Gantry hal example

More
27 May 2016 17:24 #75168 by mjohnsonsa
mjohnsonsa replied the topic: Gantry hal example
Yes thank you. I was meaning exactly what you described but saying it wrong. What I meant is independently search and latch I guess.
More
16 Dec 2016 04:19 #84248 by grijalvap
grijalvap replied the topic: Gantry hal example
how do you reversed the direction for the second motor in the gantry?
More
16 Dec 2016 10:52 #84265 by andypugh
andypugh replied the topic: Gantry hal example

grijalvap wrote: how do you reversed the direction for the second motor in the gantry?


You can make the scale of the stepgen negative, or invert the direction pin. (or swap the wires on one of the stepper motor phases)
More
23 Dec 2016 05:56 #84594 by grijalvap
grijalvap replied the topic: Gantry hal example
thanks for your help
Now I have other question, anybody knows the best way to implement a stop on crash system for the plasma
I already have the hardware and sensors ready, but I don't know the correct signals to use.
More
23 Dec 2016 08:07 - 23 Dec 2016 08:07 #84598 by rodw
rodw replied the topic: Gantry hal example

grijalvap wrote: thanks for your help
Now I have other question, anybody knows the best way to implement a stop on crash system for the plasma
I already have the hardware and sensors ready, but I don't know the correct signals to use.


So I'm assuming you want to force an estop if the torch crashes and the breakaway sensor is activated.

Start by rephrasing that:

If the external estop button is pressed OR the torch breakaway is active then (e)stop the machine.

Here is how I did it by adding an extra or.2 component.
loadrt or2 count=3
addf or2.0                    servo-thread
addf or2.1                    servo-thread

# next one is for breakaway sensor
addf or2.2                    servo-thread

# --- ESTOP CHAIN STARTS ---
net estop-loopout iocontrol.0.emc-enable-in <= estop-latch.0.ok-out
net estop-loopin iocontrol.0.user-enable-out => estop-latch.0.ok-in
net estop-reset iocontrol.0.user-request-enable => estop-latch.0.reset
#net remote-estop estop-latch.0.fault-in <=  hm2_7i76e.0.7i76.0.0.input-00

# --- EXTERNAL ESTOP SWITCH ---
net external-estop or2.2.in0 <=  hm2_7i76e.0.7i76.0.0.input-00

# --- TORCH BREAKAWAY E-STOP ---
net torch-breakaway or2.2.in1 <=  hm2_7i76e.0.7i76.0.0.input-06
net remote-estop estop-latch.0.fault-in <=  or2.2.out
net estop-out estop-latch.0.fault-out

So now activating the breakway or the external estop button raise an e-stop.
Last Edit: 23 Dec 2016 08:07 by rodw.
More
05 Jan 2017 05:15 #85273 by grijalvap
grijalvap replied the topic: Gantry hal example
Thanks the crash is working ok now, also I have configured the gantry with 2 motors and reversed one of them.
do you know why the slave (second y-axis) have a different control mode one have velocity and the other position
I'm experiencing some vibration on the slave side of gantry and no sure why any clue?
thanks
More
05 Jan 2017 11:41 #85280 by andypugh
andypugh replied the topic: Gantry hal example

grijalvap wrote: do you know why the slave (second y-axis) have a different control mode one have velocity and the other position


That sounds like a bad idea.
More
05 Jan 2017 20:48 #85302 by grijalvap
grijalvap replied the topic: Gantry hal example
I forget to mention I'm using mesa 7i76e ethernet board,
More
05 Jan 2017 23:51 #85316 by andypugh
andypugh replied the topic: Gantry hal example

grijalvap wrote: I forget to mention I'm using mesa 7i76e ethernet board,


That still doesn't explain why one stepgen would be velocity mode and the other position mode. They should both be the same.
Time to create page: 0.077 seconds
Powered by Kunena Forum