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Lagunmatic 3516-SX Retrofit
8 years 6 months ago #109414
by giz
Replied by giz on topic Lagunmatic 3516-SX Retrofit
Good news - I found the problem and fixed it! No surprise, it was a wiring error.
Once I started disconnecting wires and searching for the source of the problem I found it pretty quick. Turns out the wire I had plugged into TB2 pin 1 was mistakenly connected to the Common line for the control panel buttons. Dumb, I know. Moving that 1 wire from pin 1 to pin 8 fixed everything.
I fixed one other 24v connection and everything works great so far - I can jog all axes, tuned the Z, all limit/home switches work, Machine On works as expected, etc.
One piece of bad news is that I think the Outputs on TB7 may be damaged. I got intermittent signal to the Machine On relay when I first fixed everything. I was using Pin 9. I moved it to Pin 12, same problem. So I made space on TB8 and had zero problems after that. I had mentioned I thought these pins were always active, that's not true but I did get weird voltage readings as soon as Field Power was supplied.
I think I can eliminate some outputs and get by without using TB7 for now. I'm sure I'm at fault and buying a new card isn't in the budget for now.
Thanks again for everybody's help. Once I get the rest of the axes tuned I'll start looking into controlling the spindle next.
Once I started disconnecting wires and searching for the source of the problem I found it pretty quick. Turns out the wire I had plugged into TB2 pin 1 was mistakenly connected to the Common line for the control panel buttons. Dumb, I know. Moving that 1 wire from pin 1 to pin 8 fixed everything.
I fixed one other 24v connection and everything works great so far - I can jog all axes, tuned the Z, all limit/home switches work, Machine On works as expected, etc.
One piece of bad news is that I think the Outputs on TB7 may be damaged. I got intermittent signal to the Machine On relay when I first fixed everything. I was using Pin 9. I moved it to Pin 12, same problem. So I made space on TB8 and had zero problems after that. I had mentioned I thought these pins were always active, that's not true but I did get weird voltage readings as soon as Field Power was supplied.
I think I can eliminate some outputs and get by without using TB7 for now. I'm sure I'm at fault and buying a new card isn't in the budget for now.
Thanks again for everybody's help. Once I get the rest of the axes tuned I'll start looking into controlling the spindle next.
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8 years 6 months ago #109462
by giz
Replied by giz on topic Lagunmatic 3516-SX Retrofit
Not the most thrilling video, but feels like a big milestone:
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8 years 6 months ago #109694
by giz
Replied by giz on topic Lagunmatic 3516-SX Retrofit
Scored another minor victory tonight... got the spindle at least moving in open loop mode from M3 Sxxxx commands in the MDI.
I think it will take some time to get it working right however. Analog 1 is the frequency reference signal that drives the spindle, -10v to +10v. When I command M3 S1000 the 7i77 outputs 1v (max spindle speed is 10k). The VFD displays this as a percentage, which should be 10%, but shows more like 0.5%.
Once I found and maxed out the A1 gain to 1000% it registered enough signal to move.
So obviously there are some parameters that need adjusting at the VFD but I'm pretty happy tonight!
I think it will take some time to get it working right however. Analog 1 is the frequency reference signal that drives the spindle, -10v to +10v. When I command M3 S1000 the 7i77 outputs 1v (max spindle speed is 10k). The VFD displays this as a percentage, which should be 10%, but shows more like 0.5%.
Once I found and maxed out the A1 gain to 1000% it registered enough signal to move.
So obviously there are some parameters that need adjusting at the VFD but I'm pretty happy tonight!
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8 years 2 months ago #115534
by giz
Replied by giz on topic Lagunmatic 3516-SX Retrofit
Will be back at it this weekend - haven't touched the machine since the last post in April. I really need to get the machine finished and listed for sale by the end of August...
Goals for this weekend are to figure out the spindle speed control and start looking into the tool changer. I think the Carousel component will be the way to go? I haven't looked into this at all yet but hoping it will be easier than I think it will be (wishful thinking!)
After that I need to start on updating the control panel.
Goals for this weekend are to figure out the spindle speed control and start looking into the tool changer. I think the Carousel component will be the way to go? I haven't looked into this at all yet but hoping it will be easier than I think it will be (wishful thinking!)
After that I need to start on updating the control panel.
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8 years 2 months ago #115536
by lunada
Replied by lunada on topic Lagunmatic 3516-SX Retrofit
The carousel component is what i used. I believe i sent you my ladder program already. It works well. The one thing i will say is be careful to make sure it's fully functional before tools loaded in it. The gearmotor that runs the geneva drive is a weak POS and i broke some gears in it the first time it jammed.
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8 years 2 months ago #115537
by giz
I remember you saying that! Thanks for the reminder. Your code is where I'll be starting my research
Replied by giz on topic Lagunmatic 3516-SX Retrofit
lunada wrote: The carousel component is what i used. I believe i sent you my ladder program already. It works well. The one thing i will say is be careful to make sure it's fully functional before tools loaded in it. The gearmotor that runs the geneva drive is a weak POS and i broke some gears in it the first time it jammed.
I remember you saying that! Thanks for the reminder. Your code is where I'll be starting my research
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8 years 2 months ago #115631
by giz
Replied by giz on topic Lagunmatic 3516-SX Retrofit
Spent most of the day refreshing myself on what is going on and making incremental progress.
I was able to get the spindle encoder hooked up and I can read signal. The encoder does not have a badge, so counts/rev is unknown. I read that when turning by hand, 1 revolution should equal 1 rev count in Hal Meter so through testing I came up with 4096.
When I command an RPM in the MDI it's not accurate at all so I still have to determine where that disconnect is. For example, M3 S100 gives me an RPM of about 570 (tested with a cheap digital tachometer).
