1. Configuring LinuxCNC
  3. HAL
  5. VMC related HAL questions.

VMC related HAL questions.

More
03 Dec 2019 14:23 #151870 by CNCDoc
Replied by CNCDoc on topic VMC related HAL questions.

The error message you show is from here:
	(MSG, Checking MagPos 02)
 	M66 P5 L0 ; Check if mag pos is empty?
		o103 if [#5399 EQ 0]
		  (abort, Tool in Magazine! 03)
		o103 endif
	(MSG, Moving arm 04)

So you see the error message because G-code digital input 5 is true.

So, why is that? Is it true?



Because there is a tool holder there. the tool change sequence is read when i load g code?
Attachments:

Please Log in or Create an account to join the conversation.

More
03 Dec 2019 14:29 #151871 by andypugh
Replied by andypugh on topic VMC related HAL questions.
Your remap may need to detect whether it is running or previewing.

linuxcnc.org/docs/2.8/html/remap/remap.h...apped-code-execution

Please Log in or Create an account to join the conversation.

More
03 Dec 2019 18:53 #151892 by CNCDoc
Replied by CNCDoc on topic VMC related HAL questions.
Something like this?
o<toolchange> sub

; only unload the tool if there is a tool in the spindle
; This assumes that the carousel is already aligned correctly. 
; It is important to unload the tool before shutting down the machine. 


; we must execute this only in the milltask interpreter
; or preview will break, so test for '#<_task>' which is 1 for 
; the milltask interpreter and 0 in the UI's
O999 if [[#<_task> GT 0]]
	
	o900 IF [#<tool_in_spindle> EQ 0]
		(MSG, Dual orient)
		M19 R180 P1
		M19 R0 P1
	o900 ENDIF
	(MSG, orienting)
	;M3 S1	;slow down spindle before orient
	;G4 P3	;dwell
	M19 R0  ;align the spindle
	M66 P6 L3 Q15 ; Check if spindel is oriented?
		o102 if [#5399 EQ -1]
		  (abort, Spindel not oriented 01)
		o102 endif


o100 IF [#<tool_in_spindle> GT 0] ;If there is a tool in the spindle then unload
	(MSG, MovingToLowerTC-Pos 01)
    G53 G0 Z-109.166
	(MSG, Checking MagPos 02)
 	M66 P5 L0 ; Check if mag pos is empty?
		o103 if [#5399 EQ 0]
		  (abort, Tool in Magazine! 03)
		o103 endif
	(MSG, Moving arm 04)
    M64 P2 ; move arm in
	(MSG, Waiting for arm 05)
    M66 P2 L3 Q5 ; wait for arm-in = true
		o104 if [#5399 EQ -1]
			(abort, failed to move arm in 06)
		o104 endif
	G4 P1
	(MSG, Starting pump 07)
    M64 P3 ;Start Pump "release tool"
	G4 P1.5
	(MSG, Spindle air on 08)
    M64 P5 ;Spindle air on
	(MSG, Wating for toolrelease signal 09)
    M66 P3 L3 Q2 ; wait for tool-released = true
		o105 if [#5399 EQ -1]
			(abort, failed to release tool 10)
		o105 endif
	
