SCM Record 220 / CNC Retrofit / Lg Production Router / 10 Tool Changer / +13 Drills

[jeffserv]

Next Question:

I have 6 total Axis: Wired as above reccommended:

X Y Z A B C //B is for Tool Changer. No motors hooked up, thus set to Stepper settings for testing... stepper motors. No DC servos hooked up now.
5 6 7 0 4 1 //Output Channels selected.

567 are coming out of JP5 and are tested and working.

0 and 1 I assume will work through the Kanalog board. Not testing them today.

Output Ch 4 is wired to JP4 15 and 16. //Do not get any output from here... Why?

Below is my Initialization code, for this testing...

Thanks so much,
_______________________________

#include "KMotionDef.h"

//GoldCNC5 Installation.
// Defines axis 0, 1, 2, 3, 4, 5 as needed.
// Does not enables them.
// Sets them as an xyzABC coordinate system for GCode.
// 0, 1, 2, 4 are Step & Direction.
// 3, 5 are Analog Drives.

int main()
{
//FPGA(STEP_PULSE_LENGTH_ADD) = 63 + 0x80; // set polarity and pulse length to 4us
FPGA(STEP_PULSE_LENGTH_ADD)=32 + 0x40 + 0x80; // set the pulse time to ~ 2us, mux to JP4 and JP6, and pulse the Step High

ch0->InputMode=NO_INPUT_MODE;
ch0->OutputMode=STEP_DIR_MODE;
ch0->Vel=2000;
ch0->Accel=2000;
ch0->Jerk=4e+006;
ch0->P=0;
ch0->I=0.01;
ch0->D=0;
ch0->FFAccel=0;
ch0->FFVel=0;
ch0->MaxI=200;
ch0->MaxErr=1e+006;
ch0->MaxOutput=200;
ch0->DeadBandGain=1;
ch0->DeadBandRange=0;
ch0->InputChan0=0;
ch0->InputChan1=0;
ch0->OutputChan0=5;
ch0->OutputChan1=0;
ch0->MasterAxis=-1;
ch0->LimitSwitchOptions=0x0;
ch0->InputGain0=1;
ch0->InputGain1=1;
ch0->InputOffset0=0;
ch0->InputOffset1=0;
ch0->OutputGain=1;
ch0->OutputOffset=0;
ch0->SlaveGain=1;
ch0->BacklashMode=BACKLASH_LINEAR;
ch0->BacklashAmount=0f;
ch0->BacklashRate=0f;
ch0->invDistPerCycle=800;
ch0->Lead=0;
ch0->MaxFollowingError=1000000000;
ch0->StepperAmplitude=20;

ch0->iir[0].B0=1;
ch0->iir[0].B1=0;
ch0->iir[0].B2=0;
ch0->iir[0].A1=0;
ch0->iir[0].A2=0;

ch0->iir[1].B0=1;
ch0->iir[1].B1=0;
ch0->iir[1].B2=0;
ch0->iir[1].A1=0;
ch0->iir[1].A2=0;

ch0->iir[2].B0=0.000769;
ch0->iir[2].B1=0.001538;
ch0->iir[2].B2=0.000769;
ch0->iir[2].A1=1.92081;
ch0->iir[2].A2=-0.923885;


//EnableAxisDest(0,0);

ch1->InputMode=NO_INPUT_MODE;
ch1->OutputMode=STEP_DIR_MODE;
ch1->Vel=2000;
ch1->Accel=2000;
ch1->Jerk=4e+006;
ch1->P=0;
ch1->I=0.01;
ch1->D=0;
ch1->FFAccel=0;
ch1->FFVel=0;
ch1->MaxI=200;
ch1->MaxErr=1e+006;
ch1->MaxOutput=200;
ch1->DeadBandGain=1;
ch1->DeadBandRange=0;
ch1->InputChan0=0;
ch1->InputChan1=0;
ch1->OutputChan0=6;
ch1->OutputChan1=0;
ch1->MasterAxis=-1;
ch1->LimitSwitchOptions=0x0;
ch1->InputGain0=1;
ch1->InputGain1=1;
ch1->InputOffset0=0;
ch1->InputOffset1=0;
ch1->OutputGain=1;
ch1->OutputOffset=0;
ch1->SlaveGain=1;
ch1->BacklashMode=BACKLASH_LINEAR;
ch1->BacklashAmount=0f;
ch1->BacklashRate=0f;
ch1->invDistPerCycle=800;
ch1->Lead=0;
ch1->MaxFollowingError=1000000000;
ch1->StepperAmplitude=20;

