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VB and the development of wizards / Macro for Rotary Tool Changer

« on: November 05, 2018, 04:22:53 AM »

Hello there, I need your help.

8 tools, BCD encoder (4bit) - CSmio inputs 14, 13, 12, 11
Geneva Cam sensor (one impulse per rotation of the cam) - CSmio input 10
Clutch/Brake operated by one relay - CSmio output 2
Three-phase tool changer motor - CSmