ECMO VMC100 Retrofit with Carousel/Toolchanger

sry for delay.

i have now the whole machine running with the original controller.

all works.. steppers,maindrive, all sensors and the spindleencoder.

in the next days i link up my raspberry pi 4 with a 7i92.
why the rasp? its easier for me instead a notebook.. i have the machine in my garage not in my basement...

if all works and linked to the mesa and is in my linuxcnc i came back.


parallel i would build a small model for the toolchanger to play in the apartment with the toolchanger carousel stuff.

thanks

I get the carousel.comp working with the toolchanger.

It homes and couunts correct... spindle orient before lift up to the gear to dont crash.

All sensor stuff is linked in a remaped m6 ngc and communicate with m64 m65 and m66 between ngc and hal and carousel.comp.

There is a and2 fuction which gives the carousel the enable signal.
This and2 swirches when the hardware sensor gets true that tell that the carousel is in disengaged position. This means the carousel is connected with the gear to maindrive and the tool is released from the spindle sk30.



Next step is to make the stuff working with the main drive.. think its some stuff with mux2 and xor2.

The spindle is synced and can orient. Its a full servo spindle.

haha.. next issue..but solved...

a second mux2 and a mult brings up the fwd and rev function to the spindle in carousel movement. now bidirectional works...but all only on the table with buttons,switches,leds.

i was wondering why i get motor-fwd and motor-rev velocity shown only as positiv value.. then i use the motor-rev pin to use a second mux2 to select the inverted value.

the inverted value i got from mult2. i give in the carousel.0.motor-vel and multiplie with -1.

then i get the negative value...

carousel.0.motor-vel 100 with carousel.0.motor-fwd true gives 100

carousel.0.motor-vel 100 with carousel.0.motor-rev true gives -100

when carousel.0.motor-rev true then the mux2.sel is active nd sends the -100 Value to the first mux2.

first mux2 change between carousel and spindle mode.

Hi andy

Yes i change the stuff from rev-dc 100 to -100... it works.
Still struggle with issues. Possible i can get help from u?
Today i look to the 3 signals from the proximity sensors.. found out that there are some spikes.. but the spikes are only a noise on the signal.. not in the area that they toggle the gpio.

I think my ngc is the issue.
Later i add some debug lines to see where it stops working.

I am xonfused about the strobe pin.. and dont understand the usage.

I use sense0 as index for homing and sense1 for the slot sensor on the slottee disc.
Some time ago you wrote i must use the strobe for the slot disc. But dont understand it correct. Can you please explain a little more please?

Thanks

i had debounce the proxmitiy sensors in the HAL with debounce.. value is 5.

then i think we need to talk about my toolchange.ngc.
do you want it in english or german... because i wrote all comments in german).

thanks andy

Failures in ngc.. i delete