ch1->iir[0].B0=1;
ch1->iir[0].B1=0;
ch1->iir[0].B2=0;
ch1->iir[0].A1=0;
ch1->iir[0].A2=0;

ch1->iir[1].B0=1;
ch1->iir[1].B1=0;
ch1->iir[1].B2=0;
ch1->iir[1].A1=0;
ch1->iir[1].A2=0;

ch1->iir[2].B0=0.000769;
ch1->iir[2].B1=0.001538;
ch1->iir[2].B2=0.000769;
ch1->iir[2].A1=1.92081;
ch1->iir[2].A2=-0.923885;

//EnableAxisDest(1,0);

ch2->InputMode=NO_INPUT_MODE;
ch2->OutputMode=STEP_DIR_MODE;
ch2->Vel=2000;
ch2->Accel=2000;
ch2->Jerk=4e+006;
ch2->P=0;
ch2->I=0.01;
ch2->D=0;
ch2->FFAccel=0;
ch2->FFVel=0;
ch2->MaxI=200;
ch2->MaxErr=1e+006;
ch2->MaxOutput=200;
ch2->DeadBandGain=1;
ch2->DeadBandRange=0;
ch2->InputChan0=0;
ch2->InputChan1=0;
ch2->OutputChan0=7;
ch2->OutputChan1=0;
ch2->MasterAxis=-1;
ch2->LimitSwitchOptions=0x0;
ch2->InputGain0=1;
ch2->InputGain1=1;
ch2->InputOffset0=0;
ch2->InputOffset1=0;
ch2->OutputGain=1;
ch2->OutputOffset=0;
ch2->SlaveGain=1;
ch2->BacklashMode=BACKLASH_OFF;
ch2->BacklashAmount=0;
ch2->BacklashRate=0;
ch2->invDistPerCycle=800;
ch2->Lead=0;
ch2->MaxFollowingError=1000000000;
ch2->StepperAmplitude=20;

ch2->iir[0].B0=1;
ch2->iir[0].B1=0;
ch2->iir[0].B2=0;
ch2->iir[0].A1=0;
ch2->iir[0].A2=0;

ch2->iir[1].B0=1;
ch2->iir[1].B1=0;
ch2->iir[1].B2=0;
ch2->iir[1].A1=0;
ch2->iir[1].A2=0;

ch2->iir[2].B0=0.000769;
ch2->iir[2].B1=0.001538;
ch2->iir[2].B2=0.000769;
ch2->iir[2].A1=1.92081;
ch2->iir[2].A2=-0.923885;

//EnableAxisDest(2,0);

ch3->InputMode=NO_INPUT_MODE;
ch3->OutputMode=STEP_DIR_MODE;
ch3->Vel=2000;
ch3->Accel=400000;
ch3->Jerk=4e+006;
ch3->P=0;
ch3->I=0.01;
ch3->D=0;
ch3->FFAccel=0;
ch3->FFVel=0;
ch3->MaxI=200;
ch3->MaxErr=1e+006;
ch3->MaxOutput=200;
ch3->DeadBandGain=1;
ch3->DeadBandRange=0;
ch3->InputChan0=0;
ch3->InputChan1=0;
ch3->OutputChan0=0;
ch3->OutputChan1=0;
ch3->MasterAxis=-1;
ch3->LimitSwitchOptions=0x0;
ch3->InputGain0=1;
ch3->InputGain1=1;
ch3->InputOffset0=0;
ch3->InputOffset1=0;
ch3->OutputGain=1;
ch3->OutputOffset=0;
ch3->SlaveGain=1;
ch3->BacklashMode=BACKLASH_OFF;
ch3->BacklashAmount=0;
ch3->BacklashRate=0;
ch3->invDistPerCycle=800;
ch3->Lead=0;
ch3->MaxFollowingError=1000000000;
ch3->StepperAmplitude=20;

