Mori sl-4 turret location decode

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12 Jul 2012 10:49 #21817 by ArcEye
Hi

Andy has come up with the decode algorithm component, so you can just connect that to your switches and its output to your component.

The below is a simple adaptation of the orac code, using Andys component and a timedelay component for the pause to allow clamp / unclamping of the turret.

It works, in so far as it fits your work flow and compiles OK, but you will need to fine tune / adapt as necessary.
There will probably be a glaring logic error, but I have been looking at it too long to spot it!
It should get you started anyway.
component moricchanger                   "This component controls the Mori Auto Tool Changer. M6 calls this";

pin in bit toolchange                   "Receives signal from M6 that tool change required";
pin in s32 toolnumber                   "Receives Tx data from M6 (tool number requested) Only allows 1-10";
pin in s32 currenttoolnumber            "Receives old tool number";
pin out bit toolchanged = false         "Sends signal when tool change finished";

pin out bit delayturretstart = false    "Starts timerdelay component";
pin in bit delayturretdone =false       "Signals timer finished";

pin out bit clampturret = false         " signal to clamp";
pin out bit unclampturret = false         " signal to unclamp";
pin out bit forward = false             "Direction signal";
pin out bit high = false                "Motor command";

pin in signed toolposition = 0          "Connects to mori component for tool position decode";

// Internal and debugging stuff
pin out s32 progress_level = 0;         // tracks the progress of the toolchange, just here so it can be read easily
param rw s32 tnumber = 0;               // Internal toolnumber to allow stop 1 tool prior then slow advance to toolnumber

option singleton yes;                   // makes no sense to have more than one of these components running - only one ATC
function _;
author "ArcEye ";
license "GPL";
;;

FUNCTION(_)
{
    switch (progress_level)
        {
        case 0:  // idle waiting for toolchange request
                if(toolchange && !toolchanged)  // prevent cycling after change done 
                    {
                    if(currenttoolnumber && toolnumber != currenttoolnumber && toolnumber > 0 && toolnumber < 11) // if a valid number
                        {
                        forward = false; // switch off motor if already on
                        tnumber = toolnumber - 1;  // subtract 1 for turrest slow condition 
                        if(!tnumber) tnumber =  10;  

                        high = false;
                        progress_level = 1;
                        break;
                        }
                    else    // if tool requested is out of range set the toolchanged flag and exit
                            // should only get this if tool table has more tools than ATC can have
                            // otherwise emc will error the M6 command
                        {
                        progress_level = 7;
                        forward = false;                // switch off motor if already on
                        high = false;
                        }
                    }
                 if(!toolchange && toolchanged)
                     toolchanged = false;           // reset once toolchange flag reset by system
                     
                 if(toolchange && !currenttoolnumber) // if no tool is set in axis - 
                     {                                // set axis to tool requested so that can work next time
                     forward = false;
                     high = false;
                     progress_level = 7;
                     }
                     
                 break;
                 

        case 1: // programmed delay to allow relays time to change over
                clampturret = false;
                unclampturret = true;
                delayturretstart = true;
                progress_level = 2;
                break;
                
        case 2:  // wait for turret delay
                if(delayturretdone)                
                    {
                    high = true;
                    forward = true;
                    delayturretstart = false;
                    progress_level = 3;
                    }
                break;
                      
        case 3: // Forward move - read the truth table to determine position
                if(toolposition != tnumber)
                    break;
                high = false;
                forward = true;
                progress_level = 4;
                break;
                
        case 4:  // forward move at slow speed
                if(toolposition != toolnumber)  // wait for actual toolnumber
                    break;
                high = false;
                forward = false;
                progress_level = 5;
                break;
                
        case 5: // programmed delay to allow relays time to change over
                unclampturret = false;
                clampturret = true;
                delayturretstart = true;
                progress_level = 6;
                break;
                
        case 6:  // wait for turret delay
                if(delayturretdone)                 
                    {
                    delayturretstart = false;
                    progress_level = 7;
                    }
                break; 
                
        case 7: // clean up ready for next toolchang
                toolchanged = true;   // signal finished
                progress_level = 0;
                break;
                
        case 10:   break;  // should never get here but if we do then loop endlessly doing nothing
                
        default:    
                progress_level = 10;
                rtapi_print_msg(RTAPI_MSG_ERR, "Error state in morichanger - now disabled - unload morichanger");            
                break;
        }
 
}

regards

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