Mazak Micro Slant 15 Retrofit

Managed to get everything wired up .Seems to be working .

Going through your servo wiring and tuning post now to get everything tuned .

I think my drive settings are out . As soon as I enable the drives, it jumps probably 20 mm on the axis . They are turning much faster than what they are suppose to . Even when I remove the encoders from the Mesa 7i77 and jog the axis at 7mm/min ,it's going much faster than that . Any idea what I did wrong ?

Which switch are you referring to ? I've tried looking everywhere in the manuals and on the drive it self ,I can't see where you switch the different loop modes .

I tuned the motors according to your guide and everything is working well now!!

My P was set way too high and it caused the motors to run away as soon as I start up .

I am almost done with the machine .I am currently stuck on the automatic tool changer . It has an 8 tool drum turret that uses pneumatics to clamp and unclamp and an ac motor that turns the turret in both directions .It also uses 3 proximity sensors on an encoder wheel to detect the 8 different tool positions .

At this stage I have connected all of the original inputs and outputs associated with the ATC.

They are as follows:

Inputs :
1.tool position 1
2.tool position 2
3.tool position 3
4.turret clamped position
​​​​​5.turret unclamped position
6.Index sensor
7.turret pressure down sensor

Outputs :
1.Turret unclamp 1
2.Turret unclamp 2
3.Turret turn clockwise
4.Turret turn anti-clockwise

I have made 8 Classicladder outputs that work with the tool position sensors as inputs and managed to get all 8 tool position signals to work .I have manually tested each input and output with Hal component and everything works individually. I am not sure what to do next .I saw you used the Emcochanger component . Will that work on my machine ? If so ,what do I need to do to implement it on the machine . What inputs and outputs do I need to use and where do I do this ? I don't have much knowledge or experience with Hal or Classicladder .

I attached images of the ATC mechanism.

The subscripts are as follows:
1-Tool clamp and unclamp position sensors.
2-Tool position sensors 1-3
3-Index sensor

i put a hal component for my Cincinnati 6 station turret, with bcd switch coding it's in hal components. also written in C. and honestly, far superior to ladder logic. if you want help customizing it lmk.