Next progressive step was to test all the pneumatic functions for the tool changer. I finally learned about halcmd and sets and I was able to run through a full tool change "manually" by progressing through the signal calls. HOWEVER - I took the dogs off the spindle nose because at this point I did not know how to handle the spindle orient. I ran through this with and without a tool and everything functioned well.
So that brings me to now. I'm really lost on how to implement the tool change "correctly" - it seems like everybody does it different. Some remap M6, some use M19, some don't. The Triac Toolchanger that has been posted does it one way, the VMC sim does it another... it's all very confusing.
Lunada was gracious enough to send me his his classicladder script and I took the time to port it over to my HAL and INI files. I found the Ladder Editor and I can see when I call M6 T01 the editor starts progressing through the logic until it gets to Orient. Orient is set to true waiting for a Orient Complete signal which never comes because the spindle does not move.
This is where I am stuck! I'm very lost when it comes to the orient "command", homing the spindle, setting the correct index position, etc. I'm trying to piece this all together the best I can but I could definitely use some hand-holding if anybody can spare the time!
Thanks all. File code below and full config in the attachment if interested
Lagunmatic_3516-SX.HAL:
Lagunmatic_3516-SX.INI:
shizuoka-pyvcp.HAL:
I was able to get the spindle encoder hooked up and I can read signal. The encoder does not have a badge, so counts/rev is unknown. I read that when turning by hand, 1 revolution should equal 1 rev count in Hal Meter so through testing I came up with 4096.
When I command an RPM in the MDI it's not accurate at all so I still have to determine where that disconnect is. For example, M3 S100 gives me an RPM of about 570 (tested with a cheap digital tachometer).
Next progressive step was to test all the pneumatic functions for the tool changer. I finally learned about halcmd and sets and I was able to run through a full tool change "manually" by progressing through the signal calls. HOWEVER - I took the dogs off the spindle nose because at this point I did not know how to handle the spindle orient. I ran through this with and without a tool and everything functioned well.
So that brings me to now. I'm really lost on how to implement the tool change "correctly" - it seems like everybody does it different. Some remap M6, some use M19, some don't. The Triac Toolchanger that has been posted does it one way, the VMC sim does it another... it's all very confusing.
Lunada was gracious enough to send me his his classicladder script and I took the time to port it over to my HAL and INI files. I found the Ladder Editor and I can see when I call M6 T01 the editor starts progressing through the logic until it gets to Orient. Orient is set to true waiting for a Orient Complete signal which never comes because the spindle does not move.
This is where I am stuck! I'm very lost when it comes to the orient "command", homing the spindle, setting the correct index position, etc. I'm trying to piece this all together the best I can but I could definitely use some hand-holding if anybody can spare the time!
Thanks all. File code below and full config in the attachment if interested
Lagunmatic_3516-SX.HAL:
Code:
# Generated by PNCconf at Fri Apr 27 02:57:57 2018
# If you make changes to this file, they will be
# overwritten when you run PNCconf again
loadrt trivkins
loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[TRAJ]AXES
loadrt hostmot2
loadrt hm2_pci config=" num_encoders=6 num_pwmgens=0 num_stepgens=0 sserial_port_0=000xxx"
setp hm2_5i25.0.watchdog.timeout_ns 5000000
loadrt pid names=pid.x,pid.y,pid.z,pid.s
##Lunada Ladder##
loadrt threads name1=classicladder-thread period1=2000000
loadrt classicladder_rt numS32in=3 numS32out=8 numRungs=60 numBits=90 numWords=55 numTimers=27 numCounters=15 numPhysInputs=50 numPhysOutputs=50 numArithmExpr=25 numSections=6 numSymbols=220 numS32in=3 numS32out=9
loadusr -w classicladder --nogui shizuoka.clp
loadrt modmath mod_dir=1
