Boxford Toolchanger WITH Index -need help-

thats all?! realy? tomorrow i check it..

thanks! good night! i write tomorrow:)

thanks!!!

good morning!

yes andy i edit the scale and home search and now its rotate correct.

now i must done the last thing... getting the turret correct steps fwd and backward

realy cool!

thank you!!

i write later!

Back again...
after some testing... i found a failure...
but i mess arround with the code...

the toolchanger.comp needs a feedback:

net apos-cmd toolchanger.position-cmd => stepgen.2.position-cmd

---

>
net toolchanger-stepgen-fb <= stepgen.2.position-fb => toolchanger.stepgen-pos-fb <<<<

---

net tool-prepare-loopback iocontrol.0.tool-prepare => iocontrol.0.tool-prepared

thats the rason why my turret dont lock....



in my hal i edit all with the code from andy.


#################
# ATC
#################
####Toolchanger Component####
loadrt toolchanger
addf toolchanger servo-thread

#### SUM2 #####
loadrt sum2
addf sum2.0 servo-thread

####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 home-a => joint.2.home-sw-in

####Set Toolnumber to 1 after Homing####
net ahomed joint.2.homed halui.mdi-command-00 toolchanger.ishomed


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 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

net tool-prepare-loopback iocontrol.0.tool-prepare => iocontrol.0.tool-prepared

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




Andy .. possible that you can help?!

i think i must charge your paypal account  


i change the enable to ishomed...


 

hi... is it possible that when i restart linuxcnc sometimes the component not correct works.. and then if i restart.. works correct?!


i edit the comp...save
compile in terminal..

start linuxcnc
.. works

close linuxcnc... open linuxcnc.. not working correct.

restart linuxcnc..works correct...

spooky....

hi andy...good morning:)

i clean up my linuxcnc (ini,hal,pyvcp).

then i found a question...
you told me to use:
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

why have A-cmd 2 pins?
or i am wrong??

A-cmd signalname
joint....motor-pos-cmd pin1 OUT
joint....motor-pos-fb pin2 IN
sum2 .. destination


joint.N.motor-pos-cmd OUT FLOAT
The commanded position for this joint.

joint.N.motor-pos-fb IN FLOAT
The actual position for this joint.

joint.N.pos-cmd OUT FLOAT
The joint (as opposed to motor) commanded position. There may be several offsets between the joint and motor coordinates: backlash compensation, screw error compensation, and home offsets.

joint.N.pos-fb OUT FLOAT
The joint feedback position. This value is computed from the actual motor position minus joint offsets. Useful for machine visualization.

is it the same as this:

net A-cmd joint.2.motor-pos-cmd sum2.0.in0
net T-cmd toolchanger.position-cmd sum2.0.in1
net S-cmd sum2.0.out stepgen.2.position-cmd


or is there are a reason for 2 pins on a-cmd?????

thanks!

ok i understand.... today i start writing a own comp with the basics of the first boxford changer...

yes...but... i spend a lot of time into understanding the boxford comp....


now it works... i found some failures on the hardware side.. jumpers not correct..etc...... s... happends...

now i have 1 last problem... .. how can i adjust the forward and backward velocity inside a comp..... if i get this adjust... it works.. because the fwd velocity and bwd velocity very high...

if i home the a axis from the axis button its ok.
but when i do i toolchange its the max. velocity...

if i workarround in the ..ini then the toolchange works but homing takes long time...

i want to adjust it inside the comp.
is this possible????

thanks for all your help

ok.. i got it work but....

the rotation are very fast..and the locking is very agressiv..

next... i would test it with remaping,o-code... its realy like mach3 macro... a little bit translation...

andys tip was right... do it easy........but i hanging on the boxford.comp....

my own comp does the same as mach3 but very fast... and agressiv... i dont know yet how to make slower moves inside the comp.... it would help to know but my linuxskills are very very low...


thanks