On Mon, 14 Jun 2021 at 16:33, Nicklas SB Karlsson <n...@nksb.eu> wrote:
> >> Think it is good either to add support for angle sensor
> >> in current carousel component or simply forking of a different variant
> > Can you raise it as an issue on GitHub and assign it to me? Just to
> > make it harder to forget?
> Yes, looking into code it should however not be to hard figure out by
> myself.
Several months later, I think I have done this. The code below should
work (after being halcompiled as carousel.comp) with either an encoder
or a stepper motor (using the counts in both cases)
In the case of an encoder you can use index-enable and the encoder
index. Otherwise in both cases you can use a single pulse on sense-0
to indicate home.
====8X==============
component carousel """Orient a toolchanger carousel using various
encoding schemes
.B loadrt carousel pockets=\\fIN\\fR[,\\fIN\\fR]
.B encoding=\\fIssss\\fR[,\\fIsss\\fR]\\fB
.B num_sense=\\fIN\\fR[,\\fIN\\fR]
.B dir=\\fIN\\fR[,\\fIN]
.RS 4
.TP
\\fBpockets\\fR The number of pockets in each toolchanger.
Use up to 8 numbers separated by commas to create multiple carousel components.
.TP
\\fBencoding\\fR The position encoding.
gray, binary, bcd, index, edge, counts or single. Default = 'gray'
.TP
\\fBnum_sense\\fR The number of position sense pins.
Default = 4.
.TP
\\fBdir\\fR Set to 1 for unidirectional or 2 for bidirectional operation.
Default = bidirectional
.TP
\\fBparity\\fR Set to 1 for odd parity, 0 for even parity checking.
Default = 0 (even)
.RE""";
description """This component is intended to help operate various types of
carousel-type toolchangers.
The component can be configured to operate with binary, binary-coded
decimal (BCD)
or gray-coded position feedback ('binary;, 'bcd' and 'gray' modes)
It can alternatively work with an individual sensor for each tool position
('single' mode) or with a sensor at each tool position and a separate index
('index' mode). Systems using a stepper motor or quadrature encoder are
also supported ('counts' mode).
\\fBedge\\fR is a special case of index mode for tool
changers with pockets on both the rising and falling edges of the
position sensor.
(Seen on at least one Denford Orac.)
Both unidirectional and bidirectional systems are supported and those
that reverse
against a stop when in position.
The number of carousel component instances created depends on the number of
entries in the 'pockets' modparam. For example
.B loadrt carousel pockets=10,10,8
Would create 3 carousel instances with 10, 10 and 8 pockets. The other
parameters are optional. If absent then defaults will be used. Any missing
entry will assume the previous value.
When the enable pin is set to true the component will immediately set the
"active" pin to true and then (for a bidirectional instance) calculate the
shortest path to the requested pocket number. The appropriate motor direction
output pins will then be set. Bit outputs for forward and reverse are provided
as well as a three-state velocity output for driving a DC motor PWM or a
velocity-mode stepgen.
The component will monitor the carousel position and, when the correct position
is reached, set the motor-control pins to 0, set "active" to 0 and set "ready"
to 1.
In 'index', 'edge' or 'counts'mode there is a need to find the initial
home position of the carousel.
The first time that the "enable" pin is set; the carousel will rotate forwards
searching for a home signal. In 'index' and 'edge' mode this is when
both the index and pulse inputs are true. In 'counts' mode only the index
input needs to be set to set home. Additionally in 'counts' mode the
usual index-enable
logic of the encoder counters is supported.
In the unusual case that the index and pulse signals do not align it is
possible to use HAL logic to achieve the desired pin switching during homing.
Setting "enable" low does not halt the homing move, so if
homing on first tool change is not needed then the enable pin can be toggled by
an axis homing pin or a script and the homing process will continue even if that
driving signal resets during the carousel hioming move.
To operate the component with an encoder or stepgen
For tool changers which lock the carousel against a stop the
\\fBrev-pulse\\fR pin can
be set to a non-zero value. The motor-rev pin will then be set for
this many seconds
at the completion of the tool search and at the same time the reverse duty/cycle
velocity value will be sent to the motor-vel pin.