loadrt carousel pockets=18 encoding=index num_sense=1 dir=2
addf carousel.0 servo-thread
addf classicladder.0.refresh classicladder-thread
##End Lunada Ladder##
addf hm2_5i25.0.read servo-thread
addf motion-command-handler servo-thread
addf motion-controller servo-thread
addf pid.x.do-pid-calcs servo-thread
addf pid.y.do-pid-calcs servo-thread
addf pid.z.do-pid-calcs servo-thread
addf pid.s.do-pid-calcs servo-thread
addf hm2_5i25.0.write servo-thread
######################################
# external output signals
######################################
# --- MACHINE-IS-ENABLED ---
net machine-is-enabled hm2_5i25.0.7i77.0.0.output-00
# --- MAGAZINE_FORWARD ---
#net Magazine_Forward hm2_5i25.0.7i77.0.0.output-01
# --- MAGAZINE_DOWN ---
#net Magazine_Down hm2_5i25.0.7i77.0.0.output-02
# --- MAGAZINE_CW ---
#net Magazine_CW hm2_5i25.0.7i77.0.0.output-03
# --- MAGAZINE_CCW ---
#net Magazine_CCW hm2_5i25.0.7i77.0.0.output-04
# --- SPINDLE_ORIENT ---
#net Spindle_Orient hm2_5i25.0.7i77.0.0.output-05
# --- SPINDLE-CW ---
net spindle-cw hm2_5i25.0.7i77.0.0.output-06
# --- TOOL_UNCLAMP ---
#net Tool_Unclamp hm2_5i25.0.7i77.0.0.output-07
# --- COOLANT-MIST ---
#net coolant-mist hm2_5i25.0.7i77.0.0.output-08
# --- LUBE_RELAY ---
net Lube_Relay hm2_5i25.0.7i77.0.0.output-10
# --- SOFT_START_CANCEL ---
#net Soft_Start_Cancel hm2_5i25.0.7i77.0.0.output-11
######################################
# external input signals
######################################
# --- WAY_LUBE_LEVEL ---
net Way_Lube_Level <= hm2_5i25.0.7i77.0.0.input-00
# --- MAX-X ---
net max-x <= hm2_5i25.0.7i77.0.0.input-01-not
# --- MIN-X ---
net min-x <= hm2_5i25.0.7i77.0.0.input-02-not
# --- MAX-Y ---
net max-y <= hm2_5i25.0.7i77.0.0.input-03-not
# --- MIN-Y ---
net min-y <= hm2_5i25.0.7i77.0.0.input-04-not
# --- MAX-Z ---
net max-z <= hm2_5i25.0.7i77.0.0.input-05-not
# --- MIN-Z ---
net min-z <= hm2_5i25.0.7i77.0.0.input-06-not
# --- HOME-X ---
net home-x <= hm2_5i25.0.7i77.0.0.input-07
# --- HOME-Y ---
net home-y <= hm2_5i25.0.7i77.0.0.input-08
# --- HOME-Z ---
net home-z <= hm2_5i25.0.7i77.0.0.input-09
# --- MAGAZINE_BACK_POSITION ---
#net Magazine_Back_Position <= hm2_5i25.0.7i77.0.0.input-10
# --- MAGAZINE_FORWARD_POSITION ---
#net Magazine_Forward_Position <= hm2_5i25.0.7i77.0.0.input-11
# --- MAGAZINE_UP_POSITION ---
#net Magazine_Up_Position <= hm2_5i25.0.7i77.0.0.input-12
# --- MAGAZINE_DOWN_POSITION ---
#net Magazine_Down_Position <= hm2_5i25.0.7i77.0.0.input-13
# --- POSITION_COUNTER ---
#net Position_Counter <= hm2_5i25.0.7i77.0.0.input-14
# --- MAGAZINE_HOME ---
#net Magazine_Home <= hm2_5i25.0.7i77.0.0.input-15
# --- TOOL_CLAMP_POSITION ---
#net Tool_Clamp_Position <= hm2_5i25.0.7i77.0.0.input-16
# --- TOOL_UNCLAMP_POSITION ---
#net Tool_Unclamp_Position <= hm2_5i25.0.7i77.0.0.input-17
# --- SPINDLE_UP_TO_SPEED ---
net Spindle_Up_To_Speed <= hm2_5i25.0.7i77.0.0.input-18
# --- ESTOP ---
net ESTOP <= hm2_5i25.0.7i77.0.0.input-19
# --- SPINDLE_ORIENT_COMPLETE ---
#net Spindle_Orient_Complete <= hm2_5i25.0.7i77.0.0.input-20
# --- LUBE_PRESSURE_SWITCH ---
net Lube_Pressure_Switch <= hm2_5i25.0.7i77.0.0.input-21-not
# --- AIR_PRESSURE_SWITCH ---
net Air_Pressure_Switch <= hm2_5i25.0.7i77.0.0.input-22
# --- MACHINE_ON_CMD ---
net Machine_On_CMD <= hm2_5i25.0.7i77.0.0.input-23
# --- SPINDLE_ON_CMD ---
net Spindle_On_CMD <= hm2_5i25.0.7i77.0.0.input-24
# --- TOOL_UNCLAMP_CMD ---
net Tool_Unclamp_CMD <= hm2_5i25.0.7i77.0.0.input-25
# --- MIST_ON_CMD ---
net Mist_On_CMD <= hm2_5i25.0.7i77.0.0.input-26
# --- MAGAZINE_CW_CMD ---
net Magazine_CW_CMD <= hm2_5i25.0.7i77.0.0.input-27
# --- MAGAZINE_CCW_CMD ---
net Magazine_CCW_CMD <= hm2_5i25.0.7i77.0.0.input-28
#*******************
# AXIS X
#*******************
setp pid.x.Pgain [AXIS_0]P
setp pid.x.Igain [AXIS_0]I
setp pid.x.Dgain [AXIS_0]D
setp pid.x.bias [AXIS_0]BIAS
setp pid.x.FF0 [AXIS_0]FF0
setp pid.x.FF1 [AXIS_0]FF1
setp pid.x.FF2 [AXIS_0]FF2
setp pid.x.deadband [AXIS_0]DEADBAND
setp pid.x.maxoutput [AXIS_0]MAX_OUTPUT
setp pid.x.error-previous-target true
net x-index-enable <=> pid.x.index-enable
net x-enable => pid.x.enable
net x-pos-cmd => pid.x.command
net x-vel-cmd => pid.x.command-deriv
net x-pos-fb => pid.x.feedback
