ECMO VMC100 Retrofit with Carousel/Toolchanger

Hi guys!
I get a VMC-100 as gift from a school.

I owm a F1P which i retrofit to LINUXCNC years ago. works perfect.
Same Machine as the VMC-100 but with manual Toolchange.

Now the VMC-100 has a carousel as Toolchanger.

 

This carousel have 4 proximity switch to operate the Toolchanger.

 

Sensor1 is a sensor to reference tool 1.
Sensor2 counts a hole in a parallel gear. is it counts 2 times the next toolslot is reached.
Sensor3 tells that the tool is engaged.
Sensor4 tells that the tool is disengaged and the mainspindle can rotate the carousel.

 

Main issue for me is that the carousel works above the Z reference sensor.
At Z reference positon the Carousel begins to disengage the tool and when sensor 4 is reached the carousel can rotate.

Does someone ever retrofit this in Linuxcnc and can share his experience?
I searched a bit arround but found only some videos with MACH3 and some dead threads.

I will use the orignial maindrive which has a encoder on it at the beginning.
the maindrive works with step/dir signals.

On my f1p was the same maindrive which i use to tap threads.. spindle orient is used for this but iswitch to a 1kw servo.
this time i will use everything orignial because i have 3 orignial stepperdrivers for the 5 phase steppers. later i would change to nema23 2 phase.
Main focus is to bring everything back to live without changing to different steppermotors or maindrive.

The maindrive is working and the encoder counts.
Steppers working.
all proximity sensors are working.


thanks for any help

the pictures are taken from youtube



 

issue is the toolchanger is turned by the spindle.. with spindle orient it works but its crap..

need spindle in velocity as spindle and in position mode for referencing the toolchanger and make toolchange...

Emco use encoder from spindle for ramp up and down speed between toolslots and calculate the way in theorie.. then the other sensors looking for the real position

Failures in spindle hal

m19 r720 p1 doenst work. its limited value 0-360 this was the first i try.. i had another idea...

using 2 relays.. switching between 2 step/dir signals from the mesa.
when toolchange is called..

m5
g4 (some value)
switch the relay to get position mode from a stepgen
make the toolchange
toolhange done.. switch the relay back to the stepgen for velocity mode

this is the hardware solution... needs 3 extra pins... 1 for relays 2 for extra step/dir

but is this not possible without relays and inside the hal? thanks

could you show me a exmple? i dont understand how i can connect the carousel.comp with the spindle... i go in basement and checked again. m19r720p1 doesnt work...

i understand that this compnent is very useful but i dont understand how i can link it up with the spindle to turn the carousel.

With carousel it should be possible but its a hard way