Carousel stopped working concurrently with a Buildbot 2.9 update #2025
Comments
|
The carousel component in 2.9 work for me, but I believe I use a
different setup than yours, I use "loadrt carousel pockets=30
encoding=binary num_sense=5 dir=1"
I notice the following commits have been done to the component since
2.8. No idea if any of these is related to your problems.
commit 935ec22
Author: andypugh ***@***.***>
Date: Sun Jun 26 00:00:17 2022 +0100
carousel.comp: Add a slow latching phase for carousels with inertia
that overshoot. Update Vismach config to demonstrate.
Signed-off-by: andypugh ***@***.***>
commit fa5c3a1
Author: andypugh ***@***.***>
Date: Wed Jun 8 00:28:26 2022 +0100
carousel: Add counts mode for stepper / encoder
Signed-off-by: andypugh ***@***.***>
commit a8bc2ea
Author: andypugh ***@***.***>
Date: Sun May 22 00:35:18 2022 +0100
carousel: Fix homing bug.
Fix a typo which left the carousel turning after homing completed
in index mode
Signed-off-by: andypugh ***@***.***>
This is my carousel related HAL fragment:
#-------------------
# Tool changer carousel
#-------------------
loadrt timedelay names=carouselskew
addf carouselskew
loadrt carousel pockets=30 encoding=binary num_sense=5 dir=1
addf carousel.0 servo-thread
net tool-mag-position-1 => carousel.0.sense-0
net tool-mag-position-2 => carousel.0.sense-1
net tool-mag-position-4 => carousel.0.sense-2
net tool-mag-position-8 => carousel.0.sense-3
net tool-mag-position-16 => carousel.0.sense-4
net tool-mag-in-position => carousel.0.strobe
net magazine-ccw-forward <= carousel.0.motor-fwd
# Block magazine from moving automatically when eject door is open
# Only allow to move while manual jog button is pressed when door is
# open.
setp tool-mag-movable.function 0xa8a8a8a8 # in-0 and in-1
net tool-mag-enabled <= carousel.0.active
net tool-mag-enabled => tool-mag-movable.in-0
net tool-mag-door-interlock => tool-mag-movable.in-1
net magazine-button => tool-mag-movable.in-2
net magazine-run <= tool-mag-movable.out
# Only allow manual magazine forward jog button to work in manual and mdi mode
setp tool-mag-jog-button.function 0x22222222 # in-0 and not in-1
net magazine-button => tool-mag-jog-button.in-0
net is-auto-mode => tool-mag-jog-button.in-1
net tool-mag-manual-jog <= tool-mag-jog-button.out
net tool-mag-manual-jog => carousel.0.jog-fwd
# Set pocket-number to wanted tool pocked, then enable to true and
# wait for ready to go true, then enable to false
net tool-prep-number => carousel.0.pocket-number
net tool-prep-number <= iocontrol.0.tool-prep-pocket
net tool-prepare => carousel.0.enable
net tool-prepare <= iocontrol.0.tool-prepare
net tool-prepared <= carousel.0.ready
net tool-prepared => iocontrol.0.tool-prepared
…--
Happy hacking
Petter Reinholdtsen
|
|
I will try to look at this tomorrow. |
|
Thank you guys for looking into this. Here are 3 additional details for clarity that I thought of today that may be helpful,
Please note that I'm not exactly sure how to get the version of carousel from 2.8 and compile/install with halcompile but I'll do some reading and figure it out. I'll let you know how that goes. Thank you, Barry :) |
|
Hello Andy. Per your suggestion, I renamed the carousel.so file in 2.9 to carousel29.so and then copied the carousel.so file from 2.8 to 2.9. Guess what!! The ATT works perfectly again in 2.9.0-pre0-7744-g3a1e19c4e. So the bug appears to be in the lastest 2.9 carousel.so file maybe.? I hope this helps with trouble-shooting. Thank you, Barry :) |
|
I have tried to get back to this, but I don't really know what is going on, as the none of the new code should be active unless actually turned on. |
|
Yup. No problem. I'll help troubleshoot. I'm not an expert on software, just an Engineer, but I understand that this is a weird case, because I would think that the basic fundamental parameters/structure that makes Carousel work would have stayed the same through any potential software upgrades but yet that's where the problem seems to be. I also noted that based on Peter's note in this chain that he was using encoding=binary which seems to work okay for him, and I am using encoding=index which seems to have the issue....not sure what this points to as an issue, but it may help narrow it down. So,
Thank you, Barry :) |
|
Because "carousel" is a HAL component written in the .comp preprocessing language, it is just: sudo halcompile --install carousel.comp |
|
Hello Andy. Here is the Hal data you requested. Please note that I did notice a difference in Hal data between the non-working Carousl.so file and a working Carousel.so file. This is highlighted in the attached file. Please note my curser location shown next to the tool change buttons that highlight to show my sequence of steps. I hope this helps pinpoint the issue. Please let me know if you need any additional data. Thank you, Barry :) |
|
I really need the carousel.0.state parameter, and it would be easier to see what is happening with a halcope trace, like this:
Here is a Halscope config file that will (hopefully) save you the trouble of setting it up. Though it might still take a bit of trouble to get used to the (weird) controls, triggering etc. (You might have to take the .txt off of the end of the filename to get Halscope to open it) |