net x-output => pid.x.output
# ---PWM Generator signals/setup---
setp hm2_5i25.0.7i77.0.1.analogout0-scalemax [AXIS_0]OUTPUT_SCALE
setp hm2_5i25.0.7i77.0.1.analogout0-minlim [AXIS_0]OUTPUT_MIN_LIMIT
setp hm2_5i25.0.7i77.0.1.analogout0-maxlim [AXIS_0]OUTPUT_MAX_LIMIT
net x-output => hm2_5i25.0.7i77.0.1.analogout0
net x-pos-cmd axis.0.motor-pos-cmd
net x-enable axis.0.amp-enable-out
# enable _all_ sserial pwmgens
net x-enable hm2_5i25.0.7i77.0.1.analogena
# ---Encoder feedback signals/setup---
setp hm2_5i25.0.encoder.00.counter-mode 0
setp hm2_5i25.0.encoder.00.filter 1
setp hm2_5i25.0.encoder.00.index-invert 0
setp hm2_5i25.0.encoder.00.index-mask 0
setp hm2_5i25.0.encoder.00.index-mask-invert 0
setp hm2_5i25.0.encoder.00.scale [AXIS_0]ENCODER_SCALE
net x-pos-fb <= hm2_5i25.0.encoder.00.position
net x-vel-fb <= hm2_5i25.0.encoder.00.velocity
net x-pos-fb => axis.0.motor-pos-fb
net x-index-enable axis.0.index-enable <=> hm2_5i25.0.encoder.00.index-enable
net x-pos-rawcounts <= hm2_5i25.0.encoder.00.rawcounts
# ---setup home / limit switch signals---
net home-x => axis.0.home-sw-in
net min-x => axis.0.neg-lim-sw-in
net max-x => axis.0.pos-lim-sw-in
#*******************
# AXIS Y
#*******************
setp pid.y.Pgain [AXIS_1]P
setp pid.y.Igain [AXIS_1]I
setp pid.y.Dgain [AXIS_1]D
setp pid.y.bias [AXIS_1]BIAS
setp pid.y.FF0 [AXIS_1]FF0
setp pid.y.FF1 [AXIS_1]FF1
setp pid.y.FF2 [AXIS_1]FF2
setp pid.y.deadband [AXIS_1]DEADBAND
setp pid.y.maxoutput [AXIS_1]MAX_OUTPUT
setp pid.y.error-previous-target true
net y-index-enable <=> pid.y.index-enable
net y-enable => pid.y.enable
net y-pos-cmd => pid.y.command
net y-vel-cmd => pid.y.command-deriv
net y-pos-fb => pid.y.feedback
net y-output => pid.y.output
# ---PWM Generator signals/setup---
setp hm2_5i25.0.7i77.0.1.analogout1-scalemax [AXIS_1]OUTPUT_SCALE
setp hm2_5i25.0.7i77.0.1.analogout1-minlim [AXIS_1]OUTPUT_MIN_LIMIT
setp hm2_5i25.0.7i77.0.1.analogout1-maxlim [AXIS_1]OUTPUT_MAX_LIMIT
net y-output => hm2_5i25.0.7i77.0.1.analogout1
net y-pos-cmd axis.1.motor-pos-cmd
net y-enable axis.1.amp-enable-out
# ---Encoder feedback signals/setup---
setp hm2_5i25.0.encoder.01.counter-mode 0
setp hm2_5i25.0.encoder.01.filter 1
setp hm2_5i25.0.encoder.01.index-invert 0
setp hm2_5i25.0.encoder.01.index-mask 0
setp hm2_5i25.0.encoder.01.index-mask-invert 0
setp hm2_5i25.0.encoder.01.scale [AXIS_1]ENCODER_SCALE
net y-pos-fb <= hm2_5i25.0.encoder.01.position
net y-vel-fb <= hm2_5i25.0.encoder.01.velocity
net y-pos-fb => axis.1.motor-pos-fb
net y-index-enable axis.1.index-enable <=> hm2_5i25.0.encoder.01.index-enable
net y-pos-rawcounts <= hm2_5i25.0.encoder.01.rawcounts
# ---setup home / limit switch signals---
net home-y => axis.1.home-sw-in
net min-y => axis.1.neg-lim-sw-in
net max-y => axis.1.pos-lim-sw-in
#*******************
# AXIS Z
#*******************
setp pid.z.Pgain [AXIS_2]P
setp pid.z.Igain [AXIS_2]I
setp pid.z.Dgain [AXIS_2]D
setp pid.z.bias [AXIS_2]BIAS
setp pid.z.FF0 [AXIS_2]FF0
setp pid.z.FF1 [AXIS_2]FF1
setp pid.z.FF2 [AXIS_2]FF2
setp pid.z.deadband [AXIS_2]DEADBAND
setp pid.z.maxoutput [AXIS_2]MAX_OUTPUT
setp pid.z.error-previous-target true
net z-index-enable <=> pid.z.index-enable
net z-enable => pid.z.enable
net z-pos-cmd => pid.z.command
net z-vel-cmd => pid.z.command-deriv
net z-pos-fb => pid.z.feedback
net z-output => pid.z.output
# ---PWM Generator signals/setup---
setp hm2_5i25.0.7i77.0.1.analogout2-scalemax [AXIS_2]OUTPUT_SCALE
setp hm2_5i25.0.7i77.0.1.analogout2-minlim [AXIS_2]OUTPUT_MIN_LIMIT
setp hm2_5i25.0.7i77.0.1.analogout2-maxlim [AXIS_2]OUTPUT_MAX_LIMIT
net z-output => hm2_5i25.0.7i77.0.1.analogout2
net z-pos-cmd axis.2.motor-pos-cmd
net z-enable axis.2.amp-enable-out
# ---Encoder feedback signals/setup---
setp hm2_5i25.0.encoder.02.counter-mode 0
setp hm2_5i25.0.encoder.02.filter 1
setp hm2_5i25.0.encoder.02.index-invert 0
setp hm2_5i25.0.encoder.02.index-mask 0
setp hm2_5i25.0.encoder.02.index-mask-invert 0
setp hm2_5i25.0.encoder.02.scale [AXIS_2]ENCODER_SCALE
net z-pos-fb <= hm2_5i25.0.encoder.02.position
net z-vel-fb <= hm2_5i25.0.encoder.02.velocity
net z-pos-fb => axis.2.motor-pos-fb
net z-index-enable axis.2.index-enable <=> hm2_5i25.0.encoder.02.index-enable
