PathPilot Lathe with 6 place turret
- brianTruck
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03 Apr 2017 00:46 #90784
by brianTruck
Replied by brianTruck on topic PathPilot Lathe with 6 place turret
Copied a new timing delay into PP rtlib,now timing delay works.
Turret needs to stay on a little longer to get past lock. Here is a video.
Brian
Turret needs to stay on a little longer to get past lock. Here is a video.
Brian
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03 Apr 2017 09:35 #90791
by andypugh
would waiting for the index to go false be more reliable than a delay?
Replied by andypugh on topic PathPilot Lathe with 6 place turret
Copied a new timing delay into PP rtlib,now timing delay works.
Turret needs to stay on a little longer to get past lock
would waiting for the index to go false be more reliable than a delay?
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03 Apr 2017 10:18 #90792
by brianTruck
Replied by brianTruck on topic PathPilot Lathe with 6 place turret
Yes that would be the best way. I'm also really having a hard time getting the opto sensor's perfectly aligned. So it would be great if it would look for the first transition ,keep track of all transitions and not make a decision on what tool it saw until the last opto goes false.
I'll have to study the oracchanger code to see how to tweak it.
Brian
I'll have to study the oracchanger code to see how to tweak it.
Brian
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03 Apr 2017 12:34 - 03 Apr 2017 12:39 #90794
by brianTruck
Replied by brianTruck on topic PathPilot Lathe with 6 place turret
I'm thinking something like this might work.
If (opto1 or opto2 or opto3)
-- if(opto1 = 1 and set1 = 0)
---- set1 =1;
-- if(opto2 =1 and set2 = 0)
---- set2 =1;
-- if(opto3 = 1 and set3 = 0)
--- set3 =1;
else
---- Break;
#decode set 1,2,3 to see what tool
I had to add minus lines to hold "if" hierarchy.
Brian
If (opto1 or opto2 or opto3)
-- if(opto1 = 1 and set1 = 0)
---- set1 =1;
-- if(opto2 =1 and set2 = 0)
---- set2 =1;
-- if(opto3 = 1 and set3 = 0)
--- set3 =1;
else
---- Break;
#decode set 1,2,3 to see what tool
I had to add minus lines to hold "if" hierarchy.
Brian
Last edit: 03 Apr 2017 12:39 by brianTruck. Reason: add minus lines
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03 Apr 2017 14:03 - 03 Apr 2017 14:04 #90799
by andypugh
Replied by andypugh on topic PathPilot Lathe with 6 place turret
Generally this sort of thing would be done as a state machine:
switch (state){
case 0:
Waiting for action
if (toolchange) {
motor=forwards
state = 1
case 1:
Waiting for the right tool
if (tool inputs == toolnumber && index){
state = 2
case 2:
Waiting for overshoot
if (index == 0){
state = 3
timer = 300000
motor = reverse
case 3:
Fixed-time reverse
if (timer -= fperiod < 0){
tool_changed = TRUE
motor = stopped
state = 0
Last edit: 03 Apr 2017 14:04 by andypugh.
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04 Apr 2017 00:26 #90837
by brianTruck
Replied by brianTruck on topic PathPilot Lathe with 6 place turret
Andy,
The oracchanger changer code I'm using is written as a state machine. I just need a little code to compensate for the slight variation in opto timing. Honestly It probably exists in all gray scale tool changers to some degree. The testing I've done tells me that after seeing the first opto that a half of rotation of the stepper will result in all of the opto's being inline.
Brian
The oracchanger changer code I'm using is written as a state machine. I just need a little code to compensate for the slight variation in opto timing. Honestly It probably exists in all gray scale tool changers to some degree. The testing I've done tells me that after seeing the first opto that a half of rotation of the stepper will result in all of the opto's being inline.
Brian
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04 Apr 2017 00:40 #90838
by andypugh
I thought it probably was, but was too lazy to check.
You should probably add your refinements as extra states rather than as conditions within states. It's easier to analyse when you can see the state in Halscope,
Replied by andypugh on topic PathPilot Lathe with 6 place turret
Andy,
The oracchanger changer code I'm using is written as a state machine.
I thought it probably was, but was too lazy to check.
You should probably add your refinements as extra states rather than as conditions within states. It's easier to analyse when you can see the state in Halscope,
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12 Apr 2017 02:03 - 12 Apr 2017 02:04 #91221
by brianTruck
Replied by brianTruck on topic PathPilot Lathe with 6 place turret
I've tried customizing the oracchanger code to look for opto disc and not to make a tool decision until the opto was clear. This is about the 50th version and the turret quits turning as soon as it gets into the look at opto's while loop.
Brian
Brian
Last edit: 12 Apr 2017 02:04 by brianTruck.
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12 Apr 2017 09:22 #91228
by andypugh
Replied by andypugh on topic PathPilot Lathe with 6 place turret
I would expect _everything_ to quit in the while loop.
You can't do a wait-loop in a realtime component. If the wait it longer than 1mS then the entire servo thread will come to a halt.
You need to enter a specific state of the state-machine that checks the condition and then runs to completion either setting a new state or not doing so.
You can't do a wait-loop in a realtime component. If the wait it longer than 1mS then the entire servo thread will come to a halt.
You need to enter a specific state of the state-machine that checks the condition and then runs to completion either setting a new state or not doing so.
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12 Apr 2017 12:25 #91241
by brianTruck
Replied by brianTruck on topic PathPilot Lathe with 6 place turret
Andy,
I have tried this code ,but it never see's the tool and the turret keeps turning. I know that PathPilot is reading the opto's because I "wired" them to the spindle encoder leds on the status screen. I can watch the leds change as each tools passes by. They are normally on and shut off when opening in disk passes by.
Thanks'
Brian
I have tried this code ,but it never see's the tool and the turret keeps turning. I know that PathPilot is reading the opto's because I "wired" them to the spindle encoder leds on the status screen. I can watch the leds change as each tools passes by. They are normally on and shut off when opening in disk passes by.
Thanks'
Brian
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