves pneumatically into the working area. The disk rotates to the corresponding tool pocket, and then the main spindle retrieves the tool.
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08 Oct 2025 13:02 #336092
by andypugh
Replied by andypugh on topic ATC - Servo, Analog, Carousel
You should be able to use the inductive sensor for the index pulse. (but you seemed to be saying that that was seen multiple times per magazine rev?)
In counts mode with the carousel .comp, with the right scaling, you should be able to use the encoder counts.
In counts mode with the carousel .comp, with the right scaling, you should be able to use the encoder counts.
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- CNC4Life
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08 Oct 2025 13:07 - 08 Oct 2025 13:47 #336093
by CNC4Life
Replied by CNC4Life on topic ATC - Servo, Analog, Carousel
Can you post your ini file as well? What does it do when it homes? Have you tried setting a slower velocity as the carousel? Carousel doesn't have double tap homing like an axis/joint. Something I had a hard time with was I wanted feedback in revolutions but carousel only takes whole numbers not floats for counts. So I made the scale of the carousel Joint 1:1 with the encoder/stepper. Then used encoder/steps do drive the position.
I'm having a remap issue, but you can look at my config here. forum.linuxcnc.org/10-advanced-configura...ord-toolchange-false
I'm having a remap issue, but you can look at my config here. forum.linuxcnc.org/10-advanced-configura...ord-toolchange-false
Last edit: 08 Oct 2025 13:47 by CNC4Life. Reason: wording error
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13 Oct 2025 15:58 #336383
by bassti
Replied by bassti on topic ATC - Servo, Analog, Carousel
I was talking about the index from the motorencoder - the inductive sensor is seen only once per rev.
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14 Oct 2025 12:38 - 14 Oct 2025 12:45 #336424
by bassti
Replied by bassti on topic ATC - Servo, Analog, Carousel
Hey CNC4Life,
I can't find your project - I think the link is dead.
Can you post it here?
Here is my INI...Currently, the reference process starts, and I am at pocket 1. Then I want pocket 5.
The carousel goes to that position, but when I want to go back to tool 1, the carousel rotates in the same direction (so I end up at a pocket with a higher number).
The carousel.comp ignores the parameters for unidirectional and reverse pins.
I think there is a problem with the counts being given to the PID.
I can't find your project - I think the link is dead.
Can you post it here?
Here is my INI...Currently, the reference process starts, and I am at pocket 1. Then I want pocket 5.
The carousel goes to that position, but when I want to go back to tool 1, the carousel rotates in the same direction (so I end up at a pocket with a higher number).
The carousel.comp ignores the parameters for unidirectional and reverse pins.
I think there is a problem with the counts being given to the PID.
Attachments:
Last edit: 14 Oct 2025 12:45 by bassti.
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