ch3->iir[0].B0=1;
ch3->iir[0].B1=0;
ch3->iir[0].B2=0;
ch3->iir[0].A1=0;
ch3->iir[0].A2=0;

ch3->iir[1].B0=1;
ch3->iir[1].B1=0;
ch3->iir[1].B2=0;
ch3->iir[1].A1=0;
ch3->iir[1].A2=0;

ch3->iir[2].B0=0.000769;
ch3->iir[2].B1=0.001538;
ch3->iir[2].B2=0.000769;
ch3->iir[2].A1=1.92081;
ch3->iir[2].A2=-0.923885;


//EnableAxisDest(3,0);

ch4->InputMode=NO_INPUT_MODE;
ch4->OutputMode=STEP_DIR_MODE;
ch4->Vel=2000;
ch4->Accel=400000;
ch4->Jerk=4e+006;
ch4->P=0;
ch4->I=0.01;
ch4->D=0;
ch4->FFAccel=0;
ch4->FFVel=0;
ch4->MaxI=200;
ch4->MaxErr=1e+006;
ch4->MaxOutput=200;
ch4->DeadBandGain=1;
ch4->DeadBandRange=0;
ch4->InputChan0=0;
ch4->InputChan1=0;
ch4->OutputChan0=4;
ch4->OutputChan1=0;
ch4->MasterAxis=-1;
ch4->LimitSwitchOptions=0x0;
ch4->InputGain0=1;
ch4->InputGain1=1;
ch4->InputOffset0=0;
ch4->InputOffset1=0;
ch4->OutputGain=1;
ch4->OutputOffset=0;
ch4->SlaveGain=1;
ch4->BacklashMode=BACKLASH_OFF;
ch4->BacklashAmount=0;
ch4->BacklashRate=0;
ch4->invDistPerCycle=800;
ch4->Lead=0;
ch4->MaxFollowingError=1000000000;
ch4->StepperAmplitude=20;

ch4->iir[0].B0=1;
ch4->iir[0].B1=0;
ch4->iir[0].B2=0;
ch4->iir[0].A1=0;
ch4->iir[0].A2=0;

ch4->iir[1].B0=1;
ch4->iir[1].B1=0;
ch4->iir[1].B2=0;
ch4->iir[1].A1=0;
ch4->iir[1].A2=0;

ch4->iir[2].B0=0.000769;
ch4->iir[2].B1=0.001538;
ch4->iir[2].B2=0.000769;
ch4->iir[2].A1=1.92081;
ch4->iir[2].A2=-0.923885;

ch5->InputMode=NO_INPUT_MODE;
ch5->OutputMode=STEP_DIR_MODE;
ch5->Vel=4000;
ch5->Accel=400000;
ch5->Jerk=4e+006;
ch5->P=0;
ch5->I=0.01;
ch5->D=0;
ch5->FFAccel=0;
ch5->FFVel=0;
ch5->MaxI=200;
ch5->MaxErr=1e+006;
ch5->MaxOutput=200;
ch5->DeadBandGain=1;
ch5->DeadBandRange=0;
ch5->InputChan0=0;
ch5->InputChan1=0;
ch5->OutputChan0=1;
ch5->OutputChan1=0;
ch5->MasterAxis=-1;
ch5->LimitSwitchOptions=0x0;
ch5->InputGain0=1;
ch5->InputGain1=1;
ch5->InputOffset0=0;
ch5->InputOffset1=0;
ch5->OutputGain=1;
ch5->OutputOffset=0;
ch5->SlaveGain=1;
ch5->BacklashMode=BACKLASH_OFF;
ch5->BacklashAmount=0;
ch5->BacklashRate=0;
ch5->invDistPerCycle=800;
ch5->Lead=0;
ch5->MaxFollowingError=1000000000;
ch5->StepperAmplitude=20;

ch5->iir[0].B0=1;
ch5->iir[0].B1=0;
ch5->iir[0].B2=0;
ch5->iir[0].A1=0;
ch5->iir[0].A2=0;

ch5->iir[1].B0=1;
ch5->iir[1].B1=0;
ch5->iir[1].B2=0;
ch5->iir[1].A1=0;
ch5->iir[1].A2=0;

ch5->iir[2].B0=0.000769;
ch5->iir[2].B1=0.001538;
ch5->iir[2].B2=0.000769;
ch5->iir[2].A1=1.92081;
ch5->iir[2].A2=-0.923885;