	(MSG, Air off 12)
    M65 P5 ;Turn off Spindle Air
o100 ENDIF

	(MSG, Moving up 13)
    G53 G0 Z7
	(MSG, Pump off 11)
    M65 P3 ;Turn off Pump

o200 IF [#<selected_tool> GT 0]
	(MSG, Unlock car 14)
    M64 P1 ; unlock carousel
	(MSG, Wait for unlock 15)
    M66 P1 L4 Q2 ; wait for unlock "LOW signal"
		o106 if [#5399 EQ -1]
			(abort, failed to unlock carousel 16)
		o106 endif
	(MSG, starting car 17)
    M68 E0 Q#<selected_pocket> ; Start "hal file" set the carousel to move to the right pocket
    M64 P0 ; start carousel
    G4 P2
	(MSG, waiting for car 18)
    M66 P0 L3 Q20 ; wait for carousel finished
		o107 if [#5399 EQ -1]
			(abort, failed to align carousel 19)
		o107 endif
	(MSG, stopping car 20)
    M65 P0 ;stop carousel
	(MSG, locking car 21)
    M65 P1 ;lock carousel
	(MSG, waiting for lock 22)
	;G4 P5
    M66 P1 L3 Q5 ;wait for locked=true
		o108 if [#5399 EQ -1]
			(Abort, failed to lock carousel 23)
		o108 endif
	(MSG, move arm in if not already 24)
    M64 P2 ; move arm in (might already be in)
	(MSG, waiting for arm 25)
    M66 P2 L3 Q5 ; wait for arm-in = true
		o109 if [#5399 EQ -1]
			(abort, failed to move arm in 26)
		o109 endif
	M64 P3 ;OpenDrawbar
	M66 P3 L3 Q10 ; wait for tool-released = true
		o112 if [#5399 EQ -1]
			(abort, Failed to activate drawbar! 27)
		o112 endif
	(MSG, MovingDownForAirBlast 28)
	G53 G0 Z-80 ;prepForAirBlast
	(MSG, AirBlast ON 29)
	M64 P5 ;Spindle air on
	(MSG, moving down 30)
    G53 G0 Z-109.166 ;pick up the tool
	M65 P3 ;TurnOffPump
	(MSG, AirBlast OFF 31)
	M65 P5 ;Turn off Spindle Air
o200 ENDIF 

(MSG, Turn off Pump clamp tool 32)
M65 P3 ;Turn off Pump;clamp tool
	(MSG, waiting for toolLocked 33)
M66 P3 L4 Q5 ; wait for tool-released = false
O110 if [#5399 EQ -1]
    (abort, failed to clamp tool 34)
O110 endif
M65 P4
	(MSG, move arm out 35)
M65 P2 ; move arm back out
	(MSG, waiting for arm 36)
M66 P4 L3 Q20 ; wait for arm-out = true
O111 if [#5399 EQ -1]
    (abort, failed to move arm out 37)
O111 endif

	(MSG, Stopp spindel orient)
	M5 ; Stopp spindel orient
o<toolchange> endsub [1]


M2
O999 endif
The following user(s) said Thank You: akb1212

Please Log in or Create an account to join the conversation.

More
03 Dec 2019 19:54 #151897 by andypugh
Replied by andypugh on topic VMC related HAL questions.
Something like that.
Not sure about the M2, and whether it belongs in the IF.
O999 IF [#<_task> GT 0]
    O<toolchange> RETURN
O999 ENDIF

Might be easier to keep track of and more obvious.
The following user(s) said Thank You: CNCDoc

Please Log in or Create an account to join the conversation.

More
04 Dec 2019 10:22 #151961 by CNCDoc
Replied by CNCDoc on topic VMC related HAL questions.
I have to do something wrong, it does not work
o999 IF [#<_task> GT 0]
    o<toolchange> RETURN
o999 ENDIF


o<toolchange> sub

; only unload the tool if there is a tool in the spindle
; This assumes that the carousel is already aligned correctly. 
; It is important to unload the tool before shutting down the machine. 

	o900 IF [#<tool_in_spindle> EQ 0]
		(MSG, Dual orient)
		M19 R180 P1
		M19 R0 P1
	o900 ENDIF
	(MSG, orienting)
	;M3 S1	;slow down spindle before orient
	;G4 P3	;dwell
	M19 R0  ;align the spindle
	M66 P6 L3 Q15 ; Check if spindel is oriented?
		o102 if [#5399 EQ -1]
		  (abort, Spindel not oriented 000)
		o102 endif
M64 P1 ;lock carousel
	(MSG, waiting for lock 22)
	;G4 P5
    M66 P1 L3 Q5 ;wait for locked=true
		o115 if [#5399 EQ -1]
			(Abort, failed to lock carousel 00)
		o115 endif

