Mori MVJR Build Log
Darn it! I was sure it was Chris, but his timeguy.com website made no mention of it.Chris Radek (the author of Touchy) did this one that is just like mine (in fact he wrote Touchy for this build) , he mentioned something about doing something special for the tool changer. Looking at the pictures, I think he may have used a different type of cards than the mesa cards I used, they look a little different or maybe it is just some colored connectors.
The thing is, if the logic is already written, in CL or a custom component, it is just a case of changing the input and output pin names to make it work for you.
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- schmidtmotorworks
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The thing is, if the logic is already written, in CL or a custom component, it is just a case of changing the input and output pin names to make it work for you.
That's the problem, I have emailed Chris and Bill at the beginning and got a reply a couple, months later reccomending that I use the Honda connectors and a brief mention of the tool changer indexing somehow he modified it to be (if I remember correctly) quadarture. I don't think they get to thier email very often or they have lots of it.
I'm don't understand the details of quadrature but my indexer has 3 switches so I thought that made quadrature possible.
Well, I plan to start editing the HAL files next, maybe I will look a CL when I need a break from HAL.
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My CHNC uses an absolute encoder so to speak, it has 8 hall effect switches that go to a multiplexer and the output from it goes to my input card. In HAL I convert the BCD to an integer and pass that to my ladder logic. The ladder does the actual moving of my turret and reports back if the change was a success. If it is similar enough you could cut and paste from some of my config files or if you can accurately describe the output from your tool changer rotary switch we can work something up.
They are located here .
John
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- schmidtmotorworks
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Here is a video of a tool change on a similar machine.
#####################################
Tool Changer actions:
TUCL Tool Unclamp
SBLW Air Shot (not found maybe mechanical)
PTU Pot Up
PTD Pot Down
MER.P Air Pressure
TCLFN Tool Clamp OK
TUCL.M Tool Unclamp
ATCFOR Magazine Arm Forward
ATCREV Magazine Arm Reverse
MGON Magazine Motor
ARMON Main Arm Motor
? Magazine Arm Back
SRDB Brake On
Tool Changer sensors:
LS10 MAGAZINE ROTATION SIGNAL A
LS11 MAGAZINE ROTATION SIGNAL B
LS12 MAGAZINE ROTATION SIGNAL Z
LS14 ARM REDUCING POINT
LS15 ARM DOWN
LS16 POT UP CHECK
LS17 POT DOWN CHECK
LS18 TOOL CLAMP CHECK
LS19 ORIENTATION PIN IN CHECK
LS20 ORIENTATION PIN OUT CHECK
LS21 ARM ORIGIN POINT CHECK
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Next it looks like you have an incremental encoder with index on the tool changer, so that would be a count up or down to get to the proper pocket. A homing routine would be needed to find the index on start up.
Spindle orientation is a bit above me atm but I need to know for when I convert my 308... That might involve disconnecting the spindle from the spindle drive routine and connect it up like an axis in HAL to orientate the spindle. Hopefully someone a bit better versed can chime in.
I would start with a step by step sequence in plain English and work from that.
Tool Prepare Tn
...
Tool In Position
...
wait for tool change
...
change tool M6
....
report tool change done
Most seem to be digital inputs and outputs that would go to a ladder routine.
Does the magazine motor rotate both ways?
John
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- schmidtmotorworks
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Does the magazine motor rotate both ways?
I used it very rarely (sometimes it dropped tools, nothing like seeing a nice carbide tool thrown around), I don't really remember if I saw it turn the other way. if I had to guess; I would say it only turned one way.
The spindle index does seem a bit mysterious.
Also there is a brake involved somewhere in the arm rotation, at some point in the rotation a limit swtich is hit and I guess it turns on a brake or something, not clear if it is an electric moror brake or a physical one (I haven't taken the cover off yet, still have the fantacy that I can leave part of the machine assembled.
I'll work on the logic of each step, the manual has a logic diagram but it seems to be non-random, actually, I wouldn't mind a non random tool changer, in fact I think I would prefer it.
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Yea, your going to have to find out step by step what the machine wants to change the tool. Doing it manually step by step with perhaps a pyvcp panel to execute each step might make it much easier to sort out.
Just turning one way does make it a bit simpler...
John
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The HAL file has lines like this for gpio.
#########################################
#7i64 Board 0
#########################################
# net hm2_5i23.0.7i64.0.0.gpio.00.in
# net hm2_5i23.0.7i64.0.0.gpio.00.in_not
# net hm2_5i23.0.7i64.0.0.gpio.00.out
# net hm2_5i23.0.7i64.0.0.gpio.01.in
# net hm2_5i23.0.7i64.0.0.gpio.01.in_not
# net hm2_5i23.0.7i64.0.0.gpio.01.out
# net hm2_5i23.0.7i64.0.0.gpio.02.in
# net hm2_5i23.0.7i64.0.0.gpio.02.in_not
# net hm2_5i23.0.7i64.0.0.gpio.02.out
I'm guessing I should wire power to the coolant ON button so that when it is ON, power goes to this pin, then that somehow gets to EMC2.
I guess I will need a second wire that goes from the 7i64 to ground for each input, is that right?
The part I know I don't get is, what code passes that to EMC2? I can't figure out what to add to the HAL file.
I'm guessing it will be similar for many things like the limit switches etc.
Does anyone have any examples of a HAL file connected to a board similar to the 7i64?
Maybe it has something to do with this?
5.3 iocontrol (userspace)
These pins are created by the userspace IO controller, usually called io.
5.3.1 Pins
iocontrol.0.coolant-flood (bit, out) TRUE when flood coolant is requested
Thanks
Jon Schmidt
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The HAL file has lines like this for gpio.
#########################################
#7i64 Board 0
#########################################
# net hm2_5i23.0.7i64.0.0.gpio.00.in
The first point is that those lines are commented out, so do nothing.
Is this the skeleton HAL that PCW wrote for you?
I'm guessing I should wire power to the coolant ON button so that when it is ON, power goes to this pin, then that somehow gets to EMC2.
I guess I will need a second wire that goes from the 7i64 to ground for each input, is that right?
Yes. Well, technically you need to make current flow through the input from + to -, and can do that any way that is convenient for you.
The part I know I don't get is, what code passes that to EMC2? I can't figure out what to add to the HAL file.
You need to find a likely-looking HAL input pin, and use HAL "net" command to connect it to the 7i64 output pin (the gpio.00.in pin is a HAL output, even though it is a hardware input, because it provides the state of the physical pin to HAL.
For coolant on 7i64.0.0.gpio.00.in you need a HAL file line like:
net coolant-flood hm2_5i23.0.7i64.0.0.in => iocontrol.0.coolant-flood
This creates a signal called "coolant-flood" (though you could call it "betty" if you wanted) and links it to the 7i64 input pin. There is a => there to tell us the way the data flows. EMC2 pays no attention to the arrows, they are for human readers and can be omitted.
There is a listing of the pins here:
www.linuxcnc.org/docview/html/config_emc2hal.html
And some extra ones here:
www.linuxcnc.org/docview/html/gui_halui.html
You need to keep track of pin directions and types. Have you read: www.linuxcnc.org/docview/html/hal_basic_hal.html ?
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- schmidtmotorworks
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Thanks a lot, I'm stuck in a hotel for the weekend and the only English TV is a 1 hour cycle of BBC news, so I'm hoping to make good use of this time to get these HAL files cobbled together the best I can. Thanks to your help I think I can move ahead.
Best Regards
Jon Schmidt
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