Build Thread - Emco 320

[Chaz]

Eth1616 arrived, 2 days, great. Nice to see a different ethernet switch that doesnt need the US plug cut off it.

So, inputs all work now, yay. Slowly working through how to do the coding for the ATC. I think my truth table needs editing too which Ill figure out later.

[Chaz]

OK, so I've wired up the tool turret with a forward, reverse and locking pin enable for outputs. For inputs, I have 4 bit grey, all mapped correctly, a strobe input (not currently being used) and an input which tells me that the turret is in the locking position. Please see my code below. I'm not going out till tomorrow so cant test this. Should this work?

Essentially what the logic should say is fairly simple.

Rotate the Turret Forward (M94/111)

When you see that the required tool number has been reached, then enable the locking pin (M94/113), stop rotating the turret forward (M95/111) and check that the proximity sensor says that you are 'located' which is checked on Input 6 on the Eth1616 (M101/50039).

Rotate the Turret Backwards (M94/112), count 0.25 secs, stop rotating backwards (M95/112)

Ends

Does this line effectively create the 'for while loop', in otherwords, it will continue the action until the Tool Change is completed (ie, 4120 matches 4203)?

In terms of the various guides, should I be doing something with M18 or M21 which is included in the ATC files?

Thanks



;------------------------------------------------------------------------------
; Filename: mfunc6.mac
; Description: Tool Change Macro - Emco 320
; Notes:
; Requires: CNC12 V5.20
; Revision Date: 14 December 2024
; Please see TB300 or the following link for tips on writing custom macros.
; https://www.centroidcnc.com/centroid_di ... amming.pdf
;------------------------------------------------------------------------------
; Parameters:
; Variables from PLC:
; #96052 = CurrentTurretPosition_W
; #9830 = #96028 = ATCType_W
;
; System Variables Used:
; #4120 = requested tool
; #20601-#20604 = Counts per unit for axes1-4
; #5021-#5024 is the current machine position for axes 1(#5021) through 4(#5024)
;
; Parameters:
; #9161 = Number turret positions (Parameter 161)
;
; User Variables:
; #100 = Display Message Timer
; #101 = Calculated Current Turret Position.
; #102 = Calculated Requested Turret Position.
;------------------------------------------------------------------------------
IF #50001 ;Prevent lookahead from parsing past here
IF #4201 || #4202 THEN GOTO 1000 ;Skip macro if graphing or searching
IF #4120 == #96052 THEN GOTO 1000 ;Skip macro if at requested tool position

#100 = 0 ;Ensure M225 Messages appear for indefinite time

;---------------------------------------------------------------------------------
; Determine Correct Tool Change Sequence
;---------------------------------------------------------------------------------
IF #9006 != 0 && #9830 == 0 THEN GOTO 100 ;Manual Tool Change

IF #9830 == 2 || #9830 == 3 || #9830 == 4 || #9830 == 5 THEN GOTO 200 ;Graycode,Counter,Timer

IF #9830 == 6 THEN GOTO 300 ;Axis Tool Changer
;---------------------------------------------------------------------------------
; Manual Tool Change
;---------------------------------------------------------------------------------
N100

M225 #100 "Please Change to Tool Number %.0f\nThen Press Cycle Start to continue" #4120

GOTO 1000
;------------------------------------------------------------------------------
IF #50001 ;Prevent lookahead from parsing past here
IF #4201 || #4202 THEN GOTO 1000 ;Skip macro if graphing or searching
IF #4120 == #96052 THEN GOTO 1000 ;Skip macro if at requested tool position

#100 = 0 ;Ensure M225 Messages appear for indefinite time
#151 = #4120 ;Requested Tool
#152 = #4203 ;Current Tool, Last T Number called

;---------------------------------------------------------------------------------
; Counter & GrayCode 2 and 1 Output Turret Section
;---------------------------------------------------------------------------------
N200 ;Insert your code between N100 and N1000

M107 ;Send requested Tool number to PLC Program
G4P1 ;Dwell for 1 second
M94 /7 ;Turn on request to change tool

;---------------------------------------------------------------------------------
; Tool Turret Rotation Start
;---------------------------------------------------------------------------------

M94/111 ;Rotate the Tool Turret Forward


M101 /70052 ;Wait for memory bit ToolChangeComplete_M


;---------------------------------------------------------------------------------
; Tool Turret Rotation Stop and Stop Solenoid
;---------------------------------------------------------------------------------