o100 IF [#<tool_in_spindle> GT 0] ;If there is a tool in the spindle then unload
	(MSG, MovingToLowerTC-Pos 01)
    G53 G0 Z-112.357
	(MSG, Checking MagPos 02)
 	M66 P5 L0 ; Check if mag pos is empty?
		o103 if [#5399 EQ 0]
		  (abort, Tool in Magazine! 03)
		o103 endif
	(MSG, Moving arm 04)
    M64 P2 ; move arm in
	(MSG, Waiting for arm 05)
    M66 P2 L3 Q5 ; wait for arm-in = true
		o104 if [#5399 EQ -1]
			(abort, failed to move arm in 06)
		o104 endif
	G4 P1
	(MSG, Starting pump 07)
    M64 P3 ;Start Pump "release tool"
	G4 P1.5
	(MSG, Spindle air on 08)
    M64 P5 ;Spindle air on
	(MSG, Wating for toolrelease signal 09)
    M66 P3 L3 Q2 ; wait for tool-released = true
		o105 if [#5399 EQ -1]
			(abort, failed to release tool 10)
		o105 endif
	
	(MSG, Air off 12)
    M65 P5 ;Turn off Spindle Air
o100 ENDIF

	(MSG, Moving up 13)
    G53 G0 Z7

o200 IF [#<selected_tool> GT 0]
	(MSG, Unlock car 14)
    M65 P1 ; unlock carousel
	(MSG, Wait for unlock 15)
    M66 P1 L4 Q2 ; wait for unlock "LOW signal"
		o106 if [#5399 EQ -1]
			(abort, failed to unlock carousel 16)
		o106 endif
	(MSG, starting car 17)
    M68 E0 Q#<selected_pocket> ; Start "hal file" set the carousel to move to the right pocket
    M64 P0 ; start carousel
    G4 P2
	(MSG, waiting for car 18)
    M66 P0 L3 Q20 ; wait for carousel finished
		o107 if [#5399 EQ -1]
			(abort, failed to align carousel 19)
		o107 endif
	(MSG, stopping car 20)
    M65 P0 ;stop carousel
	(MSG, locking car 21)
    M64 P1 ;lock carousel
	(MSG, waiting for lock 22)
	;G4 P5
    M66 P1 L3 Q5 ;wait for locked=true
		o108 if [#5399 EQ -1]
			(Abort, failed to lock carousel 23)
		o108 endif
	(MSG, move arm in if not already 24)
    M64 P2 ; move arm in (might already be in)
	(MSG, waiting for arm 25)
    M66 P2 L3 Q5 ; wait for arm-in = true
		o109 if [#5399 EQ -1]
			(abort, failed to move arm in 26)
		o109 endif
	M64 P3 ;OpenDrawbar
	M66 P3 L3 Q10 ; wait for tool-released = true
		o112 if [#5399 EQ -1]
			(abort, Failed to activate drawbar! 27)
		o112 endif
	(MSG, MovingDownForAirBlast 28)
	G53 G0 Z-80 ;prepForAirBlast
	(MSG, AirBlast ON 29)
	M64 P5 ;Spindle air on
	(MSG, moving down 30)
    G53 G0 Z-112.357 ;pick up the tool
	M65 P3 ;TurnOffPump
	(MSG, AirBlast OFF 31)
	M65 P5 ;Turn off Spindle Air
o200 ENDIF 

(MSG, Turn off Pump clamp tool 32)
M65 P3 ;Turn off Pump;clamp tool
	(MSG, waiting for toolLocked 33)
M66 P3 L4 Q5 ; wait for tool-released = false
O110 if [#5399 EQ -1]
    (abort, failed to clamp tool 34)
O110 endif
M65 P4
	(MSG, move arm out 35)
M65 P2 ; move arm back out
	(MSG, waiting for arm 36)
M66 P4 L3 Q20 ; wait for arm-out = true
O111 if [#5399 EQ -1]
    (abort, failed to move arm out 37)
O111 endif

	(MSG, Stopp spindel orient 38)
	M5 ; Stopp spindel orient



M65 P1 ; unlock carousel
	(MSG, Wait for unlock 39)
M66 P1 L4 Q2 ; wait for unlock "LOW signal"
		o113 if [#5399 EQ -1]
			(abort, failed to unlock carousel 40)
O113 endif
o<toolchange> endsub [1]


M2

Please Log in or Create an account to join the conversation.

