Carousel does not home

terkaa
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10 years 4 months ago #76121 by terkaa

Replied by terkaa on topic Carousel does not home

Ok, I have started writing custom HAL component ARMATC. That will be main component commanding also carousel component. Lets see how it turns out

Tero

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terkaa
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10 years 4 months ago #76347 by terkaa

Replied by terkaa on topic Carousel does not home

Hi,

I am seeing now that after homing current-position is 0. Why is this? It should be 1.

Tero

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andypugh
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10 years 4 months ago #76360 by andypugh

Replied by andypugh on topic Carousel does not home

terkaa wrote: I am seeing now that after homing current-position is 0. Why is this? It should be 1.

That definitely looks like a bug :-(

github.com/LinuxCNC/linuxcnc/blob/master...s/carousel.comp#L246

It sets P to 1, but the next time through P is set to current_position before cirrent_position is set to P.

There needs to be an extra line inserted:

Code:

    case 11: // waiting for index & pulse
        if  ( (! old_index) && (sense(0) && sense(1)) ){ // index found
            p = 1;
            current_position = 1;
            homed = 1;
            homing = 0;
            active = 0;
            state = 0;
        }
        old_index = (sense(0) && sense(1));
        break; // So that we don't see the tool1 pulse twice
    }

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terkaa
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10 years 4 months ago #76361 by terkaa

Replied by terkaa on topic Carousel does not home

Ok,

Thanks for checking this. I also noted that when I command jog fwd/rev from my armatc component instead of carousel.ready I had to use !carousel.active because jogging does not need enable it also does not give ready flag. ATC is now working to about middle point of toolchange. I have to implement a spindle orient component tomorrow to go forward with tool change. Component that is readily made does not fit because this spindle does not have feedback from main shaft, only from motor and there is a gearbox between. Also it has mechanical pin that goes into hole to keep spindle still while changing tool. Lets see if I can make it happen....

Tero

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terkaa
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10 years 4 months ago #76399 by terkaa

Replied by terkaa on topic Carousel does not home

Some progress

forum.linuxcnc.org/forum/show-your-stuff...custom-hal-component

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