|
No problem. I'll get you the information in the next 2 days. Thank you, Barry :) |
|
Workinghalscope.csv Per your request here are the halscope log files using your halscope configuration file. One file shows the traces from the non-working Carousel.so file and the other shows the traces from the working Carousel.so file. BTW thank you for preconfiguring the halscope settings for me. Please let me kwow if any additional inforamation is needed. Thank you, Barry :) |
|
After looking at the 2 log files attached in my previous note, I'm thinking this is not what you were looking for. They seem to be truncated. I'm working on getting you another file with a screen shot of halscope |
|
Okay, I think this might be the data you were expecting. Sorry I had to learn how to use HalScope tonight. WORKING
NON WORKING: Note: I forgot to lower the gain setting on the Hal Scope for motor velocity for this screen shot, but all other gain settings should be the same.
For each file, the initial tool was #1. Then I selected Tool #2, After the ATT advanced to Tool #2, I then selected Tool #3. On the working Carousel.so file the tool advanced rom #1 to #2 to #3. On the non-working Carousel.so file tool advanced from #1 to #2, but would not advance again to Tool #3. Please let me know if any additional data is needed. Thank you, Barry :) |
|
The .csv files had what I needed. It is clear that the component is getting stuck on state 7, which it never should do without an align-dc configured. Please try the attached file. (remove the .txt from the filename, I had to add that for it to be allowed as an attachment) |
|
Success!!! Fixed!! Yay! Thank you very much!! :) Will you be able to upload this new carousel.so file to the 2.9 buildbot master branch? Just as FYI....one thing I noticed was that Halcompile is not automatically downloaded with Buildbot 2.9, I had to go back to 2.8 to compile the carousel.comp file and then transfer the .so file to 2.9. I noticed that you commented on this issue on 11 Jan 2021. I guess this is still being looked at. One last quick thing....do know if there are any updates on the G71.X Path Issue (1146#) posted on May 3, 2021 (#1146 (comment))? I've thought more about this issue and I think that if G71.2 doesn't "recognize" any rasied edges / pockets given the part shape and direction of cut, then linuxcnc goes crazy. Given my limited knowledge of programing I would think that a few lines of code could be added as a 1st step to check for 0 raised edges / pockets and if none are found then have G71.2 generate a comment message stating that zero pockets were found for cutting. May conceptual thought is shown below graphically.
Thank you again Andy. It is always a pleasure and honor to work with you. I am envious of your skills and talent. Have a nice day, Barry :) |
Control was falling-through the switch statement to a state that should only be active on certain configurations. Signed-off-by: andypugh <andy@bodgesoc.org>
|
I was just waiting for confirmation that the change fixed the problem. Thanks for doing the testing, it made it much easier to see where the problem was. As for halcompile, I think that it should be installed if you install the linuxcnc-dev package? |
|
Lookng at this at the LinuxCNC Norway meetup, it looks like the simulated config in sim-axis-vismach-vmc_toolchange-index is also broken, so this should be something that I have the means of fixing. |
|
In response to: Can you check that you get stuck with enable false, and ready not set, and with the position not matching the pocket number? I just loaded: 2.10.0-pre0-3309-gfd6a133f8b With enable false, and ready not set, and with the position NOT matching the pocket number, the auto-tool changer indexes 1 time to the correct tool and then it will not respond to the next tool change command; however, the Axis graphical display changes to show the correct tool shape/orientation/etc. every time a new tool change command is issued. With enable false, and ready not set, and with the position matching the pocket number the auto-tool changer indexes 1 time to the correct tool and then it will not respond to the next tool change command; however, the Axis graphical display changes to show the correct tool shape/orientation/etc. every time a new tool change command is issued. Thank you, Barry :) |
Any help you can provide with this recent issue would be appreciated. Thank you, Barry :)
Here are the steps I follow to reproduce the issue:
Last night, I updated/upgraded to the lastest verison of Buildbot 2.9.0-pre0-7744-g3a1e19c4e and for some reason the Automatic Tool Turret (ATT) on my lathe stopped working correctly. The ATT has worked perfectly the past year including 3 to 4 weeks ago when I last used it on a project. Note I use the HAL component, Carousel, to control the ATT. Using the current version of Buildbot, Carousel works properly the 1st time the Tool Change command is issued, but then Carousel will NOT index the ATT with additional tool change commands. There are no error messages. However, graphically, Axis shows that a tool change was executed.