//Add IO Board
InitAux();
AddKonnect(0,&VirtualBits,VirtualBitsEx); //
AddKonnect(1,VirtualBitsEx+1,VirtualBitsEx+2);
AddKonnect(2,VirtualBitsEx+3,VirtualBitsEx+4);
//AddKonnect(3,VirtualBitsEx+5,VirtualBitsEx+6);
//Board 0 has Output Bits mapped to 48 - 63 and Input Bits Mapped to 1024-1055
//Board 1 has Output Bits mapped to 1056-1071 and Input Bits Mapped to 1088-1119
//Board 2 has Output Bits mapped to 1120-1135 and Input Bits Mapped to 1152-1183
//Board 2 has Output Bits mapped to 1184-1199 and Input Bits Mapped to 1216-1247

//DefineCoordSystem(0,1,2,3,4,5);
DefineCoordSystem6(0,1,2,3,4,5);

return 0;

[TomKerekes]

Hi Jeff,

JP4 pins 15 and 16 would be connected to Step/Dir Generator #1. See:
Step and Direction Setup

You have Axis channel 4 configured to use Step/Dir Generator #4

HTH
Regards

[jeffserv]

OK,

I switched to Ch #1, but still no success. I even watched on the I/O screen, in dynomotion; and still no go. Rechecked wiring... good. JP4 Pin 15 and 16.

I even did a single channel of motion, and set it to the ch #1 for step and direction... still nothing.

What is the difference between JP5 and JP4. The three from JP5 work fine. The one from JP4 does not even show on the I/O screen... and no motion??

Looking for further detail, as to what can go wrong programmically, with JP4 mux'ed output.

Is it related to JP4, and trying to run the wires directly to my drive... do I need to run JP4 outputs through the like of a C10 Board... to get 5V compatibillity... maybe that is it???

Thanks,

[TomKerekes]

Hi Jeff,

How are you testing? You won't see anything on an open collector output unless you have a pull up resistor connected.

You might try TTL output mode. Which would be a setting of 9.

Regards

[jeffserv]

Tom,

Thanks,

Next Question:

I have a second Kflop board here... how hard is it to add a second board... and can I use it to control a couple of my stepper motors... this would free up the first board... and maybe I could use JP5 on the second board, for the tool changer for sure... and maybe for another stepper Axis W, for a fourth axis rotary setup on the machine... adding.

Could you point me in the right direction for this...?

Thanks so much,

[battwell]

a nice interesting thread to read through. i follow the dynomotion yahoo group mainly
the first machine i converted was a biesse 335 to mach3 (very similar machine with 3 routers, 24 v drills, saw, 10 horizontal drills.)
sounds like you still have a long way to go with this one.
took me ages to write all drilling scripts etc-
good luck!

[jeffserv]

Thanks Battwell,

I do this sort of thing for a living... so have experience on many different machines. I have coded my own software... and this allows me to easily customize it to the needs at hand. I am making a modified version, and how I am dealing with the extra 16 spindles, is I don't use the Tool file... as this does something wrong... so I modified my software to handle the Spindle Offsets, as Axis Offsets; this is much like, or like the G92. Any tool that is above the 10 that are in the tool changer, are spindles. My tool table has the X and Y offsets, and sends them directly to the KMotion axis offsets. These offsets are the center of those spindles, compared to the main spindle... thus when I call the T11 or higher, the offset is directly sent to the board. The Z axis offset, or tool offset is the same as a tool in the main spindle, because the drill spindles and the main are on the same Z axis. So basically, doing this; the spindle offsets are generally automatic... once they are setup... as long as no one moves the drill head. Move it, then they would have to be reset.

We will be adding, at some point; a tool height setting device. Will most likely go over and set the tool height each time, to automate that function as well. I have seen this on other machines.

This machine will be 4 machines.
We have added a 12 foot lathe next to the router. Removed the carriage. The router will be the cnc of the lathe, for making columns.

