Offset home and jog caroussel

greg23_78
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2 years 9 months ago #291694 by greg23_78

Offset home and jog caroussel was created by greg23_78

I'm having problems with my tool change/caroussel.

loadrt carousel pockets=30 encoding=index num_sense=2 dir=2

on my caroussel the home is on tool 30 (the last one)
when I ask for a tool change I am shifted by 1 just after the homing, then the carousel works perfectly, I have the right tool shift

I think that the modification should be made on the carrousel.comp but not knowing pyton programming, I prefer not to modify the program too much.

Code:

    case 10: // start of homing
        homed = 0;
        homing = 1;
        motor_fwd = 1;
        motor_rev = 0;
        motor_vel = fwd_dc;
        motor_dir = 1;
        index_enable = 1;
        counts_target += scale * inst_pockets;
        old_index = 1; // ensure 0->1 cycle of home sensor
        state = 11;
    case 11: ;// waiting for index & pulse
        int ind = 0;
        if (inst_code == 'C'){
            ind = sense(0);
        } else {
            ind = (sense(0) && sense(1));
        }
        if  ( ! index_enable || ((! old_index) && ind)){ // index found
            current_position = 1;
            homed = 1;
            homing = 0;
            active = 0;
            motor_fwd = 0;
            motor_rev = 0;
            motor_vel = 0;
            base_counts = counts - home_offset;
            counts_target = base_counts;
            if ( align_dc == 0) {
                state = 0;
            } else {
                timer = decel_time;
                state = 5;
            }
        }
        old_index = ind;
        break; // So that we don't see the tool1 pulse twice
    case 20: //jogging fwd/rev
        if (current_position != target){
            deb = debounce;
            return;
        } else if (deb-- > 0) {
            return;
        }
        if (align_dc != 0 && ! align_pin) return;
        motor_fwd = 0;
        motor_rev = 0;
        motor_vel = hold_dc;
        active = 0;
        if (jog_fwd || jog_rev) return; // require button release to jog again
        if (align_dc != 0) {
            motor_vel = -align_dc;
            timer = decel_time;
            state = 5;
        } else {
            state = 0;
        }
        break;
    }
}

the second problem comes from the jog of the carousel, the programming I have done does not work, what modification should I make to make it work?

Code:

loadrt debounce cfg=2

net jog-fwd <= hm2_5i25.0.7i77.0.0.input-17
net jog-fwd  => debounce.0.0.in
net debounce-fwd-out <= debounce.0.0.out
net debounce-fwd-out =>  carousel.0.jog-fwd motion.digital-in-10


net jog-rev <= hm2_5i25.0.7i77.0.0.input-18
net jog-rev  => debounce.0.1.in
net debounce-rev-out <= debounce.0.1.out
net debounce-rev-out => carousel.0.jog-rev motion.digital-in-11

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tommylight
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2 years 9 months ago #291696 by tommylight

Replied by tommylight on topic Offset home and jog caroussel

Is this a double post?
I am sure i have read the loadrt line with 30 tools a day or two prior...
-
As a general rule, no double posting.

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www.youtube.com/@toma.3d
www.youtube.com/@tomapc

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greg23_78
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2 years 9 months ago #291698 by greg23_78

Replied by greg23_78 on topic Offset home and jog caroussel

I don't think I'm making a double post,

www.forum.linuxcnc.org/24-hal-components...s-to-the-same-output

I've tried to apply SPUMCO's recommendations.

"Note - in the future, start a new thread for a new topic. I know it's 'just a little add-on question', but changing the thread title even if it's yours is frowned on and makes it harder for people to search later. I'm guilty of it, too, but I try not to make a habit of it."

if this is considered a double post I'm sorry

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spumco
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2 years 9 months ago #291715 by spumco

Replied by spumco on topic Offset home and jog caroussel

@Tommy - nope, OP is following orders

@greg23_78... Regarding the first part, I don't understand why home is pocket 30. I assume since your'e using 'INDEX' mode you've got a per-pocket sensor and a once-per-rev index sensor, yes?

Is there some reason you can't (or don't want to) define the index sensor as pocket #1?

Regarding jog... um. I had a problem with it a while ago (months) and reported it to Andy Pugh (author of carousel) on git hub. I think it's been fixed, but I honestly haven't done much testing. If I recall, you have to set the jog-fwd/rev signal high and then low for it to work.

To test it out I found it was easier to get all the carousel pins displayed in halshow, and then unlink the various inputs so I could manually diddle the pins. There's even an 'unhome' pin you can use for testing (Thanks Andy!) your homing process so you don't have to close & restart LCNC.

Have a go in halshow and see if you can figure out (and report back) if toggling the jog pins on/off (after it's homed) works.

And 30 tools? That's huge. What is this thing?

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greg23_78
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2 years 9 months ago - 2 years 9 months ago #291719 by greg23_78

Replied by greg23_78 on topic Offset home and jog caroussel

yes, I have a sensor for the index of my caroussel and I have a sensor for the motor of the caroussel 1rev = 1 pocket

The reason why on the pocket 30, I do not know, it was assembled like that of origin and to modify mechanically and too complicated.

a photo of my milling machine attached

after a lot of reading of the caroussel.comp file i think this parameter should be changed

if ( ! index_enable || ((! old_index) && ind)){ // index found
current_position = 1; ============> 30

Code:

case 10: // start of homing
        homed = 0;
        homing = 1;
        motor_fwd = 1;
        motor_rev = 0;
        motor_vel = fwd_dc;
        motor_dir = 1;
        index_enable = 1;
        counts_target += scale * inst_pockets;
        old_index = 1; // ensure 0->1 cycle of home sensor
        state = 11;
    case 11: ;// waiting for index & pulse
        int ind = 0;
        if (inst_code == 'C'){
            ind = sense(0);
        } else {
            ind = (sense(0) && sense(1));
        }
        if  ( ! index_enable || ((! old_index) && ind)){ // index found
            current_position = 1; ============> 30
            homed = 1;
            homing = 0;
            active = 0;
            motor_fwd = 0;
            motor_rev = 0;
            motor_vel = 0;
            base_counts = counts - home_offset;
            counts_target = base_counts;
            if ( align_dc == 0) {
                state = 0;
            } else {
                timer = decel_time;
                state = 5;
            }
        }
        old_index = ind;
        break; // So that we don't see the tool1 pulse twice
    case 20: //jogging fwd/rev
        if (current_position != target){
            deb = debounce;
            return;
        } else if (deb-- > 0) {
            return;
        }
        if (align_dc != 0 && ! align_pin) return;
        motor_fwd = 0;
        motor_rev = 0;
        motor_vel = hold_dc;
        active = 0;
        if (jog_fwd || jog_rev) return; // require button release to jog again
        if (align_dc != 0) {
            motor_vel = -align_dc;
            timer = decel_time;
            state = 5;
        } else {
            state = 0;
        }
        break;
    }
}

is there a command to edit a coump file or do i have to download it on github modify and install it?

for the jog, i found your post, i will read it more in depth.

the pins carousel.0.jog-fwd and carousel.0.jog-rev are active on halshow before and after homing.

Last edit: 2 years 9 months ago by greg23_78.

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tommylight
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2 years 9 months ago #291723 by tommylight

Replied by tommylight on topic Offset home and jog caroussel

spumco wrote:
@Tommy - nope, OP is following orders

OK, thank you.

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www.youtube.com/@toma.3d
www.youtube.com/@tomapc

The following user(s) said Thank You: spumco

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