ATC Project - Debug phase

I just wiped the PC (again.)

I think I had both a RIP and an installed version of LCNC; was running in to issues trying to load qtvcp sims, qtpyvcp wouldnt' show up anywhere (other than Probe Basic), and other phantom or inexplicable issues.

That, plus MX21 was giving me some problems with graphics/fonts not displaying properly regardless of the theme.

I want a clean, standard installation so I'm in the process of installing Debian 11 and will follow the LCNC instructions on the qtpyvcp page.

Once I'm back in business I'll revist the carousel issue and see where things are.

Ok, I'm back on this with a fresh install of Bullseye & 2.9.

sudo apt-get isntall linuxcnc-uspace-dev

results in

E: Unable to locate package linuxcnc-uspace-dev

andypugh wrote:

spumco wrote:

Still have an issue with the homing - keep rotating indefinately until I kill it with an M65 P0.

Looking at the code, it shouldn't...
What is the "state" pin showing in this scenario? Does the "homed" pin set?


 

Yes, the 'homed' pin sets.

In addition, I compared carousel.comp in my installation to the github version linked earlier and they're identical.

Same behavior as before:

• setting carousel.enable pin high results in continuous rotation (M64 P0).
• setting an M68 E0 Qn before the first enable makes no difference.
• 'homed' pin goes high when the index sensor is triggered
• current position doesn't count up/down until I stop it with an M65 P0
• jog-fwd and jog-rev both index one pocket, and the current position counts up/down appropriately.
• carousel.0.state
  • "0" before first enable
  • "0" after M68 E0 Q2
  • "11" after first enable
  • "2" after sense-0 is first triggered
  • "4" after sense-1 is triggered
  • "0" after M65 P0 (at random location
  • "5" while jog-fwd or -rev is enabled
  • "0" when jog-fwd or -rev is disabled

Does that help the troubleshooting?

Thanks for your patience,
-R

 

Firstly, if you are on Bullseye then you won't find linuxcnc-uspace-dev as there are no packages for bullseye...

I think that the problem here is that enable is being set with tool = 0?

In the simplest situation you would connect carousel.0.enable to iocontrol.0.tool-prepare and carousel.0.ready to iocontrol.0.tool-prepared.

This would stop the carousel at the requested tool, and then "turn off" the component.

I think that in your case the carousel is rotating indefinitely looking for a non-existent pocket 0.

Is the behaviour better if you set the pocket -number to 1 before enabling the component?

Maybe "enable" should have been called "find" or something. It is expected to be set true only when it should be finding a tool.

I set the pocket number to 1 (via M68) before the first enable (and homing) and the behavior changed a bit.

M68 E0 Q1 => state changed to 11, pocket-number changed from 0 to 1, current-position is at 0
M64 P0 => carousel started rotating CCW, 'homing' pin goes high
Sense-0 is triggered => rotation reverses, state changed to 4, current position changed from 0 to 1, 'homed' pin goes high, 'homing' pin goes low.
Rotation continues CW without stopping until M65 P0

The primary change is that the rotation reversed when the sense-0 is triggered, but it's still not stopping.

Can you attach your HAL file?

What is the state during the continuous rotation?

What is the status of motor-fwd, motor-rev and motor_vel ?