Machine 1. Three axis router, with Degree tilt setting on spindle; and 360 Degree "aggregate", rotary axis on the spindle.
The aggregate head can be set at any degree, then rotated in any degree. Looks like a five axis, but is not. Axis 5 is only set by hand. The tilt is + or - 22.5 Degree.

Machine 2. 4 Axis machine XYZ&W for 4 axis work, in the lathe. Lathe head servo operated, in Neutral.

Machine 3. Lathe as a CNC Lathe, with turning tooling mounted vertical down, from the Routers head. Much more heavy than the original carriage on the lathe.

Machine 4. Lathe Turning profile machine, for machining round columns, up to 10 ft. long.
__________________________________________________ ____________________________

So what I am doing, is creating 4 machines in one. These will all be operated with a different setup file... so as to be able to use automatic CAM software, to do most of the coding. Some hand coding needed.

So machine in 4 axis mode, can machine and the top and bottom of a column. Then in Profile mode can turn the center. Profile mode uses the router spindle to remove stock fast.

Turning can be use to make, like spindles or table legs... or other parts.

The lathe is right up to the front of the machine, the spindle can reach all the way 10" past the lathe... because of how it is built.
The lathe will be a table, when not being used. The lathe is longer than the 10 foot table of the router. Will upload pictures once we start the build.

As to time, to upgrade the machine... I am doing the research now. Expect to be ready, hopefully in a week to travel to the customer to do the upgrade.

I expect the upgrade, for the main machine to take approx. 10 to 14 days. The I will have a running machine, ready for testing.
Following, I will be adding the lathe spindle, and that will be Axis W.

So I will have X Y Z A & C on the router, then W will be my Lathe Spindle in four axis mode.
When in CNC Lathe mode, or profiling mode. We remove the belt from the stepper or servo, which ever we use... and then use the lathe main motor for turning... and profiling.

Complicated machines, and they have a tremendous amount of capability; for an experienced operator.
The Large Router as a 3 axis, has tremendous ability... with the added features we are doing, will be quite the machine.

Adding the lathe, and training; and working out the code once on site. Will add some more time... I hope at about three weeks to have all the functionality working... Then see if we can
work out the various Post Processors, to match what we created...

The machine has low hours, and has been sitting for a while, the original Control from the factory never worked very well. Sometimes when machines sit, and don't run... some things don't start back up. Time will tell.

The Kflop and Dynomotion, at the heart of my Software, have been trouble free, for my machines for the last 1.5 years... and I really appreciate the controls.

Thanks for the Good Luck from the UK... I appreciate it. In November I did a large Cincinatti Milacron Arrow 2000 in Mexico. That one took me 23.5 days... it had lots of mechanical problems... but finally won.

Anyway, more info. about what we are attempting...

[TomKerekes]

Hi Jeff,

Wow what a machine!

I have a second Kflop board here... how hard is it to add a second board... and can I use it to control a couple of my stepper motors... this would free up the first board... and maybe I could use JP5 on the second board, for the tool changer for sure... and maybe for another stepper Axis W, for a fourth axis rotary setup on the machine... adding.

I can't say it would be easy to make use of multiple boards. Normally the KMotion Libraries are instantiated by creating a KM_Controller Object for board #0 which tells the Library to open the first KFLOP it finds. For multiple boards use the USB ID that the Board is connected to create different KM_Controller Objects. See:
Multiple Boards

There is also a C# example SimpleFormsCS that has a button to issue a simple command to a 2nd KFLOP.

It isn't possible to perform real-time coordinated motion with axes that are split across two boards. So all the coordinated motion axes would need to be connected to a single KFLOP. But something like a separate Tool Change Sequence for example might work connected to Axes and I/O on a 2nd KFLOP. It would be up to your App to somehow coordinate the commands between the two KFLOPs. Possibly something like an MCode Callback to your App to allow your App to perform an operation using the 2nd board.

