cnc-club.ru

Код: Выделить всё

M64 P0 ; вкл удар
M66 P0 L1 Q10 ; ждем срабатывания пина готовности
M65 P0 ; выкл удар 

Код: Выделить всё

M64 P0 ; вкл удар
G4 P0.1 ; ждем 0.1с 
M65 P0 ; выкл удар 
M66 P0 L1 Q10 ; ждем срабатывания пина готовности

Код: Выделить всё

O100 IF [#5399 EQ -1]
  (DEBUG, Неисправность при ударе!)
  M02 
O100 ENDIF 

Код: Выделить всё

component carousel """Orient a toolchanger carousel using various encoding schemes

.B loadrt toolchange pockets=\\fIN\\fR[,\\fIN\\fR]
.B encoding=\\fIssss\\fR[,\\fIsss\\fR]\\fB
.B num_sense=\\fIN\\fR[,\\fIN\\fR]
.B bidirectional=\\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, index 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
.RE""";

description """This component is intended to help operate various types of
carousel-type toolchangers. 
The component can be configured to operate with binary or gray-coded position 
feedback, with an individual sensor for each tool position or with a sensor at each
tool position and a separate index.

At the moment it is best-suited to Geneva-mechanism type systems where the
motor is either on or off.
Both unidirectional and bidirectional systems are supported. 

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 pin will then be set.

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 mode the behaviour is slightly different the first time that the "enable"
pin is set; the carousel will rotate forwards when first enabled until 
both the index and pulse inputs are true. If there is no pulse line at the
index position then a HAL "or2" function can be used to allow the index sensor
to toggle both inputs. 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. 
""";

pin in  signed pocket-number "The pocket to move to when the .enable pin goes high";
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    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 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 signed current-position "This pin indicates the current position feedback";

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 mode";

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 old_index = 0;

function _ nofp;

;;

int default_pockets = 8;
int default_code = 'G';
int default_dir = 2;
int default_sense = 4;

#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")


FUNCTION(_){
    int i;
    int p = 0;
    unsigned int mask;

    switch inst_code{
    case 'G': // Gray Code
        for (i = 0; i < inst_sense ; i++) {
            p += sense(i) << i;
        }
        for(mask = p >> 1 ; mask != 0 ; mask = mask >> 1){
            p ^= mask;
        }
        break;
    case 'B': // Straight Binary
        for (i = 0; i < inst_sense ; i++) {
            p += sense(i) << i;
        }
        break;
    case 'S': // individual sensors
        for (i = inst_sense - 1; sense(i) == 0 && i > 0 ; i--) {}
        p = i;
        break;
    case 'I': // index + position.
        p = current_position;
        if (homed){
            if ( !old_index && sense(1)){
                if (motor_fwd){
                    p += 1;
                    if (p > inst_pockets) p -= inst_pockets;
                }
                if (motor_rev) {
                    p -= 1;
                    if (p < 1) p += inst_pockets;
                }
            }
            old_index = sense(1);
        }
        break;
    }

    current_position = p;

    switch (state){
    case 0: // waiting at start
        if (! enable) return ;
        active = 1;
        if (inst_code == 'I' && ! homed){
            state = 10;
            break;
        }
        state = 1;
        ready = 0;
    case 1: // choose direction
        if (pocket_number < 1 || pocket_number > inst_pockets) return;
        if (inst_dir == 2){
            if (current_position < pocket_number){
                if (pocket_number - current_position > (inst_pockets / 2)) {
                    motor_fwd = 0;
                    motor_rev = 1;
                } else {
                    motor_fwd = 1;
                    motor_rev = 0;
                }
            } else {
                if (current_position - pocket_number > (inst_pockets / 2)) {
                    motor_fwd = 1;
                    motor_rev = 0;
                } else {
                    motor_fwd = 0;
                    motor_rev = 1;
                }
            }
        } else {
            motor_fwd = 1;
            motor_rev = 0;
        }
        state = 2;
    case 2: // moving
        if ((current_position != pocket_number) && enable) return;
        motor_fwd = 0;
        motor_rev = 0;
        state = 3;
        active = 0;
        if (enable) ready = 1;
    case 3: //waiting for enable to go false
        if (enable) return;
        state = 0;
        break;
    case 10: // start of homing
        homed = 0;
        homing = 1;
        motor_fwd = 1;
        motor_rev = 0;
        state = 11;
    case 11: // waiting for index & pulse
        if  ( (! old_index) && (sense(0) && sense(1)) ){ // index found
            p = 1;
            homed = 1;
            homing = 0;
            active = 0;
            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], "single", 6) == 0) {
        default_code = 'S';
    } else if (strncmp(encoding[extra_arg], "index", 5) == 0) {
        default_code = 'I';
    }

    if (dir[extra_arg] > 0)  default_dir = (dir[extra_arg] > 1)? 2:1;
    
    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;

    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;
}