AXYZ 4008 ATC CNC router control retrofit

tsmutz5
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12 years 6 months ago #45677 by tsmutz5

Replied by tsmutz5 on topic AXYZ 4008 ATC CNC router control retrofit

@ papaours:
Thanks for the advice!

That’s some heavy looking iron you’ve got there! What kind of machine is it?

My plan is to keep the existing control system in place as it is functional but not great at 3d work. The wiring I’ve done so far plugs into the OEM connectors so I just un-plug the cables from the OEM controller board and plug my cables into them when I want to develop my Linuxcnc settings. During the day I am still using the OEM controller.

I’ve got pretty decent documentation for accel, decal, max linear, max angular, centripetal accel, steps per unit, etc. But my weakness is Linux!
Good advice on E-stop importance. I’ve operated and maintained some 30+ axis automated systems with close human interaction and man oh man is safety important. A runaway axis (something I’ve experienced with MACH on smaller machines) is a very scary thing. My hardware E-stop Chain is working (disconnects the drives and stops the spindle as fast as possible. I’ve still got to get Linuxcnc disconnecting the relays powering the drives/spindle.

Gmoccapy looks like a great GUI! I’ll have to look into it more once I get up and running. Thanks for bringing it to my attention.

The Cslab products look nice, and presents an “easier” path, kind of like “going to the darkside”  :cheer:

It’s temping sometimes.

What I really like about Linuxcnc is how adaptable it is, but that edge cuts both ways as my programming knowledge is not developed enough yet to make it sing.

When I get my ATC working well I'll definitely let you know how I did it.

Talk soon.

Tyler

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andypugh
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12 years 6 months ago #45691 by andypugh

Replied by andypugh on topic AXYZ 4008 ATC CNC router control retrofit

tsmutz5 wrote: The machine only has one proximity switch for homing/limit on the X-axis. The signal for the X and Y proximity switches goes over the same conductor in the E-chain to the OEM control. So for Linuxcnc I think I’ll need the homing procedure to home Z then Y then X. This is done in the .ini with HOME_SEQUENCE correct?

Yes. You can basically use the original procedure and simply run two stepgens from the same axis position commands. You might want to add auto-squaring later, but lets leave that for now.

. The ATC detects the home stud by the distance from one pulse to the next is closer together than all others (around 1250 steps between tool studs). Once homed the ATC goes to the required number of steps to tool “?” hits the sensor, and then backs off till the sensor goes off then the tool change routine continues.

I think that you can do this using the normal homing routines and HAL logic. If you choose a homing direction such that the sensor sees the tool pin first then a oneshot in HAL set to run for about 75% of the time between studs during the homing procedure triggered from the falling edge of the sensor, then combined with an and2 component so that the homing signal is actually "Stud now AND stud recently passed" becomes the home signal.
www.linuxcnc.org/docs/html/man/man9/oneshot.9.html
www.linuxcnc.org/docs/html/man/man9/and2.9.html

So your first job is probably to sort out homing for the axes and toolholder. I think in this case, as you need axis movements to perform a tool change, it makes sense to do tool-change with a G-code routine.
The tool carousel can be any unused axis, but a rotary one (possibly C if you plan to use A and/or B later) might be easier.
It is also possible to consider using an non-axis stepgen for the toolholder. The stepgen doesn't care where the position commands come from.

I’m not sure about how to handle the homing/latching system.
The reasoning for the latching procedure for every tool is as the Y-axis slides the tool out of the holder the stepper could be pushed out of position by a burr or wood chip.

Assuming that the C-axis is the toolchanger, and the stepgen scale is set so that one-tool = one-unit I think my simplistic approach would be:

G0 C #<tool>
M66 P0 L0 (check that there is a stud at the sensor)
O100 IF [#5399 EQ 0] (no stud)
M64 P0 (trigger a HAL pin to re-home the C-axis, halui.joint.5.home)
M66 P1 L1 Q20 (wait for halui.joint.5.is-homed)
O200 IF [#5399 EQ -1] (homing timed out)
(message, PANIC)
O200 ENDIF
O100 ENDIF

{Rest of sequence}

There is quite a lot to configure, but it should be OK in bite-size chunks.

