VMC related HAL questions.

andypugh
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27 Dec 2015 19:39 #67380 by andypugh

Replied by andypugh on topic VMC related HAL questions.

try sudo comp --install …

The command name was changed

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thewho
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28 Dec 2015 10:15 #67391 by thewho

Replied by thewho on topic VMC related HAL questions.

Worked lika a charm

Let's see if I got this right..

Warning: Spoiler!

Some thing that I realized when writing that:
I have an hydraulic pump that activates the drawbar and then A valve that releases the pressure and locking the tool in the spindle.
And as far I can tell that is not the way this hal-file is set up?
So for my machine it would be:

*Oriented and arm extended
1. Activate Pump
2. Wait for "tool released" sensor
3. Turn off Pump
4. Move Z
5. Unlock Carousel
6. Move Carousel
7. Lock Carousel
8. Move Z
9. Activate Pressure release valve
10. Retract Arm

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andypugh
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28 Dec 2015 12:26 #67396 by andypugh

Replied by andypugh on topic VMC related HAL questions.

thewho wrote:
Let's see if I got this right..

Warning: Spoiler!

loadrt carousel pockets=15 (MyNumOfPockets) dir=1 (2 IfBiDirectionalCarousel?) encoding=gray num_sense=5 (NumOfCarouselSensPins)

In your case you need "encoding=bcd"

Some thing that I realized when writing that:
I have an hydraulic pump that activates the drawbar and then A valve that releases the pressure and locking the tool in the spindle.
And as far I can tell that is not the way this hal-file is set up?

In the demo that sequence is handled in the G-code toolchange routine. You need to make that suit your system, though it is already pretty close. You may need an extra output and an extra phase.

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thewho
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28 Dec 2015 13:24 - 28 Dec 2015 13:36 #67397 by thewho

Replied by thewho on topic VMC related HAL questions.

I see

Could you please explain a few things in the .ngc?

Warning: Spoiler!

EDIT: I'm stupid.. It's the "motion.digital-out-XX" that specifies that right?

Last edit: 28 Dec 2015 13:36 by thewho.

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thewho
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28 Dec 2015 14:00 - 28 Dec 2015 17:31 #67399 by thewho

Replied by thewho on topic VMC related HAL questions.

This is as far as I got in the HAL-file, just a few questions.. :whistle:

loadrt carousel pockets=15 dir=1 encoding=bcd num_sense=5
loadrt conv_float_s32
addf carousel.0 servo-thread
addf conv-float-s32.2 servo-thread # G-code analogue outputs are float-type

net car-enable motion.digital-out-00 carousel.0.enable
net car-ready carousel.0.ready motion.digital-in-00
net hm2_5i25.0.7i77.0.0.input-16-not carousel.0.motor-fwd #ActivateCarouselMotorOutput
#net car-rev carousel.0.motor-rev
net car-pos-req motion.analog-out-00 conv-float-s32.2.in
net car-pos-s32 conv-float-s32.2.out carousel.0.pocket-number

net hm2_5i25.0.7i77.0.0.input-16-not carousel.0.sense-0
net hm2_5i25.0.7i77.0.0.input-17-not carousel.0.sense-1
net hm2_5i25.0.7i77.0.0.input-18-not carousel.0.sense-2
net hm2_5i25.0.7i77.0.0.input-19-not carousel.0.sense-3
net hm2_5i25.0.7i77.0.0.input-20-not carousel.0.sense-4

net hm2_5i25.0.7i77.0.0.output-08 motion.digital-out-01 #LockCarouselOutput
net hm2_5i25.0.7i77.0.0.input-21 motion.digital-in-01 	#CarousellockedInput
net hm2_5i25.0.7i77.0.0.output-09 motion.digital-out-02 #ActivateArmOutput
net hm2_5i25.0.7i77.0.0.input-22 motion.digital-in-02 	#ArmExtendedInput
net hm2_5i25.0.7i77.0.0.input-23 motion.digital-in-04 	#ArmRetractedInput
net hm2_5i25.0.7i77.0.0.output-10 motion.digital-out-03 #ActivatePumpOutput
net hm2_5i25.0.7i77.0.0.output-11 motion.digital-out-04 #ActivateDrawbarReleaseValveOutput
net hm2_5i25.0.7i77.0.0.input-24 motion.digital-in-03 	#ToolReleasedFromSpindleInput

net tool-prep-loop iocontrol.0.tool-prepare iocontrol.0.tool-prepared
net tool-change-loop iocontrol.0.tool-change iocontrol.0.tool-changed