net z-pos-rawcounts <= hm2_5i25.0.encoder.02.rawcounts
# ---setup home / limit switch signals---
net home-z => axis.2.home-sw-in
net min-z => axis.2.neg-lim-sw-in
net max-z => axis.2.pos-lim-sw-in
#*******************
# SPINDLE S
#*******************
setp pid.s.Pgain [SPINDLE_9]P
setp pid.s.Igain [SPINDLE_9]I
setp pid.s.Dgain [SPINDLE_9]D
setp pid.s.bias [SPINDLE_9]BIAS
setp pid.s.FF0 [SPINDLE_9]FF0
setp pid.s.FF1 [SPINDLE_9]FF1
setp pid.s.FF2 [SPINDLE_9]FF2
setp pid.s.deadband [SPINDLE_9]DEADBAND
setp pid.s.maxoutput [SPINDLE_9]MAX_OUTPUT
setp pid.s.error-previous-target true
net spindle-index-enable <=> pid.s.index-enable
net spindle-enable => pid.s.enable
net spindle-vel-cmd-rpm => pid.s.command
net spindle-vel-fb-rpm => pid.s.feedback
net spindle-output <= pid.s.output
# ---PWM Generator signals/setup---
setp hm2_5i25.0.7i77.0.1.analogout5-scalemax [SPINDLE_9]OUTPUT_SCALE
setp hm2_5i25.0.7i77.0.1.analogout5-minlim [SPINDLE_9]OUTPUT_MIN_LIMIT
setp hm2_5i25.0.7i77.0.1.analogout5-maxlim [SPINDLE_9]OUTPUT_MAX_LIMIT
net spindle-output => hm2_5i25.0.7i77.0.1.analogout5
net spindle-enable => hm2_5i25.0.7i77.0.1.spinena
# ---Encoder feedback signals/setup---
setp hm2_5i25.0.encoder.05.counter-mode 0
setp hm2_5i25.0.encoder.05.filter 1
setp hm2_5i25.0.encoder.05.index-invert 0
setp hm2_5i25.0.encoder.05.index-mask 0
setp hm2_5i25.0.encoder.05.index-mask-invert 0
setp hm2_5i25.0.encoder.05.scale [SPINDLE_9]ENCODER_SCALE
net spindle-revs <= hm2_5i25.0.encoder.05.position
net spindle-vel-fb-rps <= hm2_5i25.0.encoder.05.velocity
net spindle-index-enable <=> hm2_5i25.0.encoder.05.index-enable
# ---setup spindle control signals---
net spindle-vel-cmd-rps <= motion.spindle-speed-out-rps
net spindle-vel-cmd-rps-abs <= motion.spindle-speed-out-rps-abs
net spindle-vel-cmd-rpm <= motion.spindle-speed-out
net spindle-vel-cmd-rpm-abs <= motion.spindle-speed-out-abs
net spindle-enable <= motion.spindle-on
net spindle-cw <= motion.spindle-forward
net spindle-ccw <= motion.spindle-reverse
net spindle-brake <= motion.spindle-brake
net spindle-revs => motion.spindle-revs
net spindle-at-speed => motion.spindle-at-speed
net spindle-vel-fb-rps => motion.spindle-speed-in
net spindle-index-enable <=> motion.spindle-index-enable
# ---Setup spindle at speed signals---
sets spindle-at-speed true
#******************************
# connect miscellaneous signals
#******************************
# ---HALUI signals---
net joint-select-a halui.joint.0.select
net x-is-homed halui.joint.0.is-homed
net jog-x-pos halui.jog.0.plus
net jog-x-neg halui.jog.0.minus
net jog-x-analog halui.jog.0.analog
net joint-select-b halui.joint.1.select
net y-is-homed halui.joint.1.is-homed
net jog-y-pos halui.jog.1.plus
net jog-y-neg halui.jog.1.minus
net jog-y-analog halui.jog.1.analog
net joint-select-c halui.joint.2.select
net z-is-homed halui.joint.2.is-homed
net jog-z-pos halui.jog.2.plus
net jog-z-neg halui.jog.2.minus
net jog-z-analog halui.jog.2.analog
net jog-selected-pos halui.jog.selected.plus
net jog-selected-neg halui.jog.selected.minus
net spindle-manual-cw halui.spindle.forward
net spindle-manual-ccw halui.spindle.reverse
net spindle-manual-stop halui.spindle.stop
net machine-is-on halui.machine.is-on
net jog-speed halui.jog-speed
net MDI-mode halui.mode.is-mdi
# ---coolant signals---
net coolant-mist <= iocontrol.0.coolant-mist
net coolant-flood <= iocontrol.0.coolant-flood
# ---probe signal---
net probe-in => motion.probe-input
# ---motion control signals---
net in-position <= motion.in-position
net machine-is-enabled <= motion.motion-enabled
# ---digital in / out signals---
# ---estop signals---
net estop-out <= iocontrol.0.user-enable-out
net estop-out => iocontrol.0.emc-enable-in
######################################
# ---automatic tool change signals---
net tool-prep-loop iocontrol.0.tool-prepare => iocontrol.0.tool-prepared
#in
net magazine-CW-req-fetch carousel.0.motor-fwd classicladder.0.in-14
net magazine-CCW-req-fetch carousel.0.motor-rev classicladder.0.in-15
net tool-change iocontrol.0.tool-change classicladder.0.in-00
net magazine-fwd-switch hm2_5i25.0.7i77.0.0.input-11 classicladder.0.in-09