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andypugh
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12 years 6 months ago #45692 by andypugh

Replied by andypugh on topic AXYZ 4008 ATC CNC router control retrofit

As a tweak, after verifying that there is a tool at the sensor, a small move backwards ( G0 C[#<tool> - 0.01>] ) could be checked to ensure that the sensor goes off again, to verify that the carusel is near the correct stud edge.

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papaours
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12 years 6 months ago - 12 years 6 months ago #45716 by papaours

Replied by papaours on topic AXYZ 4008 ATC CNC router control retrofit

here is a nice ATC macro from Mach3 and CsLab for a commercial router.
it is not a carousel but it could be done whit a C axis in place of the Yaxis move

THat could not be easily translate to Linuxcnc but the frame and the message are good
the soft-limit override and the cone cleaning option are interesting.

Code:

'------------------------------------------------------------------------------
'-----------------------------
'------------------------------------------------------------------------------
' CS-Lab s.c.
' Toolchanger VB macro (MILL - Flat ATC with toolholders on the work table)
' v1.3
'------------------------------------------------------------------------------
'-----------------------------
'------------------------------------------------------------------------------


'------------------------------------------------------------------------------
' Digital outputs CONFIG
'------------------------------------------------------------------------------
Const OUT_OPENCOLLET	=	10	' open collet CSMIO output
Const OUT_CLEANCONE	=	11	' cone cleaning CSMIO output
Const OUT_CURTAIN	=	12	' raise curtain CSMIO output

'------------------------------------------------------------------------------
' Digital inputs CONFIG
'------------------------------------------------------------------------------
Const IN_COLLETCLOSED	=	20		' collet locked sensor CSMIO input
Const IN_COLLETOPENED	=	21		' collet open sensor CSMIO input
Const IN_TOOLINSIDE	=	22		' tool locked sensor CSMIO input

'------------------------------------------------------------------------------
' variables declaration - don't modify
'------------------------------------------------------------------------------
Dim Z_TOOLGET, Z_LIFT, Z_SAFE, X_FORSLIDE, X_LOCK, Y_BASE, Y_TOOLOFFSET, TOOLCOUNT
Dim ToolNew, ToolOld
Dim SoftLimitsState As Boolean

'------------------------------------------------------------------------------
' CONFIG data
'------------------------------------------------------------------------------
	Y_TOOLOFFSET = 170.00	' distance between tools
	Y_BASE = 42.93		' Y position of first tool
	Z_TOOLGET = -311.3	' Z position (abs) of tool get/relase
	Z_SAFE = -220		' Safe Z for safe moving above tool holders
	Z_LIFT = 10		' rise distance for cone cleaning
	X_FORSLIDE = -50	' X position before slide tool into the holder
	X_LOCK = -100		' X position for lock tool into the holder
	TOOLCOUNT = 6		' Max. tool number
'------------------------------------------------------------------------------




'------------------------------------------------------------------------------
  ' ------------------------
  ' Macro start
  ' ------------------------
'------------------------------------------------------------------------------
  	SetUserLED(1001, 1)	' UserLED 1001 - private info, toolchange is in progress
  
	' Get the current tool # and new tool #
	ToolOld = GetCurrentTool()
	ToolNew = GetSelectedTool()
	
	' save softlimits state
	If(GetOEMLED(23)) Then
		SoftLimitsState = true
	Else
		SoftLimitsState = false
	End If
	
	' turn off softlimits - toolholders can be outside normal work area
	SoftLimitsOff
	
	' raise the curtain
	Call SetCsmioOut (OUT_CURTAIN, true)
	

	' check are the axes referenced
	If GetOEMLed(807) Then
		SetCurrentTool( ToolOld )
		SetUserLED(1001, 0)
		DoOEMButton(1003)
		DoOEMButton(1002)
		Sleep(150)
		Message( "Machine is not referenced" )
		Sleep(150)
		' restore softlimit
		SetSoftLimits(SoftLimitsState)
		' curtain down
		Call SetCsmioOut (OUT_CURTAIN, false)
		End
	End If
	If GetOEMLed(808) Then
		SetCurrentTool( ToolOld )
		SetUserLED(1001, 0)
		DoOEMButton(1003)
		DoOEMButton(1002)
		Sleep(150)
		Message( "Machine is not referenced" )
		Sleep(150)
		' restore softlimit
		SetSoftLimits(SoftLimitsState)
		' curtain down
		Call SetCsmioOut (OUT_CURTAIN, false)
		End
	End If
	If GetOEMLed(809) Then
		SetCurrentTool( ToolOld )
		SetUserLED(1001, 0)
		DoOEMButton(1003)
		DoOEMButton(1002)
		Sleep(150)
		Message( "Machine is not referenced" )
		Sleep(150)
		' restore softlimit
		SetSoftLimits(SoftLimitsState)
		' curtain down
		Call SetCsmioOut (OUT_CURTAIN, false)
		End
	End If
	If GetOEMLed(11) Then
		SetCurrentTool( ToolOld )
		SetUserLED(1001, 0)
		DoOEMButton(1003)
		DoOEMButton(1002)
		Sleep(150)
		Message( "Spidnle is running. Toolchange failed." )
		Sleep(150)
		' restore softlimit
		SetSoftLimits(SoftLimitsState)
		' curtain down
		Call SetCsmioOut (OUT_CURTAIN, false)
		End
	End If 
	
	' Spindle must be turned off for toolchange
	If (ToolNew = ToolOld) Then
		If (IsToolInside()) Then
			SetCurrentTool( ToolOld )
			SetUserLED(1001, 0)
			Sleep(150)
			Message("Tool is already in spindle.")
			Sleep(150)
			' restore softlimit
			SetSoftLimits(SoftLimitsState)
			' curtain down
			Call SetCsmioOut (OUT_CURTAIN, false)
			End
		End If
	End If
	
	' New tool # must be <= TOOLCOUNT
	If (ToolNew > TOOLCOUNT) Then
		SetCurrentTool( ToolOld )
		SetUserLED(1001, 0)
		DoOEMButton(1003)
		DoOEMButton(1002)
		Sleep(150)
		Message("There is no such a tool.")
		Sleep(150)
		' restore softlimit
		SetSoftLimits(SoftLimitsState)
		' curtain down
		Call SetCsmioOut (OUT_CURTAIN, false)
		End
	End If
	
	Code("G0G53 Z0.0")	' Z up to machine '0'
	WaitForMove
		
	' if current tool > 0 put it first into the holder
	If (ToolOld > 0) Then
		' if there is no tool in spindle, skip this part
		If (IsToolInside()) Then
			' move to the toolholder
			Code("G0G53 X"& X_FORSLIDE &" Y" & (Y_BASE + (Y_TOOLOFFSET * (ToolOld-1))))
			WaitForMove
			Code("G0G53 Z" & Z_TOOLGET)
			WaitForMove
			Code("G0G53 X" & X_LOCK)
			WaitForMove
			ColletOpen
			CleanConeOn
			Sleep(1000)
			' is collet opened?
			If (Not IsColletOpened()) Then
				ColletClose
				CleanConeOff
				Sleep(1000)
				Code("G0G53 X"& X_FORSLIDE)
				WaitForMove
				Code("G0G53 Z0")
				Code("G0G53 X0Y0")
				WaitForMove
				SetCurrentTool( ToolOld )
				SetUserLED(1001, 0)
				DoOEMButton(1021)
				DoOEMButton(1002)
				Sleep(150)
				Message("Can't open collet! Toolchange failed.")
				Sleep(150)
				' restore softlimit
				SetSoftLimits(SoftLimitsState)
				' curtain down
				Call SetCsmioOut (OUT_CURTAIN, false)
				End
			End If
			Code("G0G53 Z" & Z_SAFE)
			WaitForMove
			CleanConeOff
			ColletClose
		End If	
	End If

	' If newtool = 0, there is no need to get new tool
	If (ToolNew = 0) Then
		Code("G0G53 Z0")
		WaitForMove
		Code("G0G53 X0Y0")
		WaitForMove
		SetCurrentTool( ToolNew )
		Message("Tool loaded : " & ToolNew)
		Code("G43T" & ToolNew)	' G43 to sync tool length in system
		Code("G43H" & ToolNew)	' G43 to sync tool length in system
		WaitForMove
		SetUserLED(1001, 0)
		' restore softlimits
		SetSoftLimits(SoftLimitsState)
		' curtain down
		Call SetCsmioOut (OUT_CURTAIN, false)
		End
	End If

	' Is there no tool in the spindle?
	If (IsToolInside()) Then
		Code("G0G53 Z0")
		Code("G0G53 X0Y0")
		WaitForMove
		SetCurrentTool( ToolOld )
		SetUserLED(1001, 0)
		WaitForMove
		DoOEMButton(1021)
		DoOEMButton(1002)
		Sleep(150)
		Message("Can't get new tool, because other tool is already in spindle!")
		Sleep(150)
		' restore softlimits
		SetSoftLimits(SoftLimitsState)
		' curtain down
		Call SetCsmioOut (OUT_CURTAIN, false)
		End
	End If

	' move to the new tool position
	Code("G0G53 X" & X_LOCK &" Y" & (Y_BASE + (Y_TOOLOFFSET * (ToolNew-1))))
	WaitForMove
	ColletOpen
	Sleep(1000)
	' check is the collet opened
	If (Not IsColletOpened) Then
		CleanConeOff
		ColletClose

		Sleep(1000)
		Code("G0G53 X"& X_FORSLIDE)
		WaitForMove
		Code("G0G53 Z0")
		Code("G0G53 X0Y0")
		WaitForMove

		SetCurrentTool( 0 )
		SetUserLED(1001, 0)
		DoOEMButton(1021)
		DoOEMButton(1002)
		Sleep(150)
		Message("Can't open collet! Toolchange failed!")
		Sleep(150)
		' restore softlimits
		SetSoftLimits(SoftLimitsState)
		' curtain down
		Call SetCsmioOut (OUT_CURTAIN, false)
		End
	End If

	' cone cleaning
	CleanConeOn
	Code("G0G53 Z" & (Z_TOOLGET + Z_LIFT))
	Code("G1G53 Z" & Z_TOOLGET & " F3000")
	Code("G1G53 Z" & (Z_TOOLGET + Z_LIFT) & " F3000")
	Code("G1G53 Z" & Z_TOOLGET & " F1500")
	WaitForMove
	' colled close
	CleanConeOff
	Sleep(500)
	ColletClose
	Sleep(1000)
	' check is tool locked?
	If (Not IsToolInside()) Then
		Code("G0G53 X"& X_FORSLIDE)
		WaitForMove
		Code("G0G53 Z0")
		Code("G0G53 X0Y0")
		WaitForMove

		SetCurrentTool( 0 )
		SetUserLED(1001, 0)
		DoOEMButton(1021)
		DoOEMButton(1002)
		Sleep(150)
		Message("Toolchange failed. Tool should be locked!")
		Sleep(150)
		' restore softlimits
		SetSoftLimits(SoftLimitsState)
		' curtain down
		Call SetCsmioOut (OUT_CURTAIN, false)
		End
	End If
	
	' slide out from toolholder position
	Code("G0G53 X" & X_FORSLIDE)
	WaitForMove
	Code("G0G53 Z0")
	WaitForMove
	' Go to absolute 0,0
	Code("G0G53 X0 Y0")
	WaitForMove
  
	SetCurrentTool( ToolNew )
	Message("Tool Loaded: " & ToolNew)
	Code("G43T" & ToolNew)	' G43 to sync tool length in system
	Code("G43H" & ToolNew)	' G43 to sync tool length in system
	WaitForMove
	SetUserLED(1001, 0)
	' restore softlimit
	SetSoftLimits(SoftLimitsState)
	' curtain down
	Call SetCsmioOut (OUT_CURTAIN, false)
	End 
' -----------------------------------------------------------------------------
Public Function IsToolInside () As Boolean
	If(GetCsmioIn(IN_TOOLINSIDE)) Then
		IsToolInside = true
	Else
		IsToolInside = false
	End If
	Exit Function
End Function
' -----------------------------------------------------------------------------
Public Function IsColletOpened () As Boolean
	If(GetCsmioIn(IN_COLLETOPENED)) Then
		IsColletOpened = true
	Else
		IsColletOpened = false
	End If
	Exit Function
End Function
' -----------------------------------------------------------------------------
Public Function IsColletClosed () As Boolean
	If(GetCsmioIn(IN_COLLETCLOSED)) Then
		IsColletClosed = true
	Else
		IsColletClosed = false
	End If
	Exit Function
End Function
' -----------------------------------------------------------------------------
Sub ColletClose ()
	Call SetCsmioOut(OUT_OPENCOLLET, false)
End Sub
' -----------------------------------------------------------------------------
Sub ColletOpen ()
	Call SetCsmioOut(OUT_OPENCOLLET, true)
End Sub
' -----------------------------------------------------------------------------
Sub CleanConeOn ()
	Call SetCsmioOut(OUT_CLEANCONE, true)
End Sub
' -----------------------------------------------------------------------------
Sub CleanConeOff ()
	Call SetCsmioOut(OUT_CLEANCONE, false)
End Sub 
' -----------------------------------------------------------------------------
Sub SoftLimitsOff ()
	If(GetOEMLED(23)) Then
		DoOEMButton(1029)
	End If
End Sub
' -----------------------------------------------------------------------------
Sub SetSoftLimits (state As Boolean)
	If(state) Then
		If(GetOEMLED(23) = 0) Then
			DoOEMButton(1029)
		End If
	Else
		If(GetOEMLED(23)) Then
			DoOEMButton(1029)
		End If
	End If
End Sub
' -----------------------------------------------------------------------------
Sub WaitForMove ()
	While IsMoving() 
		Sleep(15) 
	Wend
End Sub
' -----------------------------------------------------------------------------
Public Function GetCsmioIn (n As Integer) As Boolean
	Dim reg As Integer
	
	If(n < 16) Then
		reg = 90
	Else
		reg = 91
		n = n - 16
	End If
	
	If(GetInBit(reg, n)) Then
		GetCsmioIn = true
	Else
		GetCsmioIn = false
	End If
	Exit Function
End Function 
' -----------------------------------------------------------------------------
Public Sub SetCsmioOut (ByVal n As Integer, ByVal state As Boolean)
	If(state) Then
		SetOutBit(90, n)
	Else
		ResetOutBit(90, n)
	End If
End Sub
' -----------------------------------------------------------------------------

Last edit: 12 years 6 months ago by BigJohnT. Reason: insert code tags

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papaours
Offline
Junior Member

12 years 6 months ago #46226 by papaours

Replied by papaours on topic AXYZ 4008 ATC CNC router control retrofit

Atc is working

This afternoon i have tryed the sub routine code i found on the net and it worked!

I must ad the tool ejected, tool locked input and soleinod to moove up the spindle....

To open and close the drawbar i have use m64 and m65 instead of m101/m102

The subroutine, check if there is a tool in the spindle, and drop it before to load one.

I hop it could help you.

Mael.

( ;Pick tool subroutines )
O<PickTool1> SUB
g53 G0z0 (safe height)
g53 g0 x0 y5.2 ( over slot )
g53 g0 z-65
m64p2
g53 g0 z-67.5
g4p3
g53 g0 z-70.5
m65p2
g53 g0 z0
#1000 = 1 (; toolchange success )
#1001 = [#5400]

O<PickTool1> endsub

O<PickTool2> Sub ( PickTool2 )
g53 G0z0 (safe height)
g53 g0 x0 y27.2 ( over slot )
g53 g0 z-65
m64p2
g53 g0 z-67.5
g4p3
g53 g0 z-70.5
m65p2
g53 g0 z0
#1000 = 1 (; Tool change success )
#1001 = [#5400]

O<PickTool2> endsub

O<PickTool3> Sub ( PickTool3 )
g53 G0z0 (safe height)
g53 g0 x0 y49.2 ( over slot )
g53 g0 z-65
m64p2
g53 g0 z-67.5
g4p3
g53 g0 z-70.5
m65p2
g53 g0 z0
#1000 = 1 (; Tool change success )
#1001 = [#5400]

O<PickTool3> endsub

O<PickTool4> Sub ( PickTool4 )
g53 G0z0 (safe height)
g53 g0 x0 y71.2 ( over slot )
g53 g0 z-65
m64p2
g53 g0 z-67.5
g4p3
g53 g0 z-70.5
m65p2
g53 g0 z0
#1000 = 1 (; Tool change success )
#1001 = [#5400]

O<PickTool4> endsub

( ;Drop tool subroutines )

O<DropTool1> Sub ( DropTool1 )
g53 G0z0 (safe height)
g53 g0 x0 y5.2 ( over slot )
g53 g0 z-65
m64p2
g4p3
m65p2
g53 g0 z0
O<DropTool1> endsub

O<DropTool2> Sub ( DropTool2 )
g53 G0z0 (safe height)
g53 g0 x0 y27.2 ( over slot )
g53 g0 z-65
m64p2
g4p3
m65p2
g53 g0 z0
O<DropTool2> endsub

O<DropTool3> Sub ( DropTool3 )
g53 G0z0 (safe height)
g53 g0 x0 y49.2 ( over slot )
g53 g0 z-65
m64p2
g4p3
m65p2
g53 g0 z0
O<DropTool3> endsub

O<DropTool4> Sub ( DropTool4 )
g53 G0z0 (safe height)
g53 g0 x0 y71.2 ( over slot )
g53 g0 z-65
m64p2
g4p3
m65p2
g53 g0 z0
O<DropTool4> endsub

O<Change_Tool> sub (change_tool)

( ;Use #1000 to indicate successful toolchange )
( Use #1001 to indicate old tool )
#1000 = 0 ( ; Tool change not performed )
O100 if [ [#5400] eq [#1001] ]
(msg,Tool already in spindle)
o100 endif
( ; check tool in spindle and exit sub )
o101 If [ [#5400] ne [#1001] ]
o102 if [[#5400] ge 5 ]
(msg,Please select a tool from 1 to 4.)
m0 ; stop
o102 else
( ;Drop current tool )
o103 If [[#1001] eq 1]
O<DropTool1> call
o103 endif
o104 If [[#1001] eq 2]
O<DropTool2> call
o104 endif
o105 If [[#1001] eq 3]
O<DropTool3> call
o105 endif
o106 If [[#1001] eq 4]
O<DropTool4> call
o106 endif
( ;Pick new tool )
o107 if [[#5400] eq 1]
O<PickTool1> call
o107 endif
o108 if [[#5400] eq 2]
O<PickTool2> call
o108 endif
o109 if [[#5400] eq 3]
O<PickTool3> call
o109 endif
o110 if [[#5400] eq 4]
O<PickTool4> call
o110 endif
o102 endif
o101 endif
o111 If [[#1000] eq 1]
o111 endif

O<Change_Tool> EndSub

m6 t1
o<Change_Tool> call
g0 x0 y0
g0 z50
m6 t2
o<Change_Tool> call
g0 x0 y0
g0 z50
m6 t3
o<Change_Tool> call
g0 x0 y0
g0 z50
m6 t4
o<Change_Tool> call
g0 x0 y0
g0 z50
m6 t0
o<Change_Tool> call
g0 x0 y0
g0z50
m2

The following user(s) said Thank You: tsmutz5

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tsmutz5
Topic Author
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12 years 6 months ago #46228 by tsmutz5

Replied by tsmutz5 on topic AXYZ 4008 ATC CNC router control retrofit

Wow Mael !

This is great news.

I'm looking forward to implementing this sub routine.

This is a huge help, thank you.

Tyler

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AXYZ 4008 ATC CNC router control retrofit