M94/113 ;Activate the Locking Solenoid
M95/111 ;Stop Rotating the Tool Turret Forward
M101/50039 ;Waits for Input 6 on Ether1616 to Close which incicates that the Locking Pin is in the correct position

;---------------------------------------------------------------------------------
; Tool Turret Reverse and Lock
;---------------------------------------------------------------------------------

M94/112 ;Reverse the Tool Turret
G4P0.25 ;Wait for 0.25 seconds
M95/112 ;Stop Reversing the Tool Turret

IF #50001 ;Prevent lookahead from parsing past here
G4 P0.5 ;Wait 0.5 seconds
M95 /7 ;Turn off request to change tool

GOTO 1000 ;End Macro

[Chaz]

And should I set parameter 830 to 3 as per the 4.8 guide? This document doesnt reference 830 (ie, not in use yet) - https://www.centroidcnc.com/centroid_di ... amming.pdf

[Chaz]

Done some quick testing outside since I had to get some tools.

It looks like it might work. I had to make some small changes (forgot the stop output 3 on the eth1616 and I had the wrong input monitored, plus flipped its status). Im moving the turret by hand as I dont have the contactors wired up yet but I can see the outputs coming on. One thing that seems 'long' is how quickly it goes from seeing the tool to switching off the FWD. I know from the manuals that the eth1616 is somewhat slower. Ill try it on the machine tomorrow hopefully and see how it does.

[Chaz]

Ive hit a massive roadblock. I did some testing, kinda works but as suspected it takes too long for the 'im at the right tool' to be seen and by that time the turret has gone past. I tried to mess with timings and reversing it but have found an issue.

For some reason, the code would say run the turret forward or backwards and then if something went wrong, Ill E Stop the system but the output wouldnt change. Ive got a vid of it doing it. Why does E Stop not switch off outputs on the Eth1616? Surely E Stop means stop?

[suntravel]

E-Stop will not change the state of outputs as far as I know, but it is stopping all actions from Acorn.

That Is why anything you want to have powered off must be connected with external relays with the coils wired into a second E-Stop contactor circuit.

Uwe

[Chaz]

E-Stop will not change the state of outputs as far as I know, but it is stopping all actions from Acorn.

That Is why anything you want to have powered off must be connected with external relays with the coils wired into a second E-Stop contactor circuit.

Uwe

OK. I assumed it would stop it. Well, the roadblock is that I've burnt out the ATC motor due to not being able to kill the fwd / reverse and then getting to the power too late.

I dont think this little motor can easily be rewound and finding a 2nd hand one seems difficult, already looked. I might convert it to a 400W servo and then I could use the benefit of position mode to reverse engineer the steps to move etc. Just not extra cost / work I needed, it was almost running but was 1 tool away from correct.

[suntravel]

There are many benefits for a servo driven turret, faster, build in overload protection better precision ect.

At the moment I am testing the new A6 sevos from stepperonline, 400W 150 bucks. Manual is looking promising and ok translated in English, but the tuning software sucks, it is 30% Chinese, but the support is working on this.

Maybe with the build in position planner they could be used for a turret without wasting an axis output from Acorn.

Uwe

[Chaz]

There are many benefits for a servo driven turret, faster, build in overload protection better precision ect.

At the moment I am testing the new A6 sevos from stepperonline, 400W 150 bucks. Manual is looking promising and ok translated in English, but the tuning software sucks, it is 30% Chinese, but the support is working on this.

Maybe with the build in position planner they could be used for a turret without wasting an axis output from Acorn.

Uwe

Agreed. Just didnt need additional work now. Ive got the same T3D 400W that im using for X and Z. Need to see how to convert it to fit. That also means that my entire method / strategy for how to do this ATC is now out the window. Oh well.

[Chaz]

There are many benefits for a servo driven turret, faster, build in overload protection better precision ect.

At the moment I am testing the new A6 sevos from stepperonline, 400W 150 bucks. Manual is looking promising and ok translated in English, but the tuning software sucks, it is 30% Chinese, but the support is working on this.

Maybe with the build in position planner they could be used for a turret without wasting an axis output from Acorn.

Uwe

Was looking at these servos since you mentioned them. Ex Germany or China pricing and UK is out of stock. They look exactly like Leadshine EL6 servos. Are they copies or maybe the OEM for Leadshine?