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?
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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,
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