Arm type ATC component?

Hi,

I need to make arm type ATC to work. Machine is big HMC with 30-tool arm type atc. All ATC movements are with hydraulic cylinders. I would like to make it work in steps. Ie. atc ready is step 1 -> step 2 rotate atc to correct tool pot --> step 3 grip tool with arm -> .... etc. In other words Case structure. One good reason for this is that if tool change cycle does not finish user can backup or advance steps easily. So basically I would like to know if writing a HAL component would be a good way to go? Any examples?

Tero

Hi,

I want advance step/reverse step with pushbuttons. I believe this can not be done with G-code subprogram? Also case structure is needed. I do not need axis movements.


Tero

Hi,

Ok I will dig into this. I have downloaded source for EMC2. How to compile just this one hal component? Lets say file name is arm_atc.comp Yes I was thinking of using carousel and spindle orient components.


Tero

Ok,

Here is my first HAL component Compiles and runs ok. Yes it is just a base but I believe this is correct way for me to go on with this. Thank you for help.


Tero

component armatc """Arm type ATC component""";

description "This component is for arm type ATC on Cincinnati Milacron 10HC2500";


pin in bit enable "Set this pin high to start movement. Setting it low will stop movement";
pin in bit step_forward;
pin in bit step_reverse;
pin out bit active "indicates that the component is active";
pin out bit ready "This pin goes high when the ATC is in-position";
pin out bit arm_horizontal;
pin out bit arm_retract;
pin out bit arm_advance;
pin out bit arm_vertical;
pin out bit arm_180_deg;
pin out bit arm_to_spindle;
pin out bit arm_to_magazine;
pin in bit arm_is_horizontal;
pin in bit arm_is_retracted;
pin in bit arm_is_advanced;
pin in bit arm_is_vertical;
pin in bit arm_is_at_spindle;
pin in bit arm_is_at_magazine;
pin in bit arm_is_180_deg;
pin out signed step = 1 "Current ATC step";


license "GPL";
author "tero kaarlela";


function _;

;;


FUNCTION(_){

switch (step){
case 1: // waiting at start
ready = 1;
if (enable) {
active = 1;
step = 2;
ready = 0;}
break;
case 2: // rotate arm horizontal to grip tool
if (! enable) return ;
arm_vertical = 0;
arm_horizontal = 1;
step = 3;
case 3: // check arm horizontal & arm_advance
if ((arm_is_horizontal == false) && enable) return;
arm_retract = 0;
arm_advance = 1;
step = 4;
case 4: // check arm advanced & arm vertical
if ((arm_is_advanced == false) && enable) return;
arm_horizontal = 0;
arm_vertical = 1;
step = 5;
break;
case 5: // check arm is vertical & arm retract
if ((arm_is_vertical == false) && enable) return;
arm_advance = 0;
arm_retract = 1;
step = 6;
break;
case 6: // check arm is retracted & arm to spindle
if ((arm_is_retracted == false) && enable) return;
arm_to_magazine = 0;
arm_to_spindle = 1;
step = 7;
break;
case 7: // check arm is at spindle & arm horizontal
if ((arm_is_at_spindle == false) && enable) return;
arm_vertical = 0;
arm_horizontal = 1;
step = 8;
break;
case 8: // check arm is horizontal & arm advance
if ((arm_is_horizontal == false) && enable) return;
arm_retract = 0;
arm_advance = 1;
step = 9;
break;
case 9: // check arm is advance & arm 180 deg
if ((arm_is_advanced == false) && enable) return;
arm_180_deg = 1;
step = 10;
break;
case 10: // check arm is 180 deg & arm retract
if ((arm_is_180_deg == false) && enable) return;
arm_advance = 0;
arm_retract = 1;
step = 11;
break;
case 11: // check arm is retract & arm to magazine
if ((arm_is_retracted == false) && enable) return;
arm_to_spindle = 0;
arm_to_magazine = 1;
step = 12;
break;
case 12: // check arm at magazine & arm advance
if ((arm_is_at_magazine == false) && enable) return;
arm_retract = 0;
arm_advance = 1;
step = 13;
break;
case 13: // check arm advance & arm horizontal
if ((arm_is_advanced == false) && enable) return;
arm_vertical = 0;
arm_horizontal = 1;
step = 14;
break;
case 14: // check arm horizontal & arm retract
if ((arm_is_horizontal == false) && enable) return;
arm_advance = 0;
arm_retract = 1;
step = 15;
break;
case 15: // check arm retract & arm vertical
if ((arm_is_retracted == false) && enable) return;
arm_horizontal = 0;
arm_vertical = 1;
step = 16;
break;
case 16: // check arm vertical & reset atc
if ((arm_is_vertical == false) && enable) return;
step = 17;
active = 0;
if (enable) ready = 1;
break;
case 17: // wait for enable to go out
if (enable) return;
step = 1;
break;

}
}

Ok,

Yes it was just a quick hack to see how hard it would be. fperiod seems a good way to implement timer between steps. Is it a good practice to add this and carousel to servo-thread?

Tero

Basically if enable goes false parway throug sequence we leave it there. User has to change to manual mode and then he can step back/forward with panel keys. I have to add input for manual mode...


Tero