HAAS VF1 retrofit

I have read the thread, because I have to integrate a toolchanger in my machine. At the moment I try to make the mesa cards run. Well after that In need the ATC. But its much more complicated than the simple Pickup type.
Not really, because I don't need to shift the Z-Axis while changing. But I have much more positions I must call in the right direction. My Machine have 2 independent tool arms and the arms were at a 90° rotate head.
So I have much outputs and nearly double of it inputs, because nearly each position is proofed with 1 proximity switch on each end. Is it possible to make a M-funktion of each partfunction. The original had it, what makes it easy, if an error is happened during the changing, I can simple get back or advance with it.
Because the toolchain is an independent numeric axis I prefer to turn it to the position of the released tool while the changing is running. That seems me better than the chaotic toolchanging, what sspeed have with his new Doublearm changer. I know LCC can use both, but if I have to change a damaged tool during work, its easier to access the right tool, if I don't must first search a list, whats the actual position of my desired tool.

I have to say I agree with JR1050, Camsoft isn't going to make this particularly much easier. It's a lot more expensive as well (in the thousands of $). They even charge you an annual support fee. The technical support is good, but not that much better then what you get here for LinuxCNC for free! That is really saying most about the support here though, because they are both quite good. But only LinucCNC provide it for free!

You are also bound to particular hardware platform, Galil controllers, that are quite ok, but about 10 fold the price of a standard Mesa setup. And to be honest the Mesa setup is more configurable and expandable. Camsoft won't work with Mesa hardware (which is hobby use only in their words.... I asked them if they would consider supporting it...)

And the GUI looks like it's made on an Amiga in the 1990's!!!! At least the one you get with the package. The only other alternative is to make your own. Probably almost as much work to do that with their software as with LinuxCNC. But with LinuxCNC you get access to Gmoccapy and other advanced GUI's ready made. There are no user made GUI's available for Camsoft.

On a purely technical note, the complicated task of making an ATC work is one of the more challenging things to do when retrofitting a machine like this. This will be complicated no matter what control system you choose. I know since I'm trying to do the same thing with a Maho MH600E from 1990.

I haven't decided what approach I'm going to go for yet as I'm working on other parts of it for now (PID tuning and mechanical restoration to get my axes moving). But given all the other functions I need to control on my machine, lubrication amongst them I figure I might as well go for ladder logic. I don't have the programming skills to do it in C (I did learn it once about 20 years ago in colleague, and don't fancy revisiting it.... if I don't have to at least).
As I see it the safety functions when things fail and what happens when it fails is the important part to get right. And I don't feel confident in fault finding and debugging in C.

Ladder programming is kind of more hands on, and you can follow what happens in simulations. And I did attend a course that had a fair amount of ladder programming in it at work not that long ago. BTW, the teacher on this course told us that as a rule of thumb 90% of the code will be for the safety and error handling, the rest will be the normal program. And the amount of work involved with the safety system will probably take at least 90% of the time spent testing as well...... this was coming from a man who had been in to PLC programming professionally for many years, so I take his word for it.

I don't think this will apply for ladder logic only though..... the need for safety and fault tolerance is the same no matter what programming language you choose. And debugging safety routines in C isn't something I think I will feel comfortable with.

Is there examples of things like this done in G-code for us to look at somewhere? It would be interesting to see and compare with ladder.

sspeed33317, can you tell us where you found the ladder logic to do the indexing with only zero count and pocket sensor? My ATC is built like that, so it would be of value to me to see that. As I guess others also might be interested.

Anders

My machine project is on hold for now, unfortunately I ended up spending a bunch of $$ moving
last month and rent is already due for November so I need some catch up time.

Taking a lot longer then I wanted too, I was hoping to have it running by now but $$ is always a problem.

Any updates, sspeed? There's a VF1 and a VF3 with no controls up for sale locally for pretty cheap..

No progress lately, was having a hard time tuning the amplifiers to the existing HAAS dc servo motors, so I am going to replace all axis with
new digital AC servos but project is on hold for a while, renting this shop I have is costing too much and I am now trying to
round up some money to build a garage at my own place so I can move everything home.

i have a similar project can you share the schematics of the machine i have some problems whit identification of cables.