""";
pin in signed pocket-number """The pocket to move to when the .enable
pin goes high. If the value
passed is higher than the number of pockets specified in the "pockets"
modparam then modulo arithmetic
is used. This is intended to allow the use of multiple tools in the
same holder, as is sometimes
useful with lathes.""";
pin in bit enable "Set this pin high to start movement. Setting it
low will stop movement";
pin out bit active "indicates that the component is active";
pin out bit ready "This pin goes high when the carousel is in-position";
pin in bit strobe = 1 """Use this pin to indicate that the
position feedback is valid. Often
provided by binary encoders""";
pin in bit parity_ """Some encoders supply a parity bit, if this
is connected then the
parity-error output bit will indicate parity errors""";
pin in bit sense-# [32:personality] """Carousel position feedback
pins. In 'index' mode there
will be only 2 pins. sense-0 is the index and sense-1 is the pocket sensor.""";
pin in float rev-pulse """The duration in seconds for which a ratchet
changer (Boxford, Emco)
should pulse the reverse pin to lock the holder""";
pin in float fwd-dc "Velocity or duty cycle when forwards rotation is desired";
pin in float rev-dc " Velocity or duty cycle when reverse rotation is desired";
pin in float hold-dc "Duty cycle when carousel is in-position (to hold
against stop)";
pin in signed counts "Connect to the rawcounts of an encoder or a
stepgen in 'counts' mode";
pin in signed scale = 100"The number of stepgen or encoder counts
between successive pockets";
pin in signed width = 10 "How far each side of the exact scale to
signal a new pocket";
pin io bit index-enable "Used to home to an encoder index";
pin in bit jog-fwd "Jog the carousel forwards one tool position";
pin in bit jog-rev """Jog the carousel in reverse (only if dir = 2).
It is very important that these pins should be debounced and should probably
also be interlocked to only operate when the machine is idle.""";
pin out bit motor-fwd "Indicates the motor should run forwards
(bigger numbers)";
pin out bit motor-rev "Indicates the motor should run reverse.";
pin out bit parity-error "Indicates a parity error";
pin out signed current-position "This pin indicates the current
position feedback";
pin out float motor_vel "The duty-cycle or velocity to drive a DC
motor or stepgen";
param r signed state = 0 "Current component state";
param r bit homing = 0 "Shows that homing is in progress. Only
used for index mode";
param r bit homed = 0 "Shows that homing is complete. Only used in
index and edge modes";
param r float timer "Shows the value of the internal timer";
option count_function;
option extra_setup;
license "GPL";
author "andy pugh";
variable int inst_sense;
variable int inst_dir;
variable int inst_pockets;
variable int inst_code;
variable int inst_parity;
variable int old_index = 0;
variable int base_counts = 0;
variable int target;
function _ ;
include "rtapi_math.h";
;;
int default_pockets = 8;
int default_code = 'G';
int default_dir = 2;
int default_sense = 4;
int default_parity = 0;
#define MAX_CHAN 8
static int pockets[MAX_CHAN] = {-1};
RTAPI_MP_ARRAY_INT(pockets, MAX_CHAN, "The number of pockets in each carousel")
static char *encoding[MAX_CHAN];
RTAPI_MP_ARRAY_STRING(encoding, MAX_CHAN, "Position feedback type")
static int dir[MAX_CHAN] = {-1};
RTAPI_MP_ARRAY_INT(dir, MAX_CHAN,
"set to 2 if the carousel is bidirectional")
static int num_sense[MAX_CHAN] = {-1};
RTAPI_MP_ARRAY_INT(num_sense, MAX_CHAN, "The number of sense pins to create")
// We have a hal pin and a modparam with the same name. From the user
// point of view I think that makes sense. In the code parity[] is the modparam,
// parity_ is the hal pin.
