HAAS VF1 retrofit
11 Aug 2014 01:42 - 11 Aug 2014 01:44 #49665
by sspeed33317
Replied by sspeed33317 on topic HAAS VF1 retrofit
OK back to the tool changer... 
I know how this sucker works now.
Two relays for each motor,carousel forward, reverse, shuttle in, out, takes 160vdc from the servo power supply.
Two proximity sensors shuttle in/out , Carousel home, carousel pulse at each station, so 20 stations over all.
Without having to rebuild the entire mechanism can I use what I have?
Home the machine at start up.
Note this uses a geneva mechanism, so carousel motor position doesnt have to be 100% perfect.
Carousel is commanded to rotate
Controller sees Carousel home switch , stop Carousel
Reset carousel counter to Zero (tool 1)
"Tool change request comes in for example tool 6"
"Tool logic to see if tool 6 is already in spindle"
Spindle Stops
Z axis is commanded to Tool Change Position
Spindle is oriented
Orient pin input true/false
Shuttle output commanded in ,input true/false
Tool Release output is activated. input true/false
Z raises to tool change Safe position
Carousel is commanded to rotate in direction of tool 6
Since Home is Zero, it counts to #5 then stops
Shortest path logic in here somewhere.
Z lowers back to tool change position
Tool release output is commanded off , clamp tool.
Clamp tool input true/false
Shuttle is commanded out
Shuttle out input true/false
Tool change complete.
This way tool #1 should always be in the spindle on shut down.
This is how HAAS does it.
INPUTS
Shuttle In
Shuttle Out
Carousel Home Pulse
Carousel Position Pulse, no pulse at #1 since it is zero, home is tool #1
Tool Clamp
Tool Unclamp
Orient Pin Out (spindle released)
Orient Pin In (spindle locked)
OUTPUTS
Shuttle In (forward relay)
Shuttle Out (reverse relay)
Carousel (Clockwise relay)
Carousel (Counter Clockwise relay)
Tool Clamp (on/off relay)
Orient Pin ( spindle lock relay)
Orient Pin (spindle unlock relay)
Should be easy??
I know how this sucker works now.
Two relays for each motor,carousel forward, reverse, shuttle in, out, takes 160vdc from the servo power supply.
Two proximity sensors shuttle in/out , Carousel home, carousel pulse at each station, so 20 stations over all.
Without having to rebuild the entire mechanism can I use what I have?
Home the machine at start up.
Note this uses a geneva mechanism, so carousel motor position doesnt have to be 100% perfect.
Carousel is commanded to rotate
Controller sees Carousel home switch , stop Carousel
Reset carousel counter to Zero (tool 1)
"Tool change request comes in for example tool 6"
"Tool logic to see if tool 6 is already in spindle"
Spindle Stops
Z axis is commanded to Tool Change Position
Spindle is oriented
Orient pin input true/false
Shuttle output commanded in ,input true/false
Tool Release output is activated. input true/false
Z raises to tool change Safe position
Carousel is commanded to rotate in direction of tool 6
Since Home is Zero, it counts to #5 then stops
Shortest path logic in here somewhere.
Z lowers back to tool change position
Tool release output is commanded off , clamp tool.
Clamp tool input true/false
Shuttle is commanded out
Shuttle out input true/false
Tool change complete.
This way tool #1 should always be in the spindle on shut down.
This is how HAAS does it.
INPUTS
Shuttle In
Shuttle Out
Carousel Home Pulse
Carousel Position Pulse, no pulse at #1 since it is zero, home is tool #1
Tool Clamp
Tool Unclamp
Orient Pin Out (spindle released)
Orient Pin In (spindle locked)
OUTPUTS
Shuttle In (forward relay)
Shuttle Out (reverse relay)
Carousel (Clockwise relay)
Carousel (Counter Clockwise relay)
Tool Clamp (on/off relay)
Orient Pin ( spindle lock relay)
Orient Pin (spindle unlock relay)
Should be easy??
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11 Aug 2014 22:11 #49700
by andypugh
Unfortunately that appears to be a Mach3 Visual Basic routine, and so won't work with LinuxCNC.
As your tool-changer requires axis movements I would suggest running it with a G-code routine and treating the carousel as a rotary axis. (choose an axis that you won't be using, perhaps
Then the normal homing sequence will home the carousel to the home sensor. You could (potentially) use the per-tool sensors as inputs to a software encoder counter to feed-back the axis position.
Carousel in-out could be treated as an axis movement, but it might be simpler not to. (simply set a G-code digital output and wait on a digital input)
Then the G-code would look something like this:
Replied by andypugh on topic HAAS VF1 retrofit
Found this and maybe i can tweak it to work with linux
I can make sense of it.
Unfortunately that appears to be a Mach3 Visual Basic routine, and so won't work with LinuxCNC.
As your tool-changer requires axis movements I would suggest running it with a G-code routine and treating the carousel as a rotary axis. (choose an axis that you won't be using, perhaps
Then the normal homing sequence will home the carousel to the home sensor. You could (potentially) use the per-tool sensors as inputs to a software encoder counter to feed-back the axis position.
Carousel in-out could be treated as an axis movement, but it might be simpler not to. (simply set a G-code digital output and wait on a digital input)
Then the G-code would look something like this:
; head up
G53 G0 Z0
; Orient spindle
M3 S10
M66 P0 L3 Q10
O101 IF [#5399 LT 0]
M2 ; some more clever error handling is needed really
O101 ENDIF
; drive carousel in
M64 P0
; wait for end-of travel
M66 P1 L1 Q5
O102 IF [#5399 LT 0]
M2 ; some more clever error handling is needed really
O102 ENDIF
; carousel motor off
M65 P0
; head down
G53 G0 Z-100
; tool release
M64 P2
; You _really_ want some way to ensure the tool is really released...
;Head Up
G53 G0 Z0
;Rotate carousel
G0 B#<tool>
;Head down
G53 G0 Z-100
;Clamp new tool
M65 P2Please Log in or Create an account to join the conversation.
12 Aug 2014 03:14 #49719
by sspeed33317
Replied by sspeed33317 on topic HAAS VF1 retrofit
Thank You,
It makes a bit of sense
To set up the carousel as a Axis can I control it with a forward reverse relay or will I need a motor controller?
And the switches used as a encoder would be 12ppr with a index.
I will need to build a few M codes for the outputs.
Most of my electrical parts arrived today, hopefully I get the rest of it by the end of the week.
It makes a bit of sense
To set up the carousel as a Axis can I control it with a forward reverse relay or will I need a motor controller?
And the switches used as a encoder would be 12ppr with a index.
I will need to build a few M codes for the outputs.
Most of my electrical parts arrived today, hopefully I get the rest of it by the end of the week.
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12 Aug 2014 06:29 - 12 Aug 2014 07:26 #49724
by sspeed33317
Replied by sspeed33317 on topic HAAS VF1 retrofit
Ha , now I know why ... you have been down this road before I found your conversation with the Fadal owner.
I named my inputs and outputs tonight.
I also added a saftey output, for when the orient pin is shot out it sends a stop signal to the VFD directly.
The VFD i can program to send a sinal to the 7i77 for it to know it is stopped also.
I figure I can use this to let the tool changer routine know it is safe to proceed.
I am really understanding this way to do it, I will tackle a full M6 remap some other time.
I will have to write a routine for each tool?
I found your conversation with the Fadal owner.I named my inputs and outputs tonight.
I also added a saftey output, for when the orient pin is shot out it sends a stop signal to the VFD directly.
The VFD i can program to send a sinal to the 7i77 for it to know it is stopped also.
I figure I can use this to let the tool changer routine know it is safe to proceed.
I am really understanding this way to do it, I will tackle a full M6 remap some other time.
I will have to write a routine for each tool?
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