More
04 Dec 2019 10:40 #151965 by andypugh
Replied by andypugh on topic VMC related HAL questions.
The if/return/endif needs to be inside the o<toolchange>sub / o<toolchange> endsub tags.

Please Log in or Create an account to join the conversation.

More
04 Dec 2019 11:13 - 04 Dec 2019 11:21 #151973 by CNCDoc
Replied by CNCDoc on topic VMC related HAL questions.
Now I get the following error



o<toolchange> sub

O999 IF [#<_task> GT 0]
    o<toolchange> RETURN



; only unload the tool if there is a tool in the spindle
; This assumes that the carousel is already aligned correctly. 
; It is important to unload the tool before shutting down the machine. 

	o900 IF [#<tool_in_spindle> EQ 0]
		(MSG, Dual orient)
		M19 R180 P1
		M19 R0 P1
	o900 ENDIF
	(MSG, orienting)
	;M3 S1	;slow down spindle before orient
	;G4 P3	;dwell
	M19 R0  ;align the spindle
	M66 P6 L3 Q15 ; Check if spindel is oriented?
		o102 if [#5399 EQ -1]
		  (abort, Spindel not oriented 000)
		o102 endif
M64 P1 ;lock carousel
	(MSG, waiting for lock 22)
	;G4 P5
    M66 P1 L3 Q5 ;wait for locked=true
		o115 if [#5399 EQ -1]
			(Abort, failed to lock carousel 00)
		o115 endif

o100 IF [#<tool_in_spindle> GT 0] ;If there is a tool in the spindle then unload
	(MSG, MovingToLowerTC-Pos 01)
    G53 G0 Z-112.357
	(MSG, Checking MagPos 02)
 	M66 P5 L0 ; Check if mag pos is empty?
		o103 if [#5399 EQ 0]
		  (abort, Tool in Magazine! 03)
		o103 endif
	(MSG, Moving arm 04)
    M64 P2 ; move arm in
	(MSG, Waiting for arm 05)
    M66 P2 L3 Q5 ; wait for arm-in = true
		o104 if [#5399 EQ -1]
			(abort, failed to move arm in 06)
		o104 endif
	G4 P1
	(MSG, Starting pump 07)
    M64 P3 ;Start Pump "release tool"
	G4 P1.5
	(MSG, Spindle air on 08)
    M64 P5 ;Spindle air on
	(MSG, Wating for toolrelease signal 09)
    M66 P3 L3 Q2 ; wait for tool-released = true
		o105 if [#5399 EQ -1]
			(abort, failed to release tool 10)
		o105 endif
	
	(MSG, Air off 12)
    M65 P5 ;Turn off Spindle Air
o100 ENDIF

	(MSG, Moving up 13)
    G53 G0 Z7

o200 IF [#<selected_tool> GT 0]
	(MSG, Unlock car 14)
    M65 P1 ; unlock carousel
	(MSG, Wait for unlock 15)
    M66 P1 L4 Q2 ; wait for unlock "LOW signal"
		o106 if [#5399 EQ -1]
			(abort, failed to unlock carousel 16)
		o106 endif
	(MSG, starting car 17)
    M68 E0 Q#<selected_pocket> ; Start "hal file" set the carousel to move to the right pocket
    M64 P0 ; start carousel
    G4 P2
	(MSG, waiting for car 18)
    M66 P0 L3 Q20 ; wait for carousel finished
		o107 if [#5399 EQ -1]
			(abort, failed to align carousel 19)
		o107 endif
	(MSG, stopping car 20)
    M65 P0 ;stop carousel
	(MSG, locking car 21)
    M64 P1 ;lock carousel
	(MSG, waiting for lock 22)
	;G4 P5
    M66 P1 L3 Q5 ;wait for locked=true
		o108 if [#5399 EQ -1]
			(Abort, failed to lock carousel 23)
		o108 endif
	(MSG, move arm in if not already 24)
    M64 P2 ; move arm in (might already be in)
	(MSG, waiting for arm 25)
    M66 P2 L3 Q5 ; wait for arm-in = true
		o109 if [#5399 EQ -1]
			(abort, failed to move arm in 26)
		o109 endif
	M64 P3 ;OpenDrawbar
	M66 P3 L3 Q10 ; wait for tool-released = true
		o112 if [#5399 EQ -1]
			(abort, Failed to activate drawbar! 27)
		o112 endif
	(MSG, MovingDownForAirBlast 28)
	G53 G0 Z-80 ;prepForAirBlast
	(MSG, AirBlast ON 29)
	M64 P5 ;Spindle air on
	(MSG, moving down 30)
    G53 G0 Z-112.357 ;pick up the tool
	M65 P3 ;TurnOffPump
	(MSG, AirBlast OFF 31)
	M65 P5 ;Turn off Spindle Air
o200 ENDIF 

