BOXFORD 125 TLC Tool Changer Setup

tommylight wrote: Yup, that is OK.
In hal,
loadrt toolchanger
addf ....
and link hal pins.

Ok I have 2 errors linuxcnc will load with them commented out



#################
# ATC
#################

setp stepgen.2.position-scale [JOINT_2]SCALE
setp stepgen.2.steplen 1
setp stepgen.2.stepspace 0
setp stepgen.2.dirhold 35000
setp stepgen.2.dirsetup 35000
setp stepgen.2.maxaccel [JOINT_2]STEPGEN_MAXACCEL
net apos-cmd joint.2.motor-pos-cmd => stepgen.2.position-cmd
net apos-fb stepgen.2.position-fb => joint.2.motor-pos-fb
net astep <= stepgen.2.step
net adir <= stepgen.2.dir
net aenable joint.2.amp-enable-out => stepgen.2.enable


###########################################################
# loading the toolchange component in .hal file
###########################################################

loadrt toolchanger
addf toolchanger servo-thread

net tool-change iocontrol.0.tool-change => toolchanger.toolchange
net tool-changed iocontrol.0.tool-changed <= toolchanger.toolchanged
net tool-number iocontrol.0.tool-prep-number => toolchanger.toolnumber
net tool-oldnumber iocontrol.0.tool-number => toolchanger.currenttoolnumber
##net apos-cmd toolchanger.position-cmd => stepgen.2.position-cmd
net ahomed joint.2.homed => toolchanger.ishomed
net tool-prepare-loopback iocontrol.0.tool-prepare => iocontrol.0.tool-prepared

net estop-out <= iocontrol.0.user-enable-out
net estop-ext => iocontrol.0.emc-enable-in

loadusr -W hal_manualtoolchange
net tool-change iocontrol.0.tool-change => hal_manualtoolchange.change
##net tool-changed iocontrol.0.tool-changed <= hal_manualtoolchange.changed
net tool-number iocontrol.0.tool-prep-number => hal_manualtoolchange.number
net tool-prepare-loopback iocontrol.0.tool-prepare => iocontrol.0.tool-prepared

Clive S wrote: ##net apos-cmd toolchanger.position-cmd => stepgen.2.position-cmd

Should be as simple as:
net apos-cmd toolchanger.position-cmd

Clive S wrote: loadusr -W hal_manualtoolchange
net tool-change iocontrol.0.tool-change => hal_manualtoolchange.change
##net tool-changed iocontrol.0.tool-changed <= hal_manualtoolchange.changed
net tool-number iocontrol.0.tool-prep-number => hal_manualtoolchange.number
net tool-prepare-loopback iocontrol.0.tool-prepare => iocontrol.0.tool-prepared

Delete or omit everything with manual tool change, it is an ATC so no need for it.

tommylight wrote:

Clive S wrote: ##net apos-cmd toolchanger.position-cmd => stepgen.2.position-cmd

Should be as simple as:
net apos-cmd toolchanger.position-cmd

Clive S wrote: loadusr -W hal_manualtoolchange
net tool-change iocontrol.0.tool-change => hal_manualtoolchange.change
##net tool-changed iocontrol.0.tool-changed <= hal_manualtoolchange.changed
net tool-number iocontrol.0.tool-prep-number => hal_manualtoolchange.number
net tool-prepare-loopback iocontrol.0.tool-prepare => iocontrol.0.tool-prepared

Delete or omit everything with manual tool change, it is an ATC so no need for it.

Thanks. Tom could not see the wood for the trees
I will have another go in the morning and report back

Ok it seem I need the manual tool change loaded as well as it does have a manual jog

net apos-cmd joint.2.motor-pos-cmd => stepgen.2.position-cmd
net apos-cmd toolchanger.position-cmd => stepgen.2.position-cmd

The error is signal apos-cmd cannot add OUT pin "toolchanger.position-cmd" it already has OUT pin "stepgen.2.position-cmd "

So how do I solve this

Already replied above but it is buried between quotes, delete the stepgen.2........ on the second line.

andypugh wrote: I added features to Carousel last summer for the changer on a Denford Orac. It should work for most of that style now.

For my type of Tool changer, I need to crank the disc a little further than the position sensor is triggered to engage the latch on reverse rotation. AC motor without encoder.
loadrt carousel pockets=6 encoding=single num_sense=6 dir=1
How can this be configured?