Regards

[battwell]

mine was my first mach 3 conversion- after playing with a cnc drilling machine for a weekend
i used g52 for all offsetting.
using the common xy point on my drilling head as my datum for offsetting- as this never changes- whereas a router may be removed/adjusted in future
all my drilling is done by one macro- so its really easy to hand code or change without re using cam software.runs off one simple line of code. (started life as 6 seperate macros for testing)
due to mach3 having 252 tools available i used 1-50 for spindle a, 51 to 100 for spindle b etc.
drills started at 201 . - made checking and code jumps easy.
i used galil because i had one here. (i purchased a kflop half way through but never got round to using it on this one- as i forgot to buy a kanalogue)
i also added a rotary axis- but dropped into the bed- as i only require short lengths. id recommend a strong servo and high ratio planetary gearbox as the drive for the lathe spindle! -= requires loads of holding torque ! mine was bodged together over a weekend but works superbly!
http://www.cnczone.com/forums/commer...onversion.html
one of the latest posts shows drills in action testing at a common point
look forward to watching progress on yours.
ps tom- did jos smilde ever finish the one he started with kflop.?

[jeffserv]

Battwell, Thanks, watched the video of the drill heads... Fun! My W axis, I am thinking about... not yet sure what I will do yet. I was already thinking of using a Gear reduction planetary... Stepper motor 5:1 with a 6:1 Timing belt reduction; total would be 30:1. The planetary has a 250 in/lb output... then 6:1 would be a lot of torque. Accuracy at 18" diameter, approx. .002" in rotation. Max speed of rotation will be 32 RPM for this milling operation... that puts the Stepper running approx. 1000 rpm. Can achieve speeds up to 3000 RPM with the Kflop... and that is set to microstep of 2000 per rev. However, don't get any idea's... cause I do not believe the stepper I am using... would last any time at all... at those speeds. It is smooth and nice at 1000, and is really humming at 2000... beyond that is like flooring you "Car" and seeing when it will blow up!!! Just because you can do it, does not make it good. Anyway, that my "2 cents".

__________________________________________________ __________________________________________________ __________________

Tom,

Thanks, I found the KM.GetUSBLocation. This finds my main board, then I configure the 2nd board by just adding +1 to that location; and it finds the second board. I initialize and have a second WriteLine, KM2.Writeline: "WriteLineHandleException2()"; which sends commands to the second board. As well I should be able to get a lock on that board and retrieve all the info. from its "KM2.GetStatus".

This is good, and now I have control of the Tool Changer Stepper... via Kflop 2.

Next question in next post.

[jeffserv]

Tom,

My Tilting head, Analog drive, Encoder feedback... moves real slow... Is there any way, for me to read that Encoder, via JP4 instead of JP5. If so, then I could use all four of the JP5 for Step and Direction.
Seems like I used that port for my MPG on my mill, and it works very well.

Thanks so much....

[jeffserv]

Another Question:

Trying to understand the Muxing: Seems there is a conflict, when I watch the Digital I/O Screen, see picture below...

Maybe this is what is killing my output from the JP4 15 and 16. See picture... Bit 32 seems to be used by the Konnect board for communicating with the 3 Konnect boards I have configured. This may be killing the muxing?? Don't know.
__________________________________________________ ____

Can bit 32 , be used for both?? Or is this possibly a conflict, that is killing my attempt at using the Step & Dir outputs muxed to Aux1?

Thanks again for your time,

[TomKerekes]

Hi Jeff,

Thanks, I found the KM.GetUSBLocation. This finds my main board, then I configure the 2nd board by just adding +1 to that location; and it finds the second board.

I'm not quite sure how that is working. Maybe you got lucky as the 2nd KFLOP is connected to the same USB hub as the next node on the same hub. I'm not sure on each boot if the USB devices enumerate in the same order (especially if other USB devices are added/removed or powered up in different orders). You might run KMotion.exe and use the USB Location Menu dropdown to see the USB IDs of attached KFLOPs.

Trying to understand the Muxing: Seems there is a conflict, when I watch the Digital I/O Screen, see picture below...

Maybe this is what is killing my output from the JP4 15 and 16. See picture... Bit 32 seems to be used by the Konnect board for communicating with the 3 Konnect boards I have configured. This may be killing the muxing?? Don't know.

That should not be a conflict. Although the two Step/Dir Generators are in fact muxed over to JP6 if they are never used or enabled then those I/O pins are still free for use for other purposes. Besides that would result in Konnect not working not a problem with Step/Dir outputs on JP4.