net magazine-back-switch hm2_5i25.0.7i77.0.0.input-10 classicladder.0.in-08
net magazine-home-switch hm2_5i25.0.7i77.0.0.input-15 carousel.0.sense-0
net magazine-position-switch hm2_5i25.0.7i77.0.0.input-14 carousel.0.sense-1
net magazine-up-switch hm2_5i25.0.7i77.0.0.input-12 classicladder.0.in-10
net magazine-dwn-switch hm2_5i25.0.7i77.0.0.input-13 classicladder.0.in-11
net orient-complete hm2_5i25.0.7i77.0.0.input-20 classicladder.0.in-07
net unclamp-tool hm2_5i25.0.7i77.0.0.input-16 classicladder.0.in-03
net unclamp-tool-position hm2_5i25.0.7i77.0.0.input-17 classicladder.0.in-02
net carousel-in-position classicladder.0.in-19 <= carousel.0.ready
#out
net spindle-orient classicladder.0.out-04 hm2_5i25.0.7i77.0.0.output-05
net magazine-cw classicladder.0.out-12 hm2_5i25.0.7i77.0.0.output-03
net magazine-ccw classicladder.0.out-03 hm2_5i25.0.7i77.0.0.output-04
net tool-unclamp classicladder.0.out-05 hm2_5i25.0.7i77.0.0.output-07
net magazine-down classicladder.0.out-11 <= hm2_5i25.0.7i77.0.0.output-02
net magazine-fwd classicladder.0.out-06 <= hm2_5i25.0.7i77.0.0.output-01
net tool-changed iocontrol.0.tool-changed classicladder.0.out-07
#net magazine-position classicladder.0.s32out-01 mod-dir.0.actual
net mod-desired-position iocontrol.0.tool-prep-number carousel.0.pocket-number
net rotate-carousel carousel.0.enable classicladder.0.out-13
Lagunmatic_3516-SX.INI:
Code:
# Generated by PNCconf at Fri Apr 27 02:57:57 2018
# If you make changes to this file, they will be
# overwritten when you run PNCconf again
[EMC]
MACHINE = Lagunmatic_3516-SX
DEBUG = 0
[DISPLAY]
DISPLAY = axis
#DISPLAY = gmoccapy
POSITION_OFFSET = RELATIVE
POSITION_FEEDBACK = ACTUAL
MAX_FEED_OVERRIDE = 2.000000
MAX_SPINDLE_OVERRIDE = 2.000000
MIN_SPINDLE_OVERRIDE = 0.500000
INTRO_GRAPHIC = linuxcnc.gif
INTRO_TIME = 5
PROGRAM_PREFIX = /home/treid/linuxcnc/nc_files
#PYVCP = pyvcp-panel.xml
##
PYVCP = shizuoka.xml
INCREMENTS = .1in .05in .01in .005in .001in .0005in .0001in
POSITION_FEEDBACK = ACTUAL
DEFAULT_LINEAR_VELOCITY = 1.000000
MAX_LINEAR_VELOCITY = 2.500000
MIN_LINEAR_VELOCITY = 0.000167
DEFAULT_ANGULAR_VELOCITY = 6.000000
MAX_ANGULAR_VELOCITY = 180.000000
MIN_ANGULAR_VELOCITY = 1.666667
EDITOR = gedit
GEOMETRY = xyz
[FILTER]
PROGRAM_EXTENSION = .png,.gif,.jpg Greyscale Depth Image
PROGRAM_EXTENSION = .py Python Script
png = image-to-gcode
gif = image-to-gcode
jpg = image-to-gcode
py = python
[TASK]
TASK = milltask
CYCLE_TIME = 0.010
[RS274NGC]
PARAMETER_FILE = linuxcnc.var
[EMCMOT]
EMCMOT = motmod
COMM_TIMEOUT = 1.0
COMM_WAIT = 0.010
SERVO_PERIOD = 1000000
[HOSTMOT2]
# **** This is for info only ****
# DRIVER0=hm2_pci
# BOARD0=5i25
[HAL]
HALUI = halui
HALFILE = Lagunmatic_3516-SX.hal
HALFILE = custom.hal
#POSTGUI_HALFILE = postgui_call_list.hal
##
POSTGUI_HALFLIFE = shizuoka-pyvcp.hal
SHUTDOWN = shutdown.hal
[HALUI]
[TRAJ]
AXES = 3
COORDINATES = X Y Z
LINEAR_UNITS = inch
ANGULAR_UNITS = degree
CYCLE_TIME = 0.010
DEFAULT_VELOCITY = 0.20
MAX_LINEAR_VELOCITY = 2.00
NO_FORCE_HOMING = 1
[EMCIO]
EMCIO = io
CYCLE_TIME = 0.100
TOOL_TABLE = tool.tbl
TOOL_CHANGE_QUILL_UP = 1
#tool turret info
#TOOL_TURRET_MAX = 17
#TOOL_TURRET_WRAP = 1
#********************
# Axis X
#********************
[AXIS_0]
TYPE = LINEAR
HOME = 0.0
FERROR = 0.02
MIN_FERROR = 0.02
MAX_VELOCITY = 2.0
MAX_ACCELERATION = 10.0
P = 105.0
I = 0.0
D = 0.0
FF0 = 0.0
FF1 = 1.259
FF2 = 0.006
BIAS = 0.0
DEADBAND = 0.0001
MAX_OUTPUT = 0.0
ENCODER_SCALE = 20320.0
OUTPUT_SCALE = -10.0
OUTPUT_MIN_LIMIT = -10.0
OUTPUT_MAX_LIMIT = 10.0
MIN_LIMIT = -0.001
MAX_LIMIT = 26.4
HOME_OFFSET = 0.000000
HOME_SEARCH_VEL = -1.000000
HOME_LATCH_VEL = -0.166667
HOME_FINAL_VEL = 0.166667
HOME_USE_INDEX = YES
HOME_SEQUENCE = 1
#********************
# Axis Y
#********************
[AXIS_1]
TYPE = LINEAR
HOME = 0.0
FERROR = 0.02
MIN_FERROR = 0.02
MAX_VELOCITY = 2.0
MAX_ACCELERATION = 10.0
P = 30.0
I = 0.0
D = 0.0
FF0 = 0.0
FF1 = 0.08
FF2 = 0.0005
BIAS = 0.0001
DEADBAND = 0.0
MAX_OUTPUT = 0.0
ENCODER_SCALE = 20320.0
OUTPUT_SCALE = -10.0
OUTPUT_MIN_LIMIT = -10.0
OUTPUT_MAX_LIMIT = 10.0
MIN_LIMIT = -0.001
MAX_LIMIT = 16.0
HOME_OFFSET = 0.000000
HOME_SEARCH_VEL = -1.000000
HOME_LATCH_VEL = -0.166667
HOME_FINAL_VEL = 0.166667
HOME_USE_INDEX = YES
