Boxford 125 lathe Tool Changer Comp FERROR (SOLVED)
I think I have the scale correct.
From the comp
.
param rw float odd_move = 22.2
param rw float even_move = 24
will work for TCL 160 and TCL 125 and probably other lathes with the same 'move past pawl and reverse to stall against it' methodology.
These move figures are only half the actual move in degrees. The scaling takes care of the distance actually moved.
There is a very good reason for this.
It prevents the stepgen seeing any move as being in excess of 180degrees, therefore all moves between tool stations will be forward moves.
If you command a move to a position which is say 270degrees on a angular axis, the stepgen will try to move 90degress backwards
to get to the same point by the shortest route.
In theory unlinking the stepgen dir signal and using our own should work, but it didn't and the axis wanted to go backwards all
the time despite the flag being set at TRUE (FWD).
As this worked perfectly, I preserved my sanity and just left well alone.
So I am not sure where we can go from here.
I wonder if AndyPugh linuxcnc.org/docs/2.7/html/man/man9/carousel.9.html could be get to work.
Edit: Have you seen this: It was referenced in the readme.
.TH TOOLCHANGER "9" "2011-05-10" "EMC Documentation" "HAL Component"
.de TQ
.br
.ns
.TP \\$1
..
.SH NAME
toolchanger \- This component controls the Boxford 240 Lathe Auto Tool Changer. M6 calls this
.SH SYNOPSIS
.HP
.B loadrt toolchanger
.SH FUNCTIONS
.TP
\fBtoolchanger\fR (uses floating-point)
.SH PINS
.TP
.B toolchanger.toolchange\fR bit in \fR
Receives signal from M6 that tool change required
.TP
.B toolchanger.toolnumber\fR s32 in \fR
Receives Tx data from M6 (tool number requested) Only allows 1-8
.TP
.B toolchanger.currenttoolnumber\fR s32 in \fR
Receives old tool number
.TP
.B toolchanger.position-cmd\fR float out \fR
Sends location required
.TP
.B toolchanger.toolchanged\fR bit out \fR(default: \fIfalse\fR)
Sends signal when tool change finished
.TP
.B toolchanger.ishomed\fR bit in \fR(default: \fIfalse\fR)
Status of A axis homing
.TP
.B toolchanger.jog-forward\fR bit in \fR(default: \fIfalse\fR)
Facilitate jogging of stepgen via component
.TP
.B toolchanger.jog-back\fR bit in \fR(default: \fIfalse\fR)
Facilitate jogging of stepgen via component
.TP
.B toolchanger.jog-move\fR float in \fR(default: \fI0\fR)
distance to jog
.SH PARAMETERS
.TP
.B toolchanger.odd-move\fR float rw \fR(default: \fI22.2\fR)
distance from odd tool station to even one
.TP
.B toolchanger.even-move\fR float rw \fR(default: \fI24\fR)
distance from even tool station to odd one
.TP
.B toolchanger.divisor\fR float rw \fR(default: \fI2\fR)
used in calculating reverse move to lock
.TP
.B toolchanger.fudge-factor\fR float rw \fR(default: \fI1\fR)
additional move to ensure locking
.SH AUTHOR
ArcEye schooner30@tiscali.co.uk
.SH LICENSE
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The idea was to let the commanded position add up beyond 360. Note that I removed the trick with the half angles as this is now not relevant anymore. So you would need to divide your scale by two.
.
Thanks I will certainly give it a try tomorrow morning .
Watch this space :
Ok update and a question first.
When it reverses to lock the pawl it will miss steps because it will stall the motor.
So the question is does it reset the stepgens before it moves to the next tool ?
Now for the good news. It is working but I need to do a bit more testing.
I have spent a lot of time getting the scale correct.
Between us it appears to work it certainly does not go backwards.
I am not sure yet if when locking the pawl and loses steps it keeps in sync.
Re: the fudge move is there only one place to adjust the amount of reverse or is there two values i.e. one for odd and one for even numbers.
But a massive step forward. Thanks you so much for keeping with me and sorting this out.
When I can guarantee that it is working 100% I wonder if we can get the new comp into the list for others to use.
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