I didn't see a response to my post regarding why you wouldn't see voltage on those pins in open collector mode here:
http://www.cnczone.com/forums/dynomo...ml#post1811122

My Tilting head, Analog drive, Encoder feedback... moves real slow... Is there any way, for me to read that Encoder, via JP4 instead of JP5. If so, then I could use all four of the JP5 for Step and Direction.
Seems like I used that port for my MPG on my mill, and it works very well.

Well that is possible as another option. Which is basically what I originally proposed here:
http://www.cnczone.com/forums/dynomo...ml#post1806322

However there are two issues: #1 those are single ended inputs not differential and #2 there are 150ohm pull down resistors on those pins. Some output drivers could drive those and some couldn't (Kanalog's wont).

Software can count encoder transitions up to 5KHz on any input pins when only one KFLOP User Thread is running. There is a trick that can be used to count much higher based on the assumption that the encoder speed can't change instantly. But you may as well use a hardware encoder counter if you go this route.

HTH
Regards

[jeffserv]

Tom,

You might try TTL output mode. Which would be a setting of 9.

OK,

Got the Mux to work on the JP6, 15 & 16; spliced into the Ribbon Cable to access... Never any luck using JP4 on either board. On both boards could get JP6 15 & 16 to work.
__________________________________________________ __________________________________________________ _______________________________________________
Current Configuration...

Kflop #1:

4 Step and Direction Drives. Controlled via JP5 - 5, 6, 7... and Mux JP6 - 3.
2 Analog Drives - Kanalog Board.
Spindle is Analog Out... No Encoder. - Kanalog Board.

Kflop #2:

1 Step and Direction Drive. No Encoder. Tool Changer. Controlled JP5 - 6.

Encoders:

5 - Kanalog Board, JP9 on Kanalog board, 1 Encoder input to Kflop #1, JP5 - 4.
__________________________________________________ ___________________

Seems good for now... now to test some more.

Thanks,

__________________________________________________ __________

[jeffserv]

OK,

Problem: I am able to get Mux to work on JP6... I have proven this on both Kflop's I am testing. Can't seem to get them on JP4.

How do I configure the Konnects to connect to JP4 for there processing??? Then I can use JP6 for my 15 and 16 Step&Dir out... which I have working.

I really hope this will work!
__________________________________________________ __

IT DOES WORK!!!!! I did not find in any documentation, regarding the Konnect being attached to JP4... but found a comment on Yahoo regarding connecting the Konnect to JP4...

AddKonnect_Aux0( and so forth, works... now I have my Konnects working on JP4.

My Mux on JP6... pins 15 & 16 work for running my Coordinated Motion on my W motor, which will be for the Spindle on the Lathe, 4 axis machining.
__________________________________________________ __

Up hill climb, but I made it... the last 1000 ft. was a "killer"... but I made it... "breathing heavy", need to sit down for a break... !!!
__________________________________________________ __

Now that I have all the Step and Dir, and Second Kflop working... I can go on to testing the Analog control of the servo's.
I am not at the job site. But configuring this here at my office in Rome, Ga, USA.
This will be installed in Washington State, once I am sure it all is working. Rather do this at my desk, as opposed to being at the customer, and trying to do this sitting at a machine in a factory.

Good success! Thanks for the help!!

More later...



Thanks...

[TomKerekes]

Hi Jeff,

Sorry to hear of the frustration. But thanks for the perseverance and patience.

I don't know why JP4 isn't working for you. It's probably a mute point for you but I just tried it and it seems to work for me. I:

#1 cycled power on KFLOP

#2 ran this code to mux

#include "KMotionDef.h"

main()
{
	// Mux multiplex Step/Dir 0-3 from JP7 to JP4 and JP6 
	FPGA(STEP_PULSE_LENGTH_ADD)=63 + 0x40; 
}

#3 loaded configuration KStepAxis1.mot (Step/Dir with OutputChan0=9)

#4 Push "Move" on Step Response Screen to see Step Pulses on JP4 Pin 16 on Scope

If the KFLOP I/O pins were damaged then I wouldn't expect the Aux port to work with Konnect which uses every I/O pin on the port.