To trouble-shoot this issue I uninstalled Buildbot 2.9 u-space and loaded Linuxcnc u-space version 2.8.3. The ATT worked perfectly with no issues. I then uninstalled Linuxcnc u-space version 2.8.3 and reloaded Buildbot version 2.9.0-pre0-7744-g3a1e19c4e. Again the ATT would only index 1 time correctly and then not accept additional tool change commands.
Note when I exit from Linuxcnc and restart it, the ATT will again index 1 time correctly and then not accept additional tool change commands.
To initiate a tool change manually, I use the MDI tab in Axis and type G40 T1 M6 G43 for tool 1 or G40 T5 M6 G43 for tool 5 etc.
Information about my hardware and software:
I am using this Linux distribution and version: Buster 10
I am using this kernel version: 4.19.0-20-rt-amd64
I am running ...
[X ] A binary version from linuxcnc.org (including buildbot.linuxcnc.org)
I am using this LinuxCNC version: 2.9.0-pre0-7744-g3a1e19c4e
I am using this user interface (GUI): AXIS
I am using this interface hardware vendor and chipset: parallel port, Dell 3020
#*********************************************************
#*********************************************************
The Hal coding is as follows and has not changed in the past year.
core HAL config file
loadrt [KINS]KINEMATICS
Motion Controller, gets thread periods from ini file
loadrt [EMCMOT]EMCMOT base_period_nsec=[EMCMOT]BASE_PERIOD servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS
addf motion-command-handler servo-thread
addf motion-controller servo-thread
loadrt hal_parport cfg="0xe010 out"
addf parport.0.read base-thread
addf parport.0.write base-thread
addf parport.0.reset base-thread
setp parport.0.reset-time 3000
#Use Stepgen Position p for Axes XZA and Stepgen Velocity-mode v for CAROUSEL.
loadrt stepgen step_type=0,0,0,0 ctrl_type=p,p,p,v
addf stepgen.make-pulses base-thread
addf stepgen.capture-position servo-thread
addf stepgen.update-freq servo-thread
#Break-out Card Enable Control
loadrt charge_pump
addf charge-pump base-thread
net charge-pump <= charge-pump.out
Forspindle speed display
loadrt abs count=1
addf abs.0 servo-thread
#Spindle Encoder
loadrt encoder num_chan=1
addf encoder.update-counters base-thread
addf encoder.capture-position servo-thread
setp encoder.0.position-scale 60.000000
setp encoder.0.counter-mode 1
#Spindle Speed Control
loadrt pwmgen output_type=1
addf pwmgen.make-pulses base-thread
addf pwmgen.update servo-thread
Set the spindle's top speed in RPM
setp pwmgen.0.scale 1725
setp pwmgen.0.offset 0.0
setp pwmgen.0.pwm-freq 100.0
setp pwmgen.0.dither-pwm true
net spindle-cmd-rpm => pwmgen.0.value
net spindle-on <= spindle.0.on => pwmgen.0.enable
net spindle-pwm <= pwmgen.0.pwm
net spindle-position encoder.0.position => spindle.0.revs
net spindle-velocity-feedback-rps encoder.0.velocity => spindle.0.speed-in
net spindle-index-enable encoder.0.index-enable <=> spindle.0.index-enable
net spindle-phase-a encoder.0.phase-A
net spindle-index encoder.0.phase-Z
net spindle-cmd-rpm <= spindle.0.speed-out
net spindle-cmd-rpm-abs <= spindle.0.speed-out-abs
net spindle-cmd-rps <= spindle.0.speed-out-rps
net spindle-cmd-rps-abs <= spindle.0.speed-out-rps-abs
net spindle-at-speed => spindle.0.at-speed
net spindle-ccw <= spindle.0.reverse
#*********************************************************
