stepper driven turret with index and home switch

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26 Feb 2024 22:28 #294552 by PaulQUE
thanks, I've made progress on the carousel, the comps reads and understands my encoder input, when I call a tool using M6 the carousel outputs a velocity command to the stepgen, which I can see is received by the stepgen in halshow, however I get no step rate (looking at the dbg pin), I suspect I've have something set up wrong with the velocity mode stepgen, would you mind telling me what's wrong with it? Sorry for the dumb question
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26 Feb 2024 22:35 - 26 Feb 2024 22:43 #294553 by PCW
1: Control type must be 1 for velocity mode:

setp [HMOT](CARD0).stepgen.02.control-type 1

edit:

I see you did enable the stepgen below:

setp hm2_7i96s.0.stepgen.02.enable true
Last edit: 26 Feb 2024 22:43 by PCW.

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27 Feb 2024 00:00 - 27 Feb 2024 00:01 #294557 by PaulQUE
thanks, the motor is now turning I've noticed the tool called via M6 T- does not match the carousel pocket number in halshow?

-I still have a few issues to sort out, mainly, how to set up a small back up move to latch the turret? I've seen the carousel.N.motor-rev pin but how Can I get it to trigger a reverse move of the stepgen?

-the turret homes when the first tool is called and stops on the home position regardless of the tool called? Should I get it to home prior to calling tools, if so, how?

thanks
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Last edit: 27 Feb 2024 00:01 by PaulQUE.

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27 Feb 2024 08:57 #294583 by andypugh
You set the reverse pulse with a combination of these pins:

carousel.N.rev-pulse float in
The duration in seconds for which a ratchet changer (Boxford, Emco) should pulse the reverse pin to lock the holder

carousel.N.fwd-dc float in
Velocity or duty cycle when forwards rotation is desired

carousel.N.rev-dc float in
Velocity or duty cycle when reverse rotation is desired

carousel.N.hold-dc float in
Duty cycle when carousel is in-position (to hold against stop)

In your case try a rev-pulse of 1 second and a hold-dc of zero. (hold-dc is only really relevant to dc motor operation of ratchet toolchangers) 
 

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