static int parity[MAX_CHAN] = {-1};
RTAPI_MP_ARRAY_INT(parity, MAX_CHAN, "0 for even parity, 1 for odd")
FUNCTION(_){
int i, d, pow;
int pcalc = 0;
int mod_pocket = 0;
int new_pos = 0;
unsigned int mask;
switch inst_code{
case 'G': // Gray Code
for (i = 0; i < inst_sense ; i++) {
new_pos += sense(i) << i;
pcalc ^= sense(i);
}
for(mask = new_pos >> 1 ; mask != 0 ; mask = mask >> 1){
new_pos ^= mask;
}
break;
case 'B': // Straight Binary
for (i = 0; i < inst_sense ; i++) {
new_pos += sense(i) << i;
pcalc ^= sense(i);
}
break;
case 'D': // BCD
i = 0;
pow = 1;
while (i < inst_sense){
int lim;
d = 0;
for (lim = i + 4; i < lim && i < inst_sense; i++) {
d += sense(i) << (i % 4);
pcalc ^= sense(i);
}
new_pos += d * pow;
pow *= 10;
}
break;
case 'S': // individual sensors
for (i = inst_sense - 1; sense(i) == 0 && i > 0 ; i--) {}
if (sense(i))
new_pos = i + 1;
break;
case 'I': // index + position.
new_pos = current_position;
if (homed){
if ( !old_index && sense(1) ){
if (motor_fwd){
new_pos += 1;
if (new_pos > inst_pockets) new_pos -= inst_pockets;
}
if (motor_rev) {
new_pos -= 1;
if (new_pos < 1) new_pos += inst_pockets;
}
}
old_index = sense(1);
}
break;
case 'E': // index + position, both edges.
new_pos = current_position;
if (homed){
if ( old_index != sense(1) ){
if (motor_fwd){
new_pos += 1;
if (new_pos > inst_pockets) new_pos -= inst_pockets;
}
if (motor_rev) {
new_pos -= 1;
if (new_pos < 1) new_pos += inst_pockets;
}
}
old_index = sense(1);
}
break;
case 'C': // encoder or stepgen counts.
new_pos = current_position;
if (homed){aa
int c;
int t;
int w = width / 2;
c = (counts - base_counts);
t = floor(((float)c + w) / scale);
if (c >= (t * scale - w) && c <= (t * scale + w)) {
new_pos = 1 + t - inst_pockets * floor((float)t / inst_pockets);
}
}
}
if (strobe) {
current_position = new_pos;
parity_error = (pcalc != (inst_parity ^ parity_));
}
mod_pocket = ((pocket_number - 1) % inst_pockets) + 1;
// mod is odd with negatives, so just in case
if (mod_pocket < 1) mod_pocket = 1;
if (mod_pocket > inst_pockets) mod_pocket = inst_pockets;
switch (state){
case 0: // waiting at start
if (jog_fwd || (jog_rev && inst_dir == 2)) {
if ((inst_code == 'I' || inst_code == 'E' || inst_code ==
'C') && ! homed){
state = 10;
break;
}
target = current_position + jog_fwd - jog_rev;
if (target > inst_pockets ) target = 1;
if (target < 1) target = inst_pockets;
if (jog_fwd){
motor_fwd = 1;
motor_rev = 0;
motor_vel = fwd_dc;
}
if (jog_rev){
motor_fwd = 0;
motor_rev = 1;
motor_vel = rev_dc;
}
active = 1;
state = 5;
break;
}
motor_vel = hold_dc;
if (! enable) return ;
active = 1;
if ((inst_code == 'I' || inst_code == 'E' || inst_code == 'C')
&& ! homed){
state = 10;
break;
}
state = 1;
ready = 0;
case 1: // choose direction
if (mod_pocket < 1 || mod_pocket > inst_pockets) {
state = 0;
return;
}
if (inst_dir == 2){
if (current_position < mod_pocket){
if (mod_pocket - current_position > (inst_pockets / 2)) {
motor_fwd = 0;
motor_rev = 1;
motor_vel = rev_dc;
} else {
motor_fwd = 1;
motor_rev = 0;
motor_vel = fwd_dc;
}
} else {
if (current_position - mod_pocket > (inst_pockets / 2)) {
