ATC with carousel.comp and M6 remap

Leaving aside the movement of the carousel I would like to know if the sequence of unloading the tool from the spindle is this:

net arm-act motion.digital-out-02 => hm2_5i25.0.7i76.0.0.output-02
This command moves the ATC arm under the spindle, then

net arm-in motion.digital-in-02 <= hm2_5i25.0.7i76.0.0.input-02
Arm under the spindle

net tool-release motion.digital-out-03 => hm2_5i25.0.7i76.0.0.output-03
Release the tool

net tool-released motion.digital-in-03 <= hm2_5i25.0.7i76.0.0.input-03
Tool released

How then comes the arm out.

With this routine it seems that the movement of the arm and the locking of the tool is pneumatic, that's how it is.
In my case that the arm moves through a motor, how can I do to get the arm back out.

Greetings gmarconi2

I don't know much about the Mesa cards but wouldn't the second line go last?

Arm forward
Unclamp


There is missing stuff here
(
You need to either lower the arm or raise the spindle.

Index the next tool

Raise the arm or lower the spindle
)
Clamp
Arm back

Normally you would want some proximity sensor interlocks so it can't move the head thru the arm

Thanks for the answer Leon82

Yes, in addition to the commands that I have listed I serve those you have highlighted, I just wanted to confirm if the logic of catousel.comp is for an arm drive with a pneumatic system and not with step motors as in my case.

The assignments for mesa are correct I have verified them, I have to insert the various end of the race in the ATC so I would like to understand exactly how I have to do.


Hi gmarconi2

gmarconi2 wrote: With this routine it seems that the movement of the arm and the locking of the tool is pneumatic, that's how it is.
In my case that the arm moves through a motor, how can I do to get the arm back out.

What sort of motor? Does it have end-stops or does it need homing?

Andypugh rereading your previous aid to my post I managed to configure the pin hal of my mesa 7i76, through hal show I see how the pins react to the tool change.
Unfortunately I did not finish now I have to run my ATC.

For the moment, I'm leaving the spindle.
I enclose a drawing of how my ATC is made and how I would mount the sensors.

Thanks in advance for the help

Greetings Gmarconi2

I would suggest using a couple of stepgens in velocity mode to drive the stepper motors.
Use analogue outputs from the G-code to drive the arm in and out (just send a speed straight to the motor, stop when it hits the end-stop, which will need a sensor)
The carousel component outputs velocity for the carousel directly, so that stepgen can be direct-wired (in HAL)
I think that a stepper will probably have enough holding torque to not need a carousel lock.

Note that in the above, I am talking about the 2.8 version of carousel. The analogue speed outputs are not present in the 2.7 version. But it is fairly easy to install the 2.8 version in 2.7 with halcompile. (halcompile -install carousel.comp) after downloading the source file ,

Thanks andypugh
So I add another pin in the toolchange_index.hal and connect it to an output of mesa7i76 and edit this in toolchange.ncg:

M65 P2; move arm back out
M66 P4 L3 Q5; wait for arm-out = true
O111 if [# 5399 LT 0]
     (abort, failed to move arm out)
O111 endif

it's correct ???

Hi gmarconi2

Thanks andypugh
I had not read the second post of response and thought to modify the 2.7 using an ad hoc harware to change the direction of the arm

anyway now I look at the 2.8

gmarconi2 wrote: Thanks andypugh
I had not read the second post of response and thought to modify the 2.7 using an ad hoc harware to change the direction of the arm

There is no reason to use hardware. It could be done in HAL even with the 2.7 version of carousel.

But it is a fair bit simpler with the updated version of carousel.comp