Tool changer
23 Apr 2025 19:23 #326976
by andypugh
Replied by andypugh on topic Tool changer
Well, one thing I can tell you is that I never imagined that a toolchanger like that existed when I created the carousel component 
It's a neat idea, actually, I quite like the design.
You could maybe set the carousel.0.rev-pulse to some value, but to be honest I don't think that would work properly, as it assumes that the motor is allowed to slip against a hard stop, and that's not going to work in counts mode.
I think that one way to do what you want would be to add a mux2 to switch the velocity command.
Change
Then set up (and tune) the PID to park the changer and hold it there.
A better option might be to modify the carousel.comp to add an extra park state in the state machine. Do you have any familiarity with C code?
It's a neat idea, actually, I quite like the design.
You could maybe set the carousel.0.rev-pulse to some value, but to be honest I don't think that would work properly, as it assumes that the motor is allowed to slip against a hard stop, and that's not going to work in counts mode.
I think that one way to do what you want would be to add a mux2 to switch the velocity command.
Change
net car-vel carousel.0.motor-vel => hm2_[MESA](BOARD).0.stepgen.03.velocity-cmdloadrt mux2
loadrt pid
...
net car-vel carousel.0.motor-vel => mux2.0.in1
net park-vel pid.0.out => mux2.0.in0
net switched-vel mux2.0.out => hm2_[MESA](BOARD).0.stepgen.03.velocity-cmd
net car-enable mux2.0.selThen set up (and tune) the PID to park the changer and hold it there.
A better option might be to modify the carousel.comp to add an extra park state in the state machine. Do you have any familiarity with C code?
Please Log in or Create an account to join the conversation.
23 Apr 2025 20:22 #326979
by Salrodri
Replied by Salrodri on topic Tool changer
Hi Andy,
I have been working on this ATC over 3 moths now. So far I released the magic smoke of two mesa cards, but the retrofit must continue.
Thank you for creating this component, It has tough me a lot in regards how linuxcnc and a CNC machine works.
It does makes more sense driving the ATC with G-code.
I discarded this idea, because you mention that carousel component was not designed to be used as an axis.
I guess we can scratch that lol
How would you go about it driving the ATC with G-code?
would you have a bunch of if statements?
for example:
if M6T1 then G53 G0 A2 (and the rest of the operations)
if M6T2 then G53 G0 A3 (and the rest of the operations)
Would I have to update the iocontrol with G-code every time the tool changes?
I have a lot of respect and admiration of your work.
is truly an honor that you respond to my question.
Thank you,
I have been working on this ATC over 3 moths now. So far I released the magic smoke of two mesa cards, but the retrofit must continue.
Thank you for creating this component, It has tough me a lot in regards how linuxcnc and a CNC machine works.
It does makes more sense driving the ATC with G-code.
I discarded this idea, because you mention that carousel component was not designed to be used as an axis.
I guess we can scratch that lol
How would you go about it driving the ATC with G-code?
would you have a bunch of if statements?
for example:
if M6T1 then G53 G0 A2 (and the rest of the operations)
if M6T2 then G53 G0 A3 (and the rest of the operations)
Would I have to update the iocontrol with G-code every time the tool changes?
I have a lot of respect and admiration of your work.
is truly an honor that you respond to my question.
Thank you,
Please Log in or Create an account to join the conversation.
Time to create page: 0.085 seconds