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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,

Hi Aciera,

sorry for reply a bit late. I was on vaccation. Thank you so so much for this incredible help! I downloaded it and played i bit arround and it looks realy good.

I changed the travel limits for the B-Axis, because the head can swivel from "looking" left and right into the z direction. This caused some trouble. I need to spend more time with it to know what needs to be "polished".

Also i saw, that in the Identity Mode the Axis soft limits work fine, but in TCP-Mode the maschine runs into the joint hard limits.

I hope in find time during the weekend to dig myself further into your example. Thanks again for the amazing help!

Kind regards,
Jochen

Alternatively this might be one case where it makes sense to define the toolchanger as an axis and drive it from pure G-code.

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?

Hi Tia,

I don't know why it won't run with cia-402.
We have more users with the same problem.

However the cia-402 source code does nothing with acceleration. Only torque, vel, pos.

Is there a alternative to the cia-402?  

if you want to access my machine remotely i can give you access

Tried to compile but got this:

In file included from emc/planner/curve.h:14,
                 from emc/planner/feed.h:15,
                 from emc/planner/feed.c:12:
emc/planner/emcmot_segment.h:27:10: fatal error: segment.h: No such file or directory
   27 | #include "segment.h"

 

Hi Tia,

I don't know why it won't run with cia-402.
We have more users with the same problem.

However the cia-402 source code does nothing with acceleration. Only torque, vel, pos.

Is there a alternative to the cia-402? 

nothing but something:D

cakeslob wrote:

Are all the drivers the same, or did you do your check all axis with the same driver?
 

hi
the same driver for all axes.
I tried to unsolder the chip, without success
the board does not respond, for now I do not think I will buy another
thanks for the support

this is from my INI file. i raised the values but see no difference.
before i tried with the values you send, is the same on the ethercat config example



[TRAJ]
TPMOD = tpmod_scurve
COORDINATES = X Y Z
LINEAR_UNITS = mm
ANGULAR_UNITS = degree
DEFAULT_LINEAR_VELOCITY = 20800.33
MAX_LINEAR_VELOCITY = 20800.33
DEFAULT_LINEAR_ACCELERATION = 350000
MAX_LINEAR_ACCELERATION = 350000
POSITION_FILE = position_mm.txt

Are all the drivers the same, or did you do your check all axis with the same driver?

Hi Friends, 

I've spent the last few months modifying a chinese cnc with a mesa 7i96s and a custom cutting head I've made with the end goal making it a tangential cutter  I've long dreaded this part because i simply do not know where to start. I am working on tuning the error in the cutting motor but this is next on the list.  I am going to lay out what i would like the machine to do, and hopefully you guys can point me in the right direction. 

Attached is a cad screenshot with a visual of the cutting head. There are two pneumatic cylinders that can deploy the cutting head down or up with a solenoid valve controlling them both. I wanted to leverage some of the 7i96s auxiliary outputs or the torch up/down to control this valve. 

I am not sure what cad program that will be outputting these, probably fusion or solidworks in the long run so i am leaning towards a filter file or i guess this is technically a post processor, as mentioned in this post, but i didn't see really any progress so here i am. 

forum.linuxcnc.org/38-general-linuxcnc-q...n-of-travel-possible

My fundamental issue is i don't understand what node is doing what. I haven't ever uploaded a file to LCNC but i imagine its Gcode. 
So my simple brain wants to understand;
- Cad program - > outputs generic 2D gcode
- **NEW FILTER FILE** -> magic happens here?
-LCNC - > doesn't know the difference, its just following orders. 




Requirements (will probably grow):
-be able to set "cut depth' (the z position with 'torch down')
-set cutting motor to only find angle in one direction (not sure if i can or should do this on LCNC and not the filter file) because belts aren't very good pushers.. 
-I'd like all travel movements and find next angle to happen with the torch up, and it only go torch down only when the next angle is good and its in position
-BUT i would like arcs and angle to be smooth, i need to differentiate between lines with arcs an endpoints. 


also sorry i am rambling, can you tell i've thought about this. 
 

What did I do ?

Hi Rod,

The Cia-402 i have seen the source code. It does not much.
It sends and recieves position, velocity, torque  trough a can protocol?

Hi Tia,

when i change to tpmode=scurve
It is : tpmod_scurve

And check if you use values for the trajectory :  vel + acc.
[/code]

I just isnstalled debian 13 on the desktop pc and installed the same software, but the ethercat-master from the codeberg repo.
It also runs ok. So that's a good sign.