Boxford 125 lathe Tool Changer Comp FERROR (SOLVED)
02 Nov 2020 18:04 - 02 Nov 2020 18:07 #188127
by Aciera
Replied by Aciera on topic Boxford 125 lathe Tool Changer Comp FERROR
As I see it, there is only one place where the backwards locking move comes in:
position_req -= ((moves / divisor) + fudge_factor);
Which is the same as
position_req = position_req - ((moves / divisor) + fudge_factor);
So as the divisor used to be 2 we got the 1.5 degrees for a single move:
(1/2+1)=1.5
and since I now changed the divisor to 1 it is now 1/1+1=2 degrees.
So I guess each forward move is a bit too long to get past the locking mechanism and then the toolchanger is moved backwards by the number of moves (moves) times the extra plus the "fudge factor".
The position is not reset but if the motor looses steps it does not matter since the next move just starts from where it is sitting against the lock. As there is no position feedback.
Just thought of that now.
position_req -= ((moves / divisor) + fudge_factor);
Which is the same as
position_req = position_req - ((moves / divisor) + fudge_factor);
So as the divisor used to be 2 we got the 1.5 degrees for a single move:
(1/2+1)=1.5
and since I now changed the divisor to 1 it is now 1/1+1=2 degrees.
So I guess each forward move is a bit too long to get past the locking mechanism and then the toolchanger is moved backwards by the number of moves (moves) times the extra plus the "fudge factor".
The position is not reset but if the motor looses steps it does not matter since the next move just starts from where it is sitting against the lock. As there is no position feedback.
Just thought of that now.
Last edit: 02 Nov 2020 18:07 by Aciera.
The following user(s) said Thank You: Clive S
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02 Nov 2020 18:12 #188132
by Clive S
Thank you that all makes sense. So this means it can be moved past the locking mechanism with a bit of leeway and then reverse far enough to always stall the motor .
I will now put the turret back together and hopefully it is a job well done.
I will mark it as solved
Replied by Clive S on topic Boxford 125 lathe Tool Changer Comp FERROR
As I see it, there is only one place where the backwards locking move comes in:
position_req -= ((moves / divisor) + fudge_factor);
Which is the same as
position_req = position_req - ((moves / divisor) + fudge_factor);
So as the divisor used to be 2 we got the 1.5 degrees for a single move:
(1/2+1)=1.5
and since I now changed the divisor to 1 it is now 1/1+1=2 degrees.
So I guess each forward move is a bit too long to get past the locking mechanism and then the toolchanger is moved backwards by the number of moves (moves) times the extra plus the "fudge factor".
The position is not reset but if the motor looses steps it does not matter since the next move just starts from where it is sitting against the lock. As there is no position feedback.
Just thought of that now.
Thank you that all makes sense. So this means it can be moved past the locking mechanism with a bit of leeway and then reverse far enough to always stall the motor .
I will now put the turret back together and hopefully it is a job well done.
I will mark it as solved
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02 Nov 2020 18:20 - 02 Nov 2020 18:23 #188133
by Aciera
Replied by Aciera on topic Boxford 125 lathe Tool Changer Comp FERROR
Also note that now I don't see any reason to use the A-axis anymore. So I changed the INI and HAL section:
[edit]
Make sure you check the "stepgen.2.position-scale" and connect "toolchanger.ishomed" and "stepgen.2.enable" the way you want.