This is the things I don't know what(or if) to change them to:
net car-enable motion.digital-out-00 carousel.0.enable
net car-ready carousel.0.ready motion.digital-in-00
net car-pos-req motion.analog-out-00 conv-float-s32.2.in
net car-pos-s32 conv-float-s32.2.out carousel.0.pocket-number

To answer my own question:
Parameter #5399 will have a value of -1 if the previous M66 times out. And therefore aborting the routine. Correct me if I'm wrong

But I still don't know where "#<tool_in_spindle>", "#<selected_tool>" and so on get their values from?

Last edit: 28 Dec 2015 17:31 by thewho.

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andypugh
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29 Dec 2015 02:17 #67431 by andypugh

Replied by andypugh on topic VMC related HAL questions.

thewho wrote:
]Where does <tool_in_spindle> come from?

Some named parameters are standard:
linuxcnc.org/docs/2.7/html/gcode/overvie...ned-named-parameters

But #<tool_in_spindle> is not one of those. In this case the #<tool_in_spindle> G-code variable is set by the remapping function preamble:
When there is a "remap" setting in the INI file LinuxCNC looks for a file called toplevel.py, then that imports the remap code. In the case of the VMC demo that imports remap.py which is a tiny file that imports a standard part of the LinuxCNC code called stdglue.
github.com/jepler/linuxcnc-mirror/tree/m...smach/VMC_toolchange contains the toplevel and remap files, the stdglue file is here: github.com/jepler/linuxcnc-mirror/blob/m...n-stdglue/stdglue.py
where line 161 is "self.params["tool_in_spindle"] = self.current_tool"

You need to have the topevel and remap files in your own config too.

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thewho
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29 Dec 2015 07:44 #67438 by thewho

Replied by thewho on topic VMC related HAL questions.

No wonder I couldn't find them in your example config :whistle:

But what about these, do I need to change them or are they just "internal" connections?

net car-enable motion.digital-out-00 carousel.0.enable
net car-ready carousel.0.ready motion.digital-in-00
net car-pos-req motion.analog-out-00 conv-float-s32.2.in
net car-pos-s32 conv-float-s32.2.out carousel.0.pocket-number

Do the hal-file I posted look good? Or did I net something the wrong way around?

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andypugh
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29 Dec 2015 12:54 #67449 by andypugh

Replied by andypugh on topic VMC related HAL questions.

thewho wrote:
No wonder I couldn't find them in your example config

You probably should read the remapping page. Most of it isn't relevant, and there is a lot more there than you need to know, but it gives good background: linuxcnc.org/docs/2.7/html/remap/remap.html
It's one of those things to read through and accept that you won't understand fully, but you will get a feel for what is possible.

But what about these, do I need to change them or are they just "internal" connections?

net [b]car-enable[/b] motion.digital-out-00 carousel.0.enable
net [b]car-ready[/b] carousel.0.ready motion.digital-in-00
net [b]car-pos-req[/b] motion.analog-out-00 conv-float-s32.2.in
net [b]car-pos-s32[/b] conv-float-s32.2.out carousel.0.pocket-number

Those lines connect the G-code input and output commands to HAL pins, so that the NGC routine can operate the carousel component.

Do the hal-file I posted look good? Or did I net something the wrong way around?

The "net" command automatically sets direction. See it like a bit of wire, the wire doesn't need to know the difference between the current source and the current sink.

Do you have spindle orient (M19) working? And does it need to work for your changer?

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thewho
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29 Dec 2015 14:53 #67455 by thewho

Replied by thewho on topic VMC related HAL questions.

Many thanks!
Yes I need orient and yes it's already working like a charm :blink:

I'll give it a try as soon as I figure out how to disable the manual toolchange dialog that I have used so far..

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andypugh
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29 Dec 2015 15:24 #67457 by andypugh

Replied by andypugh on topic VMC related HAL questions.

thewho wrote:
I'll give it a try as soon as I figure out how to disable the manual toolchange dialog that I have used so far..

The manual dialog is activated by being in the ioontrol.0.tool-change -> iocontrol.0.tool-changed loop. If it is not in that loop then it won't be called

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