ok, so that means its a first-class spindle-state 'locked' in it's own, with
operations to unlock it - thanks, I wasnt aware of that
it seems some machines have a lock pin which disables spindle movement when
inserted and needs to be explictely removed; others might have a brake which
may engage in any rotational position
so M19 would cause two different processes depending on machine:
a) essentially 'probe' the lock-engaged pin by slowly rotating the spindle,
stopping when lock-pin switch opens
b) take orientation and direction from M19, hand over to PID controller until
angular postion == orientation, engage brake, release PID control
M20 would in scenario
a) activate unlock mechanism (magnet, whatever) and make sure lock-pin switch
is closed
b) release brake
outline:
- M19 will convey orientation and direction to motion.
- motion will get a spindle-orientation and spindle-direction pin fed with
these two parameters.
- motion gets a disable-spindle-movement input which blocks M3/M4; this pin is
positive-edge triggered
in case a) this would be fed the lock-engaged switch
in case b) this could be the brake-engaged switch; external HAL components
could handle orientation/direction/PID loop and eventually set
disable-spindle-movement
- spindle-state 'locked' is true iff disable-spindle-movement is true
- M19 will wait until disable-spindle-movement is true
- motion gets an release-spindle-lock pin (positive-edge triggered) which
would, in M20 M3,M4,M5
- activate the unlock mechanism in scenario a),
- release the brake in scenario b)
- M20,M3,M4,M5 would wait for disable-spindle-movement to become false.
unclear to me: what's the difference between an M20 and an M5? both leave the
spindle unlocked and stopped. Do we need an M20 at all?
I would have liked to make M19/M20 remapped tp oword procedures as well but due
to the spindle state interaction I dont see any other route than new NML
messages + extending motion
-mah
Am 17.03.2011 um 15:22 schrieb Robert Harpham:
>
>> How does it do unorient? Is that automatic at the next M3? M5?
>>
>>
>
> M19 starts a Spindle Orient command,
> M20 as well as M03 M04 M05 will cancel a Spindle orientation comand
>
> On 17/03/2011 11:38, Michael Haberler wrote:
>
>> spindle orientation looks useful for toolchanging and maybe other stuff, and
>> some people even have done it with VFD's; some infrastructure already exists
>> in NML although it isnt fully implemented.
>>
> also means Some of the boring cycles can be finished then also and
> implemented. where you need to stop spindle, orient, move over and draw out
> the hole..
>> I'm looking at adding an M19 command similar to the Fanuc spindle-orient
>> like:
>>
>> M19 [R<orientation in degrees; defaults to 0>] [L<orientation cw/ccw>]
>>
>> this is how I'd do it:
>> - turn off the spindle
>> - set a HAL pin spindle-orientation line to convey the degrees value
>> - set a HAL pin spindle-direction line to convey the cw/ccw direction
>> - assert a HAL pin orient-spindle line
>> - wait for a spindle-oriented HAL pin line to become true
> that is how my ladder and hal is set out right now for doing my spindle for
> the changer but with a fixed postion hard coded right now..
> will you give a ini file value for default oriention position? so if no R
> value is given at a M19 the value for default in the ini file is used (if no
> value is found 0 is used) as my encoder postion is 21degrees from 0 to
> postion my spindle for change postion.
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