ATC Project - Debug phase
27 Jun 2022 21:58 #246026
by andypugh
Replied by andypugh on topic ATC Project - (WOO!!!)
More tweaks. And I updated the Vismach config to show tool numbers on the carousel. This was necessay to be able to test properly, and possibly took more effort than the rest of the work.
It also shows that the VMC_graycode config has something wrong with the graycode simulation, but I don't think that's a new problem.
I have pushed the changes to master. But here is the latest comp if you want to try it.
It also shows that the VMC_graycode config has something wrong with the graycode simulation, but I don't think that's a new problem.
I have pushed the changes to master. But here is the latest comp if you want to try it.
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28 Jun 2022 02:42 #246045
by spumco
Replied by spumco on topic ATC Project - (WOO!!!)
Testing notes for 6/27 version
COUNTS mode
-R
COUNTS mode
- Homing works to pin sensor, no slow search
- Subsequent pocket commands move scale amount, no slow search
- No change in slow search behavior regardless of width, speed, or decel-time settings
- Jog TEST1 (fwd)
- Requires a second enable-disable sequence to clear the state and motor-dir.
- set jog-fwd to high
- set enable to high < carousel moves one pocket
- set enable to low
- set jog-fwd to low
- motor-dir is still 1, state is 20
- set enable to high
- state now 9
- set enable to low
- motor-dir is 0, state now 0
- Jog TEST2 (fwd, changed sequence)
- set jog-fwd to high
- set enable to high < carousel moves one pocket
- motor-dir = 1, state = 20
- set jog-fwd to low
- carousel does slow search to previous pocket. (not to sensor, but by scale counts)
- current-position updated to pocket-number
- set enable to low
- motor-dir is 0, state now 0
- Tried playing with decel-time and width, but nothing changed the 'back up to the previous pocket' behavior.
- Jog TEST3 (reverse)
- set jog-rev to high
- motor-dir = -1, state = 20
- set enable to high < carousel moves one pocket to pin sensor
- motor-dir = -1, state = 20
- set jog-rev to low
- carousel does slow search to pin sensor edge
- motor-dir = -1, state = 9
- set enable to low
- motor-dir is 0, state now 0
- set jog-rev to high
- Slow search works for both homing and pocket commands
- Jogging works both directions
- set jog-fwd to high
- set enable to high < carousel moves to next pocket sensor
- set jog-fwd to low < carousel does slow search to edge of pocket sensor
- set enable to high
- motor-dir 0, state 0
-R
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28 Jun 2022 22:55 #246119
by andypugh
Replied by andypugh on topic ATC Project - (WOO!!!)
Based in this feedback, a further iteration. It _should_ now do a search move for the index pin during homing. And after homing it then starts a new sequence of going to the right pocket.
It should _not_ require enable to be set high in order to jog. The jog buttons should be momentary buttons It will hold in state 20 waiting for the jog button to be released to ensure that it only moves one pocket at a time.
If you jog when not homed then it will home to 1 and then do the jog, so will go to 2 or N-1.
It should _not_ require enable to be set high in order to jog. The jog buttons should be momentary buttons It will hold in state 20 waiting for the jog button to be released to ensure that it only moves one pocket at a time.
If you jog when not homed then it will home to 1 and then do the jog, so will go to 2 or N-1.
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29 Jun 2022 03:10 #246125
by spumco
Replied by spumco on topic ATC Project - (WOO!!!)
Next round of testing.
COUNTS
Toggling jog-rev on/off then enable works.
Toggling jog-fwd on/off then enable doesn't work
Other jog/enable sequences result in varying behavior.
Did not switch to index mode as that was working fine last iteration.
As usual, thanks for the hard work.
-R
COUNTS
- Search to home/index works perfectly (YAY!)
- Normal pocket commands do not search, as expected for 'counts' mode (YAY!)
- Jogging still requires the enable pin to be set high for any movement.
- Test 1 (fwd, sequence 1)
- enable LOW < no movement, state = 0
- jog-fwd HIGH < no movement, state = 20
- enable HIGH < moves fwd one pocket, state = 20
- enable LOW < no movement, state = 20
- jog-fwd LOW < no movement, state = 6
- enable HIGH < no movement, state = 9
- Test 2 (fwd, sequence 2)
- enable LOW < no movement, state = 0
- enable HIGH < no movement, state = 9
- jog-fwd HIGH < no movement, state = 9
- enable LOW < no movement, state = 9
- enable HIGH < moves fwd one pocket, state = 20
- Test 3 (fwd, sequence 3)
- enable LOW < no movement, state = 0
- jog-fwd HIGH < no movement, state = 20
- enable HIGH < moves fwd one pocket, state = 20
- jog-fwd LOW < moves back one pocket at slow speed, state = 9
- enable LOW < no movement, state = 0
- Test 4 (rev, sequence 1)
- enable LOW < no movement, state = 0
- jog-rev HIGH < no movement, state = 20
- enable HIGH < moves rev one pocket, state = 20
- jog-rev LOW < does slow search to sense-1, state = 9
- enable LOW < no movement, state = 0
- Test 5 (rev, sequence 2 (I think this is working as you intended)
- jog-rev HIGH < no movement, state = 20
- jog-rev LOW < no movement, state = 20
- enable HIGH < moves rev one pocket, does slow search to sense-1, state = 20
- enable LOW < no movement, state = 0
- Test 6 (fwd, sequence 2)
- jog-fwd HIGH < no movement, state = 20
- jog-fwd LOW < no movement, state = 20
- enable HIGH < moves fwd one pocket, does slow search back to starting pocket
- state = 5 (at next pocket)
- state = 6 (moving back)
- state = 9 (stopped at original pocket)
- enable LOW < no movement, state = 0
Toggling jog-rev on/off then enable works.
