Tool Changer
03 May 2011 10:40 #9551
by Robin
Replied by Robin on topic Re:Tool Changer
yeah all configuration is from stepconf, but i modified several things so it works good.
now i got to start to configure the toolchanger pins, but never did it before and quit hard for me but i'm going to try it with the help of the guide.
Robin
now i got to start to configure the toolchanger pins, but never did it before and quit hard for me but i'm going to try it with the help of the guide.
Robin
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03 May 2011 12:43 - 03 May 2011 12:44 #9555
by BigJohnT
Replied by BigJohnT on topic Re:Tool Changer
If you make your connections in the custom.hal file they won't get overwritten by the wizard.
I would make one connection at a time then see if EMC loads to see if you have made a mistake.
John
I would make one connection at a time then see if EMC loads to see if you have made a mistake.
John
Last edit: 03 May 2011 12:44 by BigJohnT.
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03 May 2011 13:14 #9557
by ArcEye
Replied by ArcEye on topic Re:Tool Changer
The .hal configuration will be something like this
loadrt toolchanger
addf toolchanger.0 servo-thread
net tool-change iocontrol.0.tool-change => toolchanger.0.toolchange-req
net tool-changed iocontrol.0.tool-changed <= toolchanger.0.toolchange-ack
net tool-number iocontrol.0.tool-prep-number => toolchanger.0.tool-number
net atc-index toolchanger.0.index <= parport.N.pin-N-in
net pos-cmd toolchanger.0.position-cmd => stepgen.N.position-cmd
net tool-prepare-loopback iocontrol.0.tool-prepare => iocontrol.0.tool-prepared
You will need to specify which stepgen and which parport and pin the index signal is on
you also may need to change some of the default params on the fly to get the desired result
eg setp toolchanger.0.windback 4 if it doesn't go back enough
then you can put them in the comp when resolved
Read the manual on iocontrol and stepgen and the hal linkages should become clearer
regards
loadrt toolchanger
addf toolchanger.0 servo-thread
net tool-change iocontrol.0.tool-change => toolchanger.0.toolchange-req
net tool-changed iocontrol.0.tool-changed <= toolchanger.0.toolchange-ack
net tool-number iocontrol.0.tool-prep-number => toolchanger.0.tool-number
net atc-index toolchanger.0.index <= parport.N.pin-N-in
net pos-cmd toolchanger.0.position-cmd => stepgen.N.position-cmd
net tool-prepare-loopback iocontrol.0.tool-prepare => iocontrol.0.tool-prepared
You will need to specify which stepgen and which parport and pin the index signal is on
you also may need to change some of the default params on the fly to get the desired result
eg setp toolchanger.0.windback 4 if it doesn't go back enough
then you can put them in the comp when resolved
Read the manual on iocontrol and stepgen and the hal linkages should become clearer
regards
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11 May 2011 11:51 #9722
by andypugh
Replied by andypugh on topic Re:Tool Changer
ArcEye wrote:
If you want to be extra-neat then you could add a [TOOLCHANGER] section to your INI file, like this:
[TOOLCHANGER]
WINDBACK=4
And then have a setp command in the HAL file:
setp toolchanger.0.windback [TOOLCHANGER]WINDBACK
But I would probably just put setp toolchanger.0.windback = 4 in the HAL file after the loadrt toolchanger line.
This would be a slightly odd way to do it. If the default value of a paramete ris not correct, then the normal solution is to have a setp command in the HAL file.you also may need to change some of the default params on the fly to get the desired result
eg setp toolchanger.0.windback 4 if it doesn't go back enough
then you can put them in the comp when resolved
If you want to be extra-neat then you could add a [TOOLCHANGER] section to your INI file, like this:
[TOOLCHANGER]
WINDBACK=4
And then have a setp command in the HAL file:
setp toolchanger.0.windback [TOOLCHANGER]WINDBACK
But I would probably just put setp toolchanger.0.windback = 4 in the HAL file after the loadrt toolchanger line.
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