CAROUSEL(9)

NAME
carousel - Orient a toolchanger carousel using various encoding schemes

SYNOPSIS

loadrt carousel pockets=N[,N] encoding=ssss[,sss] num_sense=N[,N] dir=N[,N]

pockets The number of pockets in each toolchanger
    Use up to 8 numbers separated by commas to create multiple carousel components.

encoding
    The position encoding. One of gray, binary, bcd, index, edge, counts or single. Default = gray.

num_sense
    The number of position sense pins. Default = 4.

dir
    Set to 1 for unidirectional or 2 for bidirectional operation. Default = bidirectional

parity
    Set to 1 for odd parity, 0 for even parity checking. Default = 0 (even)

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). edge 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.

With some carousel designs the carousel will not stop immediately. To allow for this set the align-dc pin to a low velocity to be used for a final latching move, and set the decel-time to a suitable value. Once the decel-time has expired the carousel will, if it was moving forwards, reverse back on to the position marker, off of the marker and then back on to the FWD edge. If moving in reverse it will continue off the marker and then reverse slowly on to the FWD edge. This alignment is only possible with a motor-vel controlled bidirectional carousel, Other combinations will be accepted but probably will not have the desired behaviour. Some tuning will be needed of align-dc and decel-time to achieve reliable operation.

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 homing move.

To operate the component with an encoder or stepgen use mode "C". The scale pin should be the number of steps or encoder counts between pocket centres. The width pin can be used to stop the motor some distance before the centre of the pocket to allow the motor time to decelerate. In mode "C" it is possible to use either the speed/direction control used in other modes or to use direct position mode using the counts-target pin. The internal scaling of the encoder or stepgen should be set to 1.0. A PID hal component will be needed for encoder applications whereas stepgen configurations can use a stepgen in position control mode or in velocity control mode with a PID.

For tool changers which lock the carousel against a stop the rev-pulse 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.

FUNCTIONS

carousel.N (requires a floating-point thread)

PINS

carousel.N.pocket-number s32 in
    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.

carousel.N.enable bit in
    Set this pin high to start movement. Setting it low will stop movement

carousel.N.active bit out
    indicates that the component is active

carousel.N.ready bit out
    This pin goes high when the carousel is in-position

carousel.N.strobe bit in (default: 1)
    Use this pin to indicate that the position feedback is valid. Often provided by binary encoders

carousel.N.parity- bit in
    Some encoders supply a parity bit, if this is connected then the parity-error output bit will indicate parity errors

carousel.N.sense-M bit in (M=0..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.

carousel.N.rev-pulse float in
    The duration in seconds for which a ratchet changer (Boxford, Emco) should pulse the reverse pin to lock the holder

carousel.N.fwd-dc float in
    Velocity or duty cycle when forwards rotation is desired

carousel.N.rev-dc float in
    Velocity or duty cycle when reverse rotation is desired

carousel.N.hold-dc float in
    Duty cycle when carousel is in-position (to hold against stop)

carousel.N.align-dc float in
    Use this pin to set the speed of a slower alignment move once the changer is in position. Such a system almost certainly needs decel-time setting too

carousel.N.decel-time float in
    Time to wait for carousel to stop before final alignment and position check

carousel.N.counts s32 in
    Connect to the rawcounts of an encoder or a stepgen in counts mode

carousel.N.scale s32 in (default: 100)
    The number of stepgen or encoder counts between successive pockets

carousel.N.width s32 in (default: 10)
    How far each side of the exact scale to signal a new pocket

carousel.N.home-offset s32 in (default: 0)
    The offset (in counts) between the index and pocket 1

carousel.N.index-enable bit io
    Used to home to an encoder index

carousel.N.jog-fwd bit in
    Jog the carousel forwards one tool position

carousel.N.jog-rev bit in
    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.

carousel.N.motor-fwd bit out
    Indicates the motor should run forwards (bigger numbers)

carousel.N.motor-rev bit out
    Indicates the motor should run reverse.

carousel.N.parity-error bit out
    Indicates a parity error

carousel.N.current-position s32 out
    This pin indicates the current position feedback

carousel.N.motor-vel float out
    The duty-cycle or velocity to drive a DC motor or stepgen

carousel.N.homed bit out (default: 0)
    Shows that homing is complete. Only used in index and edge modes

carousel.N.unhome bit in (default: 0)
    Should only really be necessary for testing

carousel.N.counts-target float out
    Target position for a stepgen or external PID controller

PARAMETERS

carousel.N.state s32 r (default: 0)
    Current component state

carousel.N.homing bit r (default: 0)
    Shows that homing is in progress. Only used for index mode

carousel.N.timer float r
    Shows the value of the internal timer

carousel.N.motor-dir s32 r
    Internal tag for search direction

carousel.N.counts-offset s32 r
    Internal offset of index pin

carousel.N.debounce u32 rw
    How many thread cycles to wait for the position to stabilise

carousel.N.target s32 r
    Current target pocket, debug

carousel.N.base-counts s32 r (default: 0)

AUTHOR

Andy Pugh

LICENSE

GPL