Toggling jog-fwd on/off then enable doesn't work
Other jog/enable sequences result in varying behavior.
Did not switch to index mode as that was working fine last iteration.
As usual, thanks for the hard work.
-R
The following user(s) said Thank You: tommylight
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29 Jun 2022 10:20 #246146
by andypugh
It should, but might be invisible. You can run halscope looking at "state" to see.
It really shouldn't and doesn't for me. Can you attach your HAL file to see if there is a linkage there that is causing a problem?
Replied by andypugh on topic ATC Project - (WOO!!!)
- Normal pocket commands do not search, as expected for 'counts' mode (YAY!)
It should, but might be invisible. You can run halscope looking at "state" to see.
[*]Jogging still requires the enable pin to be set high for any movement.
It really shouldn't and doesn't for me. Can you attach your HAL file to see if there is a linkage there that is causing a problem?
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29 Jun 2022 11:41 #246149
by spumco
Replied by spumco on topic ATC Project - (WOO!!!)
Hal attached; don't be too hard on me, it's a work-in-progress... Carousel connections are towards the beginning.
I've run halscope with 'state' as the trigger. On a normal pocket command (not jog), it changes from 0, to 2, to 5, to 9.
I can't see any slow search with my eyes, and counts doesn't change after it stops.
I've run halscope with 'state' as the trigger. On a normal pocket command (not jog), it changes from 0, to 2, to 5, to 9.
I can't see any slow search with my eyes, and counts doesn't change after it stops.
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29 Jun 2022 12:09 #246152
by andypugh
Replied by andypugh on topic ATC Project - (WOO!!!)
OK, the reason that you need enable true is that you only enable the stepgen.03 when enable is true.
If you enable the stepgen on MACHINE_ON instead then you should be able to jog as and when you want.
At the moment pressing the jog button is starting the jog with a non-moving carousel, so it will be getting stuck.
From state 5 it has to go to 7 and 8 (and maybe 6) to get to 9. It might be flying through due to too-short decel time (eg, seeing the index toggle as it decels). Try a decel time of 2 seconds, that should make it really obvious. (But only for testing)
If you enable the stepgen on MACHINE_ON instead then you should be able to jog as and when you want.
At the moment pressing the jog button is starting the jog with a non-moving carousel, so it will be getting stuck.
From state 5 it has to go to 7 and 8 (and maybe 6) to get to 9. It might be flying through due to too-short decel time (eg, seeing the index toggle as it decels). Try a decel time of 2 seconds, that should make it really obvious. (But only for testing)
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29 Jun 2022 13:00 #246158
by spumco
Replied by spumco on topic ATC Project - (WOO!!!)
Unsurprising that it was an operator issue and not a carousel.comp issue. I think I linked stepgen to enable for my initial testing as I was paranoid about the carousel being able to move without me actively turning it on while watching all the other pins & parameters.
So far I've been setting decel-time in halshow right after I start up; the new halshow features makes it very easy to adjust values while testing.
Thanks, I'll edit hal and try again this evening.
So far I've been setting decel-time in halshow right after I start up; the new halshow features makes it very easy to adjust values while testing.
Thanks, I'll edit hal and try again this evening.
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30 Jun 2022 01:53 #246241
by spumco
Replied by spumco on topic ATC Project - (WOO!!!)
Changing the stepgen connection did the trick on jogging, sort-of. Jogging now starts without needing the enable pin.
However, jog-fwd still has issues - again, probably related to my config.
However, jog-fwd still has issues - again, probably related to my config.
- Test 1
- jog-fwd HIGH < moves one pocket fwd, no search, state = 20
- (wait for it to stop moving)
- jog-fwd LOW < moves back one pocket at slow speed, state = 6, then 9, then 0
- Test 2
- Same functions, except turn off jog-fwd before it stops
- same results
- Test 3 (works)
- jog-rev HIGH < moves one pocket rev, no search, state = 20
- (wait for stop moving)
- jog-rev LOW < slow back and forth search to correct pocket, state = 0
- Test 4 (works)
- jog-rev HIGH < moves one pocket rev, no search, state = 20
- (don't wait for stop moving)
- jog-rev LOW < slow back and forth search to correct pocket, state = 0
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30 Jun 2022 08:59 #246259
by GuiHue
Replied by GuiHue on topic ATC Project - (WOO!!!)
Wow, thanks to both andypugh and spumco. I recently finished the mechanical side of the carousel and I am now in the process of preparing the test of the carousel.comp (and then the integration into probebasic, which does of of the comps work in macros...).
Looking forward to testing this.
Out of curiosity: This works with 2.8.2 as well or only within 2.9? (I don't immediately see a reason as to why that would be the case).
Looking forward to testing this.
Out of curiosity: This works with 2.8.2 as well or only within 2.9? (I don't immediately see a reason as to why that would be the case).
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