(MSG, Turn off Pump clamp tool 32)
M65 P3 ;Turn off Pump;clamp tool
	(MSG, waiting for toolLocked 33)
M66 P3 L4 Q5 ; wait for tool-released = false
O110 if [#5399 EQ -1]
    (abort, failed to clamp tool 34)
O110 endif
M65 P4
	(MSG, move arm out 35)
M65 P2 ; move arm back out
	(MSG, waiting for arm 36)
M66 P4 L3 Q20 ; wait for arm-out = true
O111 if [#5399 EQ -1]
    (abort, failed to move arm out 37)
O111 endif

	(MSG, Stopp spindel orient 38)
	M5 ; Stopp spindel orient



M65 P1 ; unlock carousel
	(MSG, Wait for unlock 39)
M66 P1 L4 Q2 ; wait for unlock "LOW signal"
		o113 if [#5399 EQ -1]
			(abort, failed to unlock carousel 40)
O113 endif
O999 ENDIF
o<toolchange> endsub [1]


M2
Attachments:
Last edit: 04 Dec 2019 11:21 by CNCDoc.

Please Log in or Create an account to join the conversation.

More
04 Dec 2019 11:15 #151974 by andypugh
Replied by andypugh on topic VMC related HAL questions.
The O999 ENDIF belongs directly after the RETURN.

Please Log in or Create an account to join the conversation.

More
04 Dec 2019 11:34 #151977 by CNCDoc
Replied by CNCDoc on topic VMC related HAL questions.
With this code I get the following error message when I load g-code


And this one when I try to change the tool


o<toolchange> sub

O999 IF [#<_task> GT 0]
    o<toolchange> RETURN
O999 ENDIF



; only unload the tool if there is a tool in the spindle
; This assumes that the carousel is already aligned correctly. 
; It is important to unload the tool before shutting down the machine. 

	o900 IF [#<tool_in_spindle> EQ 0]
		(MSG, Dual orient)
		M19 R180 P1
		M19 R0 P1
	o900 ENDIF
	(MSG, orienting)
	;M3 S1	;slow down spindle before orient
	;G4 P3	;dwell
	M19 R0  ;align the spindle
	M66 P6 L3 Q15 ; Check if spindel is oriented?
		o102 if [#5399 EQ -1]
		  (abort, Spindel not oriented 000)
		o102 endif
M64 P1 ;lock carousel
	(MSG, waiting for lock 22)
	;G4 P5
    M66 P1 L3 Q5 ;wait for locked=true
		o115 if [#5399 EQ -1]
			(Abort, failed to lock carousel 00)
		o115 endif

o100 IF [#<tool_in_spindle> GT 0] ;If there is a tool in the spindle then unload
	(MSG, MovingToLowerTC-Pos 01)
    G53 G0 Z-112.357
	(MSG, Checking MagPos 02)
 	M66 P5 L0 ; Check if mag pos is empty?
		o103 if [#5399 EQ 0]
		  (abort, Tool in Magazine! 03)
		o103 endif
	(MSG, Moving arm 04)
    M64 P2 ; move arm in
	(MSG, Waiting for arm 05)
    M66 P2 L3 Q5 ; wait for arm-in = true
		o104 if [#5399 EQ -1]
			(abort, failed to move arm in 06)
		o104 endif
	G4 P1
	(MSG, Starting pump 07)
    M64 P3 ;Start Pump "release tool"
	G4 P1.5
	(MSG, Spindle air on 08)
    M64 P5 ;Spindle air on
	(MSG, Wating for toolrelease signal 09)
    M66 P3 L3 Q2 ; wait for tool-released = true
		o105 if [#5399 EQ -1]
			(abort, failed to release tool 10)
		o105 endif
	
