Boxford Toolchanger WITH Index -need help-

ok.. now i can home the a axis when the boxford toolchanger is comment complete out.

after homing.. closing linuxcnc.. i activate the uncomment boxford toolchanger... start linuxcnc.. works complete perfect.

now i must bring this together....

some idea?

andypugh post=255299 userid=723

ANDY SAYS :

To set the tool number to 1 (probably using M61) you would want to trigger on joint.2.is-homed (ie, once the A axis homing is complete)

One possible way to do this is with an MDI_COMMAND:
linuxcnc.org/docs/stable/html/config/ini....html#_halui_section

In the INI
[HAL]
HALUI = halui

[HALUI]
MDI_COMMAND = M61 Q1 G43

In a HAL file:
net changer-homed joint.2.is-homed => halui.mdi-command-00

andypugh wrote:

Do you have the boxford.comp working?

If so, try to merge this into your HAL.

loadrt sum2
addf sum2.0 servo-thread
net A-cmd joint.2.motor-pos-cmd joint.2.motor-pos-fb sum2.0.in0
net T-cmd toolchanger.position_cmd sum2.0.in1
net S-cmd sum2.0.out stepgen.2.position-cmd


That should leave the A-axis homing normally as part of the home sequence and still allow the component to control it for tool changes.

 

can you please explain what this do?! i want to understand please

#################
#  ATC
#################
#### SUM2 #####
#loadrt sum2
#addf sum2.0 servo-thread
#net A-cmd joint.2.motor-pos-cmd joint.2.motor-pos-fb sum2.0.in0
#net T-cmd toolchanger.position_cmd sum2.0.in1
#net S-cmd sum2.0.out stepgen.2.position-cmd
####A-Axis Setup####
setp stepgen.2.position-scale [JOINT_2]SCALE
setp stepgen.2.steplen 1
setp stepgen.2.stepspace 0
setp stepgen.2.dirhold 5000
setp stepgen.2.dirsetup 5000
setp stepgen.2.maxaccel [JOINT_2]STEPGEN_MAXACCEL
net astep <= stepgen.2.step
net adir <= stepgen.2.dir
net aenable joint.2.amp-enable-out => stepgen.2.enable
net apos-cmd joint.2.motor-pos-cmd => stepgen.2.position-cmd
net apos-fb stepgen.2.position-fb => joint.2.motor-pos-fb
net home-a => joint.2.home-sw-in
####Set Toolnumber to 1 after Homing####
net ahomed joint.2.homed halui.mdi-command-00






####Toolchanger Component####





##########################################################
#  example Hal linkages required:-
##########################################################

setp stepgen.2.position-scale [JOINT_2]SCALE
setp stepgen.2.steplen 1
setp stepgen.2.stepspace 0
setp stepgen.2.dirhold 16000
setp stepgen.2.dirsetup 31000
        ## make sure accel and velocity are sensibly low or it will take off!
setp stepgen.2.maxaccel [JOINT_2]STEPGEN_MAXACCEL
        ### must unlink these 2 to access stepgen.3.position-cmd
        ### and prevent continual following errors if motor-pos-fb left linked
#net apos-cmd joint.2.motor-pos-cmd => stepgen.2.position-cmd
#net apos-fb stepgen.2.position-fb => joint.2.motor-pos-fb
net astep <= stepgen.2.step
net adir <= stepgen.2.dir
net aenable joint.2.amp-enable-out => stepgen.2.enable

###########################################################
# loading the toolchange component in .hal file
###########################################################

loadrt toolchanger
addf toolchanger servo-thread

net tool-change iocontrol.0.tool-change => toolchanger.toolchange
net tool-changed iocontrol.0.tool-changed <= toolchanger.toolchanged
net tool-number iocontrol.0.tool-prep-number => toolchanger.toolnumber
net tool-oldnumber iocontrol.0.tool-number => toolchanger.currenttoolnumber
net apos-cmd toolchanger.position-cmd => stepgen.2.position-cmd
net ahomed joint.2.homed => toolchanger.ishomed
net tool-prepare-loopback iocontrol.0.tool-prepare => iocontrol.0.tool-prepared

################################################################################






can someone bring me this together... i dont understand what is A-CMD T-CMD and S-CMD..... please help....

ok that is whst i was thinking ok... but i get every try errors when i start linuxcnc (( could you throw a look at my posted hal above please...

yes it works!!!!

but the toolchange doesnt work correct.. foward and backward must be switched...

but now i can home the turret,lock it and set tool 1 active.

now i had to learn understand the commands inside the comp.....
in some days it should work great!


thanks!