Thanks for posting your progress

Regards

[jeffserv]

Greetings:

New Question:

See code:

static int Interpreter_InterpreterUserMCodeCallbackRequested( int code)
{

int a = code;
if (code == 100)
{
try
{
if (GV.ReadToolIndex > 10) { return 0; }

if (GV.ReadToolIndex == 1) { KM2.CompileAndLoadCoff(1, "C:\\KMotion433\\GoldCNC5\\RotateNewTool1.c", false); }
if (GV.ReadToolIndex == 2) { KM2.CompileAndLoadCoff(1, "C:\\KMotion433\\GoldCNC5\\RotateNewTool2.c", false); }
if (GV.ReadToolIndex == 3) { KM2.CompileAndLoadCoff(1, "C:\\KMotion433\\GoldCNC5\\RotateNewTool3.c", false); }
if (GV.ReadToolIndex == 4) { KM2.CompileAndLoadCoff(1, "C:\\KMotion433\\GoldCNC5\\RotateNewTool4.c", false); }
if (GV.ReadToolIndex == 5) { KM2.CompileAndLoadCoff(1, "C:\\KMotion433\\GoldCNC5\\RotateNewTool5.c", false); }
if (GV.ReadToolIndex == 6) { KM2.CompileAndLoadCoff(1, "C:\\KMotion433\\GoldCNC5\\RotateNewTool6.c", false); }
if (GV.ReadToolIndex == 7) { KM2.CompileAndLoadCoff(1, "C:\\KMotion433\\GoldCNC5\\RotateNewTool7.c", false); }
if (GV.ReadToolIndex == 8) { KM2.CompileAndLoadCoff(1, "C:\\KMotion433\\GoldCNC5\\RotateNewTool8.c", false); }
if (GV.ReadToolIndex == 9) { KM2.CompileAndLoadCoff(1, "C:\\KMotion433\\GoldCNC5\\RotateNewTool9.c", false); }
if (GV.ReadToolIndex == 10) { KM2.CompileAndLoadCoff(1, "C:\\KMotion433\\GoldCNC5\\RotateNewTool10.c", false); }

KM2.WriteLine("Execute1");

double b = KM2.CoordMotion.Interpreter.SetupParams.X_AxisPosi tion / 4000;
int c = Convert.ToInt32(b);
GV.TCPosition = Convert.ToString(c);


}
catch
{
MessageBox.Show("Error with Tool Rotate Program, Kflop Two!");
return 0;
}
}
return 0;
}

You can see in the code above... that I can send script commands to the second Kflop board, which controls my tool changer.

However, when I try to access any info. from the board... as above, using the KM2. .... It locks up my C# program, and tells me there is a {"Invalid buffer times in Trajectry Planner"}. If I simply send commands over to the board... then all is fine... but when I try and collect info. from the second board... then I get this error.

Thanks for your help!!

[TomKerekes]

Hi Jeff,

We currently only allow the GCode Interpreter/Trajectory Planner/Coodinated Motion for one board at a time. So avoid calls to the KM2.CoordMotion.Interpreter object.

But you should be able to perform independent Moves, Jogs, Read Encoder Positions, and so forth for independent motions.

Are you trying to read the Encoder Position of your Tool Changer Axis?

If so try using a KM_Controller.KM_Axis.GetActualPositionCounts() call.

Regards

[jeffserv]

Are you trying to read the Encoder Position of your Tool Changer Axis?

If so try using a KM_Controller.KM_Axis.GetActualPositionCounts() call.

Yes,

The above does not work... only returns a "0", no matter how you set.
Below is what did work.

KM_Axis XAxis = new KM_Axis(KM2, 0, "X"); //KM2 is how I am sending commands to second Kflop board.
double tcb = XAxis.GetCommandedPositionCounts(); //This works, seems to be similar to the Dest command, and updates fast.
int tcc = Convert.ToInt32(tcb);
GV.TCPosition = Convert.ToString(tcc); //GV = Global Variable.
label63.Text = String.Format("{0:F2}", GV.TCPosition);
__________________________________________________ __________________________________________________ ____

Thanks

[TomKerekes]

Hi Jeff,

If you don't have an Encoder on that Axis then reading the Encoder with GetActualPositionCounts() will always read zero.

Regards