big 5axis mazak horizontal cnc mill

Hey guys

just a quick update here.

we worked out the original diagrams of the machine and connected up a lot of  the hydraulics to allow basic operation of the machine

first we connected up the hydraulic pump and checked it was rotating the correct direction.  for those that don't know if a three phase motor is going backwards just swap any 2 of the 3 wires and it will reverse

so we swapped the 2 wires on the main line in and then repowered up the machine

halcmd -fk is your friend here

just type it into the terminal  and then you get auto complete of all the loaded pins on the machine and signals etc.  It is a seriously awesome tool

just to be crystal clear.  "quote marks" mean that this is a Hal command

also i am guessing at the actual pin names just to be clear they are probably not correct..

so the command "setp" turns a pin on or off
 setp hm2-7i92.0.7i77.output.00 1  (this will turn the first output on the mesa 7i77 card which will turn a relay on which will then turn on my hydraulic part.

we did this for all the hydraulics and got to a stage where we could remove the tool in spindle
spindle is hydraulic which is nice and easy

next plan of attack was to get the pallet changer going

current status is all hydraulics are working.  just need to get the motor working to rotate the pallets and swap them and it should be working

I will code a few things in classic ladder just to make it automatic.  and then i need to go through and setup timouts just in case there are other issues and i am not watching.

and thats it for now

hopefully next week i get more time to work on it and get some videos going etc

cheers 

andrew

i am using dimitry's sscnet card to control the servos and just a few mesa cards for all the rest of the IO

That is interesting, if I recall correctly the SSCNET card needs a 222us cycle time. I've always wondered if Mesa hardware could be run in parallel since the IO options are quite limited otherwise.
What interface are you using for the Mesa cards, PCI or Ethernet?

for MDS-A/B/C and SSCNET I,II servo thread runs at 888us

Aciera

I'm running servo thread at 888us (888000)

For mesa anything under 100000 is fine

I'm using a 7i92 and 7i77 currently as i had them laying around.

But I'll get a couple of 7i71 and 7i70 cards shortly for extra io.

Everything runs sweet so far.

I might go to pci mesa though 5i25T as that way I can keep the Ethernet for internet

Aciera

This machine Comes with 5axis. Which I can swap out with the pallet changer to standard 4axis

I'm very interested in your advanced kinematics for 5axis

As this is the end goal.

Though there is a lot you can do with 4axis still.

This machine Comes with 5axis. Which I can swap out with the pallet changer to standard 4axis

So is it a table-table BC rotary like this one?

I'm very interested in your advanced kinematics for 5axis

If you are referring to my TiltedWorkPlane implementation, that is currently for toolside (head) rotation only. Workside rotation is easier to work with because the machine Z axis remains oriented along the tool axis. But if you find it useful for your workside rotation kinematic then I might be motivated to expand my implementation.