motor_fwd = 1;
motor_rev = 0;
motor_vel = fwd_dc;
} else {
motor_fwd = 0;
motor_rev = 1;
motor_vel = rev_dc;
}
}
} else {
motor_fwd = 1;
motor_rev = 0;
motor_vel = fwd_dc;
}
state = 2;
case 2: // moving
if ((current_position != mod_pocket) && enable) return;
if (rev_pulse > 0){
motor_fwd = 0;
motor_rev = 1;
motor_vel = rev_dc;
timer = rev_pulse;
state = 3;
} else {
motor_fwd = 0;
motor_rev = 0;
motor_rev = hold_dc;
active = 0;
if (enable) ready = 1;
state = 4;
break;
}
case 3:
timer -= fperiod;
if (timer > 0) break;
state = 4;
motor_fwd = 0;
motor_rev = 0;
motor_vel = hold_dc;
active = 0;
if (enable) ready = 1;
case 4: //waiting for enable to go false
if (enable) return;
state = 0;
break;
case 5: //jogging fwd/rev
if (current_position != target) return;
motor_fwd = 0;
motor_rev = 0;
motor_vel = hold_dc;
active = 0;
if (jog_fwd || jog_rev) return; // require button release to jog again
state = 0;
break;
case 10: // start of homing
homed = 0;
homing = 1;
motor_fwd = 1;
motor_rev = 0;
motor_vel = fwd_dc;
index_enable = 1;
state = 11;
case 11: ;// waiting for index & pulse
int ind = 0;
if (inst_code == 'C'){
ind = sense(0);
} else {
ind = (sense(0) && sense(1));
}
if ( ! index_enable || ((! old_index) && ind)){ // index found
current_position = 1;
homed = 1;
homing = 0;
active = 0;
motor_fwd = 0;
motor_rev = 0;
motor_vel = 0;
base_counts = counts;
state = 0;
}
old_index = (sense(0) && sense(1));
break; // So that we don't see the tool1 pulse twice
}
}
EXTRA_SETUP(){
if (pockets[extra_arg] > 0) default_pockets = pockets[extra_arg];
if (encoding[extra_arg] == NULL) {
//it's already default_code
} else if (strncmp(encoding[extra_arg], "binary", 6) == 0) {
default_code = 'B';
} else if (strncmp(encoding[extra_arg], "bcd", 3) == 0) {
default_code = 'D';
} else if (strncmp(encoding[extra_arg], "single", 6) == 0) {
default_code = 'S';
} else if (strncmp(encoding[extra_arg], "index", 5) == 0) {
default_code = 'I';
} else if (strncmp(encoding[extra_arg], "edge", 4) == 0) {
default_code = 'E';
} else if (strncmp(encoding[extra_arg], "counts", 6) == 0) {
default_code = 'C';
}
if (dir[extra_arg] > 0) default_dir = (dir[extra_arg] > 1)? 2:1;
if (parity[extra_arg] != -1) default_parity = parity[extra_arg];
if (default_code == 'I') {
default_sense = 2;
} else if (num_sense[extra_arg] > 0 ) {
default_sense = num_sense[extra_arg];
}
inst_pockets = default_pockets;
inst_code = default_code;
inst_dir = default_dir;
inst_sense = default_sense;
inst_parity = default_parity;
if (inst_code == 'S' && inst_sense < inst_pockets) inst_sense =
inst_pockets;
personality = inst_sense;
return 0;
}
int get_count(void){
int i;
for (i = 0; pockets[i] != 0 && i < MAX_CHAN; i++){}
if (i == 0) return 1 ;
return i;
}
--
atp
"A motorcycle is a bicycle with a pandemonium attachment and is
designed for the especial use of mechanical geniuses, daredevils and
lunatics."
— George Fitch, Atlanta Constitution Newspaper, 1912
_______________________________________________
Emc-users mailing list
Emc-users@lists.sourceforge.net
https://lists.sourceforge.net/lists/listinfo/emc-users