	(MSG, Air off 12)
    M65 P5 ;Turn off Spindle Air
o100 ENDIF

	(MSG, Moving up 13)
    G53 G0 Z7

o200 IF [#<selected_tool> GT 0]
	(MSG, Unlock car 14)
    M65 P1 ; unlock carousel
	(MSG, Wait for unlock 15)
    M66 P1 L4 Q2 ; wait for unlock "LOW signal"
		o106 if [#5399 EQ -1]
			(abort, failed to unlock carousel 16)
		o106 endif
	(MSG, starting car 17)
    M68 E0 Q#<selected_pocket> ; Start "hal file" set the carousel to move to the right pocket
    M64 P0 ; start carousel
    G4 P2
	(MSG, waiting for car 18)
    M66 P0 L3 Q20 ; wait for carousel finished
		o107 if [#5399 EQ -1]
			(abort, failed to align carousel 19)
		o107 endif
	(MSG, stopping car 20)
    M65 P0 ;stop carousel
	(MSG, locking car 21)
    M64 P1 ;lock carousel
	(MSG, waiting for lock 22)
	;G4 P5
    M66 P1 L3 Q5 ;wait for locked=true
		o108 if [#5399 EQ -1]
			(Abort, failed to lock carousel 23)
		o108 endif
	(MSG, move arm in if not already 24)
    M64 P2 ; move arm in (might already be in)
	(MSG, waiting for arm 25)
    M66 P2 L3 Q5 ; wait for arm-in = true
		o109 if [#5399 EQ -1]
			(abort, failed to move arm in 26)
		o109 endif
	M64 P3 ;OpenDrawbar
	M66 P3 L3 Q10 ; wait for tool-released = true
		o112 if [#5399 EQ -1]
			(abort, Failed to activate drawbar! 27)
		o112 endif
	(MSG, MovingDownForAirBlast 28)
	G53 G0 Z-80 ;prepForAirBlast
	(MSG, AirBlast ON 29)
	M64 P5 ;Spindle air on
	(MSG, moving down 30)
    G53 G0 Z-112.357 ;pick up the tool
	M65 P3 ;TurnOffPump
	(MSG, AirBlast OFF 31)
	M65 P5 ;Turn off Spindle Air
o200 ENDIF 

(MSG, Turn off Pump clamp tool 32)
M65 P3 ;Turn off Pump;clamp tool
	(MSG, waiting for toolLocked 33)
M66 P3 L4 Q5 ; wait for tool-released = false
O110 if [#5399 EQ -1]
    (abort, failed to clamp tool 34)
O110 endif
M65 P4
	(MSG, move arm out 35)
M65 P2 ; move arm back out
	(MSG, waiting for arm 36)
M66 P4 L3 Q20 ; wait for arm-out = true
O111 if [#5399 EQ -1]
    (abort, failed to move arm out 37)
O111 endif

	(MSG, Stopp spindel orient 38)
	M5 ; Stopp spindel orient



M65 P1 ; unlock carousel
	(MSG, Wait for unlock 39)
M66 P1 L4 Q2 ; wait for unlock "LOW signal"
		o113 if [#5399 EQ -1]
			(abort, failed to unlock carousel 40)
O113 endif

o<toolchange> endsub [1]


M2
Attachments:

Please Log in or Create an account to join the conversation.

More
04 Dec 2019 11:42 - 04 Dec 2019 11:42 #151978 by andypugh
Replied by andypugh on topic VMC related HAL questions. 
o<toolchange> sub

O999 IF [#<_task> EQ 0]
    o<toolchange> RETURN [1]
O999 ENDIF
Last edit: 04 Dec 2019 11:42 by andypugh.

Please Log in or Create an account to join the conversation.

  1. Configuring LinuxCNC
  3. HAL
  5. VMC related HAL questions.
Time to create page: 0.183 seconds
Powered by Kunena Forum