******** ATT Control w/ Carousel************************
#*********************************************************
loadrt carousel pockets=5,1 encoding=index num_sense=2 dir=1
addf carousel.0 servo-thread
setp stepgen.3.position-scale 55.55555555556
setp stepgen.3.maxaccel 1500
setp stepgen.3.steplen 1
setp stepgen.3.stepspace 1
setp stepgen.3.dirhold 28000
setp stepgen.3.dirsetup 28000
setp carousel.0.fwd-dc -140
setp carousel.0.rev-dc 20
setp carousel.0.rev-pulse .57
net xenable => stepgen.3.enable
net carousel-step <= stepgen.3.step
net carousel-dir <= stepgen.3.dir
net carousel-step => parport.0.pin-07-out
net carousel-dir => parport.0.pin-08-out
net tool-num iocontrol.0.tool-prep-pocket => carousel.0.pocket-number
net start-change iocontrol.0.tool-change => carousel.0.enable
net change-done carousel.0.ready => iocontrol.0.tool-changed
net motor-speed carousel.0.motor-vel => stepgen.3.velocity-cmd
net index carousel.0.sense-0
net pulse carousel.0.sense-1
net index <= parport.0.pin-11-in-not
net pulse <= parport.0.pin-12-in-not
#********************************************************************
net xenable => parport.0.pin-02-out
net zstep => parport.0.pin-03-out
setp parport.0.pin-03-out-reset 0
net zdir => parport.0.pin-04-out
net xstep => parport.0.pin-05-out
setp parport.0.pin-05-out-reset 0
net xdir => parport.0.pin-06-out
net spindle-on => parport.0.pin-09-out
net max-x <= parport.0.pin-10-in-not
net max-x => joint.0.pos-lim-sw-in
net spindle-phase-a <= parport.0.pin-13-in
net spindle-pwm => parport.0.pin-14-out
net spindle-index <= parport.0.pin-15-in
net spindle-ccw => parport.0.pin-16-out
net charge-pump => parport.0.pin-17-out
#X-AXIS
setp stepgen.0.position-scale [JOINT_0]SCALE
setp stepgen.0.steplen 1
setp stepgen.0.stepspace 0
setp stepgen.0.dirhold 28000
setp stepgen.0.dirsetup 28000
setp stepgen.0.maxaccel [JOINT_0]STEPGEN_MAXACCEL
net xpos-cmd joint.0.motor-pos-cmd => stepgen.0.position-cmd
net xpos-fb stepgen.0.position-fb => joint.0.motor-pos-fb
net xstep <= stepgen.0.step
net xdir <= stepgen.0.dir
net xenable joint.0.amp-enable-out => stepgen.0.enable
#Z-AXIS
setp stepgen.1.position-scale [JOINT_1]SCALE
setp stepgen.1.steplen 1
setp stepgen.1.stepspace 0
setp stepgen.1.dirhold 28000
setp stepgen.1.dirsetup 28000
setp stepgen.1.maxaccel [JOINT_1]STEPGEN_MAXACCEL
net zpos-cmd joint.1.motor-pos-cmd => stepgen.1.position-cmd
net zpos-fb stepgen.1.position-fb => joint.1.motor-pos-fb
net zstep <= stepgen.1.step
net zdir <= stepgen.1.dir
net zenable joint.1.amp-enable-out => stepgen.1.enable
estop loopback
net estop-out charge-pump.enable iocontrol.0.user-enable-out
net estop-out <= iocontrol.0.user-enable-out
net estop-out => iocontrol.0.emc-enable-in
#*************************************************************************
COMMENT OUT TO USE CAROUSEL
net tool-change iocontrol.0.tool-change => hal_manualtoolchange.change
net tool-changed iocontrol.0.tool-changed <= hal_manualtoolchange.changed
#*************************************************************************
loadusr -W hal_manualtoolchange
net tool-number iocontrol.0.tool-prep-number => hal_manualtoolchange.number
net tool-prepare-loopback iocontrol.0.tool-prepare => iocontrol.0.tool-prepared
The text was updated successfully, but these errors were encountered: