Servo Spindle with velocity AND position mode for Toolchanger?

hi
i think here is it better instead of my retrofit thread.

the emco vmc100 has a carousel which is turned by the spindle.

i use the original spindle hardware.
i can tap threads and mill. there is a encoder on top of the spindledrive.

with m19 r p i can orient the spindle.

now i came to the point that orient not works for the toolchanger because 2 spindle rotation are 1 positionchange from slot to slot.

could someone help me to get it work in position and velocity mode?

to enable the spindle i have a relay. if the relay open the drive is disabled and i can turn the spindle by hand.

if its enable the spindle is blocked and the pid bring it back to position.

thanks i will upload my hal in a hour

Please don't double post. The twin post in your other thread has been deleted.

hitchhiker wrote:

now i came to the point that orient not works for the toolchanger because 2 spindle rotation are 1 positionchange from slot to slot.
 

Can you elaborate on this point? 

hi andy!
i think the right way is to use your carousel.comp.

but i have no idea how to link this up... its complete new to me and i need help to do this.

i try a little bit.. but if i want to go from pocket 1 to pocket 2 i must count a hole 2 times in a spinning gear disc.

i dont know if INDEX is the correct mode.. i dont want that ou think i am stupid... but.. can we do this together? or is there someone who can help me?

thanks

This would be a complete bodge, but what happens if you just double the pocket number before sending it to the carousel component?

Can you describe exactly what feedback pins you have from the toolchanger hardware, and how they behave during a change?

I keep meaning to write a documentation section about toolchangers, as they are a frequent cause of problems, but despite being the author of the carousel component, I don't actually have a toolchanger on my own machines.