HOME_SEQUENCE = 2
#********************
# Axis Z
#********************
[AXIS_2]
TYPE = LINEAR
HOME = 0.0
FERROR = 0.02
MIN_FERROR = 0.02
MAX_VELOCITY = 2.0
MAX_ACCELERATION = 10.0
P = 60.0
I = 0.0
D = 0.0
FF0 = 0.0
FF1 = 0.91
FF2 = 0.005
BIAS = 0.0
DEADBAND = 0.0001
MAX_OUTPUT = 0.0
ENCODER_SCALE = 20320.0
OUTPUT_SCALE = -10.0
OUTPUT_MIN_LIMIT = -10.0
OUTPUT_MAX_LIMIT = 10.0
MIN_LIMIT = -20.5
MAX_LIMIT = 0.05
HOME_OFFSET = 0.000000
HOME_SEARCH_VEL = 1.000000
HOME_LATCH_VEL = 0.166667
HOME_FINAL_VEL = 0.166667
HOME_USE_INDEX = YES
HOME_SEQUENCE = 0
#********************
# Spindle
#********************
[SPINDLE_9]
P = 5.0
I = 0.0
D = 0.0
FF0 = 1.0
FF1 = 0.0
FF2 = 0.0
BIAS = 0.0
DEADBAND = 0.0
MAX_OUTPUT = 10000.0
ENCODER_SCALE = 4096.0
OUTPUT_SCALE = 10000
OUTPUT_MIN_LIMIT = -10000
OUTPUT_MAX_LIMIT = 10000
shizuoka-pyvcp.HAL:
Code:
#net seconds classicladder.0.s32out-05 pyvcp.seconds-number
#net minutes classicladder.0.s32out-04 pyvcp.minutes-number
#net hours classicladder.0.s32out-06 pyvcp.hours-number
#linksp Spindle-rpm-cmd pyvcp.spindle-speed
net tool-num-display carousel.0.current-position pyvcp.tool-number
net tool-release-button pyvcp.tool-release-button classicladder.0.in-16
#net mpg-x axis.0.jog-enable <= pyvcp.axis-selection.X_AXIS
#net mpg-y axis.1.jog-enable <= pyvcp.axis-selection.Y_AXIS
#net mpg-z axis.2.jog-enable <= pyvcp.axis-selection.Z_AXIS
#net mpg-a-axis axis.3.jog-enable <= pyvcp.axis-selection.A_AXIS
#net scale1 mux4.0.sel0 <= pyvcp.feed-multiplier..0010in
#net scale2 mux4.0.sel1 <= pyvcp.feed-multiplier..0100in
net esc-button halui.program.stop pyvcp.stop-execution
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8 years 2 months ago #115658
by giz
Replied by giz on topic Lagunmatic 3516-SX Retrofit
Today was really rough. I've been studying everything I can find related to ATC and spindle orientation and I am just about where I left off yesterday (I did figure out my spindle encoder was reversed - which wasn't the magic fix I was hoping it would be).
For awhile I started to port over andy's vmc.index config but wasn't able to successfully launch my own interpretation. It was difficult to parse through what was essential and what was only needed for the simulation. I also couldn't find how to map the various M codes.
I think I am really close with Lunada's classicladder program, written for this very same machine, so I'd really like to stick to that.
I just can't figure out how to orient the spindle and it is KILLING ME
For awhile I started to port over andy's vmc.index config but wasn't able to successfully launch my own interpretation. It was difficult to parse through what was essential and what was only needed for the simulation. I also couldn't find how to map the various M codes.
I think I am really close with Lunada's classicladder program, written for this very same machine, so I'd really like to stick to that.
I just can't figure out how to orient the spindle and it is KILLING ME
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8 years 2 months ago #115659
by lunada
Replied by lunada on topic Lagunmatic 3516-SX Retrofit
i didn't have an encoder on my spindle, so i guess i probably am not much help. My machine had an input to orient the spindle, and an output for orient complete. made it really simple. Are you sure you don't have that on yours?
Is there an index line on the encoder on the spindle? If so, i'm sure you can use your encoder to determine the position of the spindle for the toolchange.
Have you called dynapath or lagunmatic? I seem to remember getting some info from one of them for my specific machine.
Wish i could help ya man, i'm just not very good at this stuff. I wonder if you could just line your index line on your spindle up with the spindle orient position and link to an input in classicladder so you just rotate until the input goes true? kind of ghetto but it may work, i have no idea.
Is there an index line on the encoder on the spindle? If so, i'm sure you can use your encoder to determine the position of the spindle for the toolchange.
Have you called dynapath or lagunmatic? I seem to remember getting some info from one of them for my specific machine.
Wish i could help ya man, i'm just not very good at this stuff. I wonder if you could just line your index line on your spindle up with the spindle orient position and link to an input in classicladder so you just rotate until the input goes true? kind of ghetto but it may work, i have no idea.
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8 years 2 months ago #115660
by giz
I'm clearly no good myself! Haha. Thanks for chiming in
My factory spindle VFD was DOTA and I replaced it with something more modern, so I don't have the built-in signals you are using. This seems painfully obvious now why I can't plug-and-play your ladder program, but honestly I couldn't understand completely where the signals were originating. But this does explain some of my confusion when comparing INI files...
Lagunmatic has helped in the past, Dynapath not so much. This community here has been the absolute best resource! No way I could have made it this far without some very helpful and patient people.
My encoder is connected 1:1 to the spindle cartridge and I can read it's position in HAL Meter under spindle.rev. I know I should be able to use this feedback to home, move to an preset index position, and then do all that as part of a tool change procedure but I'm stuck there. I'm guessing the answer is somewhere in the Spindle Control documentation and andy's spindle.hal file:
I'll probably create a thread somewhere else in the forum for higher visibility
Replied by giz on topic Lagunmatic 3516-SX Retrofit
lunada wrote: i didn't have an encoder on my spindle, so i guess i probably am not much help. My machine had an input to orient the spindle, and an output for orient complete. made it really simple. Are you sure you don't have that on yours?
Is there an index line on the encoder on the spindle? If so, i'm sure you can use your encoder to determine the position of the spindle for the toolchange.
Have you called dynapath or lagunmatic? I seem to remember getting some info from one of them for my specific machine.
Wish i could help ya man, i'm just not very good at this stuff. I wonder if you could just line your index line on your spindle up with the spindle orient position and link to an input in classicladder so you just rotate until the input goes true? kind of ghetto but it may work, i have no idea.
I'm clearly no good myself! Haha. Thanks for chiming in
My factory spindle VFD was DOTA and I replaced it with something more modern, so I don't have the built-in signals you are using. This seems painfully obvious now why I can't plug-and-play your ladder program, but honestly I couldn't understand completely where the signals were originating. But this does explain some of my confusion when comparing INI files...
Lagunmatic has helped in the past, Dynapath not so much. This community here has been the absolute best resource! No way I could have made it this far without some very helpful and patient people.
My encoder is connected 1:1 to the spindle cartridge and I can read it's position in HAL Meter under spindle.rev. I know I should be able to use this feedback to home, move to an preset index position, and then do all that as part of a tool change procedure but I'm stuck there. I'm guessing the answer is somewhere in the Spindle Control documentation and andy's spindle.hal file:
Code:
# HAL config file for vismach simulation of vertical milling machine
# This file deomstrates closed-loop spindle control in both position and
# Velocity modes.
# see http://wiki.linuxcnc.org/cgi-bin/wiki.pl?SpindleOrient for a diagram
# Note that the connections of the signals to "hardware" are all in the
# sim_vmc.hal file rather than here
# First load 2x pid components. These would normally have to be loaded at
# the same time as the Axis PID components
loadrt pid num_chan=2
addf pid.0.do-pid-calcs servo-thread # Velocity
addf pid.1.do-pid-calcs servo-thread # Position
loadrt orient
addf orient.0 servo-thread
#loadrt mux2 -- This has already been loaded in the sim_vmc.hal
addf mux2.0 servo-thread # chooses which pid output goes to the spindle speed control
net spindle-pos pid.1.feedback orient.0.position
net spindle-vel pid.0.feedback # & encoder.3.velocity for a real machine
net spindle-vel-cmd motion.spindle-speed-out pid.0.command
net spindle-vel-pid pid.0.output mux2.0.in0
net spindle-pos pid.1.feedback orient.0.position near.0.in1 # & encoder.3.position for a real machine
net spindle-pos-cmd orient.0.command pid.1.command near.0.in2
net spindle-angle motion.spindle-orient-angle orient.0.angle
net spindle-pos-pid pid.1.output mux2.0.in1
net spindle-in-pos orient.0.is-oriented motion.spindle-is-oriented
# this switches modes
net orient-mode motion.spindle-orient orient.0.enable pid.1.enable mux2.0.sel
net velocity-mode motion.spindle-on pid.0.enable #pwmgen.0.enable
net orient-dir motion.spindle-orient-mode orient.0.mode
# this is simple for the simulated spindle.
net spindle-cmd mux2.0.out
#for a real spindle run by a VFD
# loadrt abs
# addf abs.0.servo-thread
# net spindle-cmd mux2.0.out abs.0.in
# net spindle-cmd-abs abs.0.out pwmgen.0.value
# net spindle-pwm pwmgen.0.pwm parport.0.pin-NN-out
# net spindle-fwd abs.0.is-positive parport.0.pin-NN-out
# net spindle-rev abs.0.is-negative parport.0.pin-NN-out
# Tune the PID from the INI values
setp pid.0.Pgain [SPINDLE]PGAIN_V
setp pid.0.Igain [SPINDLE]IGAIN_V
setp pid.0.Dgain [SPINDLE]DGAIN_V
setp pid.0.FF0 [SPINDLE]FF0_V
setp pid.0.FF1 [SPINDLE]FF1_V
setp pid.1.Pgain [SPINDLE]PGAIN_P
setp pid.1.Igain [SPINDLE]IGAIN_P
setp pid.1.Dgain [SPINDLE]DGAIN_P
setp pid.1.FF0 [SPINDLE]FF0_P
setp pid.1.FF1 [SPINDLE]FF1_P
I'll probably create a thread somewhere else in the forum for higher visibility
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