Preparation for the self-construction of a carousel changer

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05 Dec 2022 13:10 - 05 Dec 2022 13:20 #258593 by mgm
the line in the hal

net car-ready carousel.0.ready motion.digital-in-04

I need, because otherwise the carousel does not stop when it has found the right pocket!

OK now I found out why the ready does not go to false at the start of the carousel!

It depends if you choose unidirectional or bidirectional .....

With unidirectional ready goes immediately after exit to false
but if bidirectional is selected ready stays high.

 
Last edit: 05 Dec 2022 13:20 by mgm.

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05 Dec 2022 13:49 #258596 by andypugh
Sorry, yes, I was tired and mis-reading moton.digital-in-04 as a GPIO pin whereas it is actually a signal to the NGC routine.

Can you explain what each of your actual digital outputs do? Regardless of the NGC routine the carousel motor should stop when it is in-position (motor-fwd and motor-rec will go false, motor-vel will go to zero)
I wonder if you have the motor turning whenever the carousel is enableed rather than only when the component commands it.

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05 Dec 2022 15:49 - 05 Dec 2022 21:13 #258606 by mgm
hm2_7i76e.0.7i84.0.1.output-13
das schaltet ein Relais das den Antriebsmotor ein- und ausschaltet

hm2_7i76e.0.7i84.0.1.output-14
das schaltet ein Relais das die Drehrichtung des Motors bestimmt

M64 P12 lässt nur zu einen Zylinder aus- und einfahren, sonst nichts.

Ich habe den PWM-Ausgang in der Haupthälfte fest auf true gesetzt, damit ich den Motor am Motortreiber über den Enable-Pin ein- und ausschalten kann!

Wenn der Enable-Pin des Carousel Comp auf True geht ist folgendes:
die zu suchende Tasche wird angezeigt
enable = true
active = true
motor-vol =
0.025 motor-fwd = true
state = 2

wenn die rechte Tasche gefunden wird passiert folgendes :
aktivieren = falsch
active = false
ready = true
motor-vol = 0
motor fwd = false
state = 0

wenn ich jetzt enable vom carousel comp wieder auf true setze ready wird false aber sonst passiert nichts!

Erst jetzt, wenn ich deine neue Tasche rufe, wird diese angezeigt und das Karussell startet.

Es sieht also so aus, als wäre der Karussell-Comp noch nicht fertig, aber warum?

Das interessante an der ganzen Geschichte ist:
ändere ich die hal, so startet das Programm mit dem Fehler

O100 if [#5399 EQ -1]
(DEBUG, failed to carousel pocket)
M65 P10
O100 endif

abbricht geht auch ready to false!



 
Last edit: 05 Dec 2022 21:13 by mgm.

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05 Dec 2022 16:02 #258609 by andypugh

hm2_7i76e.0.7i84.0.1.output-13
this switches a relay which switches the drive motor on and off

hm2_7i76e.0.7i84.0.1.output-14
this switches a relay which determines the direction of rotation of the motor


Is your carousel bidirectional or single direction? The motor should be turned on or off by motor-fwd/rev. If it is a single-direction changer then just use:

net motor-on carousel.0.motor-fwd hm2_7i76e.0.7i84.0.1.output-13 hm2_7i76e.0.7i84.0.1.output-14

If it is bidirectional than you can try

net motor-on carousel.0.active hm2_7i76e.0.7i84.0.1.output-13
net motor-fwd carousel.0.motor-fwd hm2_7i76e.0.7i84.0.1.output-14

In either case, the motor needs to be turned on/off by the component not by the G-code.

if i now set enable from the carousel comp back to true ready becomes false but nothing else happens!


That's odd, if it is still in position it should go back to ready. What is the "state" when that happens?

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05 Dec 2022 16:40 - 05 Dec 2022 18:16 #258612 by mgm
i have now changed the hal as suggested:
net motor-on carousel.0.motor-fwd hm2_7i76e.0.7i84.0.1.output-13
now i have the following status:
- enable = true
- active = false
- state = 9
the carousel comp is now blocked, i can't do more!


- enable = false
- active = false
- state = 0
and ready = true 

enable I have connected so that I can start the carousel

car-enable   motion.digital-out-10   carousel.0.enable

this is the current hal for the changer 
 

File Attachment:

File Name: carousel_0...2-05.txt
File Size:1 KB




 
Attachments:
Last edit: 05 Dec 2022 18:16 by mgm.

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06 Dec 2022 00:46 #258643 by andypugh
Answering the crossed-out parts :-)

It stays in state 9 until the enable is taken low again.

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06 Dec 2022 08:55 #258682 by mgm
so after I slept a night over it, I tested again this morning and what can I say:
hardly makes it right it also works ....

It does exactly what it should!
Show bag with M68 E0 Qx
start carousel with M64 Px
!!! wait until carousel is ready !!!
carousel beebden with M65 Px

select new pocket and straten again Perfeckt!

Thanks Andy for the patient support !!!

My problem is with the test program!

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06 Dec 2022 09:57 #258685 by mgm
I have now changed my program as follows:
o<test_carousel>sub

M68 E0 Q#<selected_tool>
M64 P10 ; start carousel

M66 P10 L3 Q30
G4 P2

O100 if [#5399 EQ -1]
(DEBUG, failed to carousel pocket)
M65 P10
O100 endif

M65 P10 ; stop carousel

o<test_carousel> endsub
M2


M66 P10 L3 Q30
has only the disadvantage that I must always wait so long until Q30 is expired!
If I shorten the time, it can happen that the carousel is not yet ready and the time is already expired.

How could I design this, or what can I still query to continue in the program after the carousel is ready?
 

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06 Dec 2022 10:25 #258686 by andypugh
M66 should return as soon as the condition is true. If it gets to the end of the set time then that is when it sets the error flag.

ie, it will wait _at_most_ for Q seconds.

I think there is a mismatch between
net car-ready     carousel.0.ready          motion.digital-in-04
and
M66 P10 L3 Q30

Should the P10 be P4 ?

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06 Dec 2022 10:45 #258687 by mgm
Andy you are the greatest guy in the world

thank you so much for your help!


yes after I changed it from P10 to P4 everything works great ...

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