#
# Boxford ATC Clive
#
[EMC]
MACHINE = Boxford
DEBUG = 0
VERSION = 1.1
[DISPLAY]
DISPLAY = axis
EDITOR = gedit
POSITION_OFFSET = RELATIVE
POSITION_FEEDBACK = ACTUAL
ARCDIVISION = 64
GRIDS = 10mm 20mm 50mm 100mm
MAX_FEED_OVERRIDE = 1.2
MIN_SPINDLE_OVERRIDE = 0.5
MAX_SPINDLE_OVERRIDE = 1.2
DEFAULT_LINEAR_VELOCITY = 15
MIN_LINEAR_VELOCITY = 5
MAX_LINEAR_VELOCITY = 20
#MAX_ANGULAR_VELOCITY = 1
INTRO_GRAPHIC = linuxcnc.gif
INTRO_TIME = 5
PROGRAM_PREFIX = /home/cnc/linuxcnc/nc_files
INCREMENTS = 5mm 1mm .5mm .1mm .05mm .01mm .005mm
PYVCP = custompanel.xml
LATHE = 1
[KINS]
JOINTS = 2
KINEMATICS = trivkins coordinates=XZ
[FILTER]
PROGRAM_EXTENSION = .png,.gif,.jpg Greyscale Depth Image
PROGRAM_EXTENSION = .py Python Script
PROGRAM_EXTENSION = .nc,.tap G-Code File
png = image-to-gcode
gif = image-to-gcode
jpg = image-to-gcode
py = python
[TASK]
TASK = milltask
CYCLE_TIME = 0.010
[RS274NGC]
PARAMETER_FILE = linuxcnc.var
[EMCMOT]
EMCMOT = motmod
COMM_TIMEOUT = 1.0
BASE_PERIOD = 100000
SERVO_PERIOD = 1000000
[HAL]
HALFILE = Boxford.hal
HALFILE = custom.hal
POSTGUI_HALFILE = postgui_call_list.hal
[TRAJ]
COORDINATES = X Z
LINEAR_UNITS = mm
ANGULAR_UNITS = degree
DEFAULT_LINEAR_VELOCITY = 10
MAX_LINEAR_VELOCITY = 25.00
[EMCIO]
EMCIO = io
CYCLE_TIME = 0.100
TOOL_TABLE = tool.tbl
[AXIS_X]
MAX_VELOCITY = 25.0
MAX_ACCELERATION = 750.0
MIN_LIMIT = -0.001
MAX_LIMIT = 200.0
[JOINT_0]
TYPE = LINEAR
HOME = 0.0
MIN_LIMIT = -0.001
MAX_LIMIT = 200.0
MAX_VELOCITY = 25.0
MAX_ACCELERATION = 750.0
STEPGEN_MAXACCEL = 937.5
SCALE = 400
FERROR = 1
MIN_FERROR = .25
HOME_OFFSET = 0.0
[AXIS_Z]
MAX_VELOCITY = 25.0
MAX_ACCELERATION = 750.0
MIN_LIMIT = -100.0
MAX_LIMIT = 0.001
[JOINT_1]
TYPE = LINEAR
HOME = 0.0
MIN_LIMIT = -100.0
MAX_LIMIT = 0.001
MAX_VELOCITY = 25.0
MAX_ACCELERATION = 750.0
STEPGEN_MAXACCEL = 937.5
SCALE = 400.0
FERROR = 1
MIN_FERROR = .25
HOME_OFFSET = 0.0
#################
# ATC
#################
setp stepgen.2.position-scale 35
setp stepgen.2.steplen 1
setp stepgen.2.stepspace 0
setp stepgen.2.dirhold 35000
setp stepgen.2.dirsetup 35000
setp stepgen.2.maxaccel 8
#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 => toolchanger.ishomed => stepgen.2.enable
[edit]
Make sure you check the "stepgen.2.position-scale" and connect "toolchanger.ishomed" and "stepgen.2.enable" the way you want.
Last edit: 02 Nov 2020 18:23 by Aciera.
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02 Nov 2020 19:42 #188141
by Clive S
Replied by Clive S on topic Boxford 125 lathe Tool Changer Comp FERROR
If we change the A axis to linear won't it then do steps rather than angles. The turret has different angle between odd and even numbers ?
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03 Nov 2020 07:10 - 03 Nov 2020 07:19 #188180
by Aciera
Replied by Aciera on topic Boxford 125 lathe Tool Changer Comp FERROR
The step generator does not know about angles or distances. It only gets the commanded position from the component and then calculates the required number of steps according to the scale (pulses per unit) and its current position. It then put out the steps within the limits of maximum acceleration and velocity. If the commanded position is larger than the current position it drives the DIR pin low otherwise it drives it high. The motion planner does not need to know about the tool changer at all and thus it does not need to be an axis.
The two different angles are entered in the "param" section as "odd_move" and "even_move".
The component adds "odd" or "even" moves to derive the required position depending on whether the current toolnumber is even or not. It then calculates the required number of moves and starts with an odd_move if the currenttoolnumber is even.
[edit]
Note that I doubled the original angles (22.2° and 24°) as the trick with using half-angles was only there to avoid unwanted backward moves.
The angles sum up to (44.4°+48°)x4=368.8° so actually more than a full turn because of the need to get past the locking mechanism.
[/edit]
The two different angles are entered in the "param" section as "odd_move" and "even_move".
The component adds "odd" or "even" moves to derive the required position depending on whether the current toolnumber is even or not. It then calculates the required number of moves and starts with an odd_move if the currenttoolnumber is even.
param rw float odd_move = 44.4 "distance from odd tool station to even one";
param rw float even_move = 48 "distance from even tool station to odd one";
[edit]
Note that I doubled the original angles (22.2° and 24°) as the trick with using half-angles was only there to avoid unwanted backward moves.
The angles sum up to (44.4°+48°)x4=368.8° so actually more than a full turn because of the need to get past the locking mechanism.
[/edit]
if(currenttoolnumber == 2 || currenttoolnumber == 4 || currenttoolnumber == 6 || currenttoolnumber == 8)
bEven = true;
if(currenttoolnumber < toolnumber)
moves = toolnumber - currenttoolnumber;
else
moves = (8 - currenttoolnumber) + toolnumber;
bToggle = bEven;
while(index < moves)
{
if(bToggle)
position_req += even_move;
else
position_req += odd_move;
index++;
bToggle = !bToggle;
}
Last edit: 03 Nov 2020 07:19 by Aciera.
The following user(s) said Thank You: Clive S
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03 Nov 2020 09:12 #188196
by Clive S
Replied by Clive S on topic Boxford 125 lathe Tool Changer Comp FERROR
Ok just when I thought I was getting to the end ![:P :P](/media/kunena/emoticons/tongue.png)
You have given me more homework to test out. I will save my config and see how it goes without the A axis.
I will report back.
You have gone more that above with your help in this. Thanks
![:P :P](/media/kunena/emoticons/tongue.png)
You have given me more homework to test out. I will save my config and see how it goes without the A axis.
I will report back.
You have gone more that above with your help in this. Thanks
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03 Nov 2020 09:40 - 03 Nov 2020 09:40 #188198
by Aciera
Ha Ha, it will NEVER end!
Replied by Aciera on topic Boxford 125 lathe Tool Changer Comp FERROR
Ok just when I thought I was getting to the end
Ha Ha, it will NEVER end!
![:evil: :evil:](/media/kunena/emoticons/devil.png)
Last edit: 03 Nov 2020 09:40 by Aciera.
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03 Nov 2020 10:37 #188200
by Clive S
Ha very good You should not take the piss out of a 74 year OAP.![;) ;)](/media/kunena/emoticons/wink.png)
Now I am trying to find out how to auto home the toolchanger.ishomed When I don't have an axis in the ini file ?
Replied by Clive S on topic Boxford 125 lathe Tool Changer Comp FERROR
Ok just when I thought I was getting to the end
Ha Ha, it will NEVER end!
Ha very good You should not take the piss out of a 74 year OAP.
![;) ;)](/media/kunena/emoticons/wink.png)
Now I am trying to find out how to auto home the toolchanger.ishomed When I don't have an axis in the ini file ?
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03 Nov 2020 13:10 - 03 Nov 2020 13:19 #188212
by Aciera
I connected it to the machine enable so its "homed" as soon as you start the machine. Since it is not an axis it does not have a real "homing" routine. Does it not work that way?
[edit]
I think the homing might have been a leftover from the original use to drive a tool changer with a sensor so it could actually home itself before use. Since yours does not have a sensor there is no point in homing as the system has no feedback. Your original INI only had immediate homing so might as well just enable it when you start the machine. At least I think it should work.
Replied by Aciera on topic Boxford 125 lathe Tool Changer Comp FERROR
net estop-ext => iocontrol.0.emc-enable-in => toolchanger.ishomed => stepgen.2.enable
I connected it to the machine enable so its "homed" as soon as you start the machine. Since it is not an axis it does not have a real "homing" routine. Does it not work that way?
[edit]
I think the homing might have been a leftover from the original use to drive a tool changer with a sensor so it could actually home itself before use. Since yours does not have a sensor there is no point in homing as the system has no feedback. Your original INI only had immediate homing so might as well just enable it when you start the machine. At least I think it should work.
Last edit: 03 Nov 2020 13:19 by Aciera.
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03 Nov 2020 13:36 - 03 Nov 2020 13:40 #188216
by Clive S
Its telling me "can't issue MDI command when not homed"
I think I have always had to home the machine by clicking on each radio button but now I only have X and Z so can't issue the command to the toolchanger.
These are the current hal and ini files
Edit: Could it be homed in the comp.
Replied by Clive S on topic Boxford 125 lathe Tool Changer Comp FERROR
net estop-ext => iocontrol.0.emc-enable-in => toolchanger.ishomed => stepgen.2.enable
I connected it to the machine enable so its "homed" as soon as you start the machine. Since it is not an axis it does not have a real "homing" routine. Does it not work that way?
[edit]
I think the homing might have been a leftover from the original use to drive a tool changer with a sensor so it could actually home itself before use. Since yours does not have a sensor there is no point in homing as the system has no feedback. Your original INI only had immediate homing so might as well just enable it when you start the machine. At least I think it should work.
Its telling me "can't issue MDI command when not homed"
I think I have always had to home the machine by clicking on each radio button but now I only have X and Z so can't issue the command to the toolchanger.
These are the current hal and ini files
Edit: Could it be homed in the comp.
Attachments:
Last edit: 03 Nov 2020 13:40 by Clive S.
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