VMC related HAL questions.

Hello Daniel Eriksson,
I am happy for you that your machine is running.
Could you post your configuration files here?
This might help me and others.
greetings from Germany
Peter

Can anyone summarize what steps need to be taken to implement "carousel.comp" in an existing config and in which post is the latest "carousel.comp" file?
Many thanks

Carousel is a standard Linuxcnc component and is thus fully documented. The "latest" version of linuxcnc is 2.9 so this is the latest document of Carousel

linuxcnc.org/docs/devel/html/man/man9/carousel.9.html

If you type man carousel.comp you should get this document.

andypugh wrote:

sspeed33317 wrote:

I have a question, I have two tool changers, a side arm and a carousel, the carousel is on the machine now and
is a geneva wheel... In order to make the geneva into a rotary axis i was wondering if i could refit the geneva motor with a servo
and rotary encoder instead of using a grey code on the carousel wheel itself. Effectively turning the carousel into a rotary axis.

You could, but there shouldn't be any need.

The "carousel" HAL component that I have written should operate most forms of carousel without hardware modifications.

Have you tried looking at the files in my sample configuration? There are a few parts to it that need to fit together.

1) The "carousel" HAL component. "sudo comp --install --install-docs carousel.comp" should install that. Then it is available for use if you want to.

2) Add an extra few digital IO lines for G-code, change one line in the HAL file. This change is safe:
loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[TRAJ]AXES num_dio=6

3) Put the toplevel.py and remap.py files in your config directory. (You can do this without anything breaking)

4) Get the carousel control HAL file working with your carousel. You should be able to add a the (short) toolchange.hal file to your INI file [HAL] section. You probably need to change the number of pockets etc to suit your machine.
You should then be able to move the carousel from MDI with M68 E0 Q{pocket number} followed by M64 P0 to start the carousel and M65 P0 to stop it.

4) Get the toolchange.ngc G-code routine working on your machine. You can set the G-code parameters #<tool-in_spindle>, #<selected_tool> and #<selected_pocket> in MDI then call O<toolchange>CALL.
Various switches need to be wired up in HAL to move actuators and sense positions. look in toolchange.hal to see what the tol change routine is expecting. As an example the signal for moving the carousel in to the spindle is net arm-act motion.digital-out-02 so if that was a parallel port output 17 you would add net arm-act parport.0.pin-17-out to that HAL file.

5) Once the G-code routine is working you can re-map the M6 command to run the tool change G-code routine. First some extra items in the INI file [RS274NGC] and section and either a new [PYTHON] section or modifications to the existing [PYTHON] section

[RS274NGC]
PARAMETER_FILE =        vmc.var
SUBROUTINE_PATH = ./
REMAP=M6   modalgroup=6  prolog=change_prolog ngc=toolchange epilog=change_epilog
[PYTHON]
TOPLEVEL=./toplevel.py
PATH_APPEND= ./
PATH_APPEND= /usr/share/linuxcnc/ncfiles/remap_lib/python-stdglue/

4) Put the toplevel.py and remap.py files in your config directory.

And that should be it.

Do you need spindle alignment too?

Okay then I have misunderstood. Thought it was "carousel.comp" the whole tool change sequence was placed ..
The actual tool change sequence is located in "Toolchanges.ngc"?

Is the cited post the correct instructions for implementing the tool change sequence?

I just need to set an output for spindle origination.

Hi almost made the tool change work.

Have some problems.
Do not get the photocell to see that there is no tool in the tool changer before the arm goes in to work properly.

The input on 7i77 works.

Has made the following connections:

M66 P5 L3 Q2 ; Check if mag pos is empty change to L0?
o103 if [#5399 EQ -1]
(MSG, Tool in Magazine! 03)


net pos-is-empty-mag hm2_7i92.0.7i77.0.0.input-29 motion.digital-in-05 #Carousellposempty


when I use M68 E0 Q {pocket number} M64 P0 to start the carousel and M65 P0 to stop it. Positioned carousel in the correct position but when I use with M6 T1 it stays on T2 instead. Haven't been able to look at so much yet.

Then the carousel continues to position when the emergency stop is reset.

Which version of carousel are you using?
I use carousel from the following post:

post=67358

andypugh wrote:

This version of carousel.comp should work for your turret.
You will need to install it with "sudo halcompile --install carousel.comp"
If you get a message that halcompile does not exist then look for linuxcnc-dev in the synaptic package manager.

In your particular case you will need to connect the input-pin-name....-not HAL pin to the carousel input pins, because your logic is inverted.

loadrt carousel encoding=bcd pockets=16 num_sense=5 bidirectional=2

beside compiling a user optimised comp
you shoudt be going with the system internal
depending on what system you are on 2.7 -2.9
you may be better up
as lots of changes appear to the system and comps do use this new feathers

I used it because I have the same milling machine thread starter.

Has 2.7.14 installed

Found this thread may be the same problem ..
forum.linuxcnc.org/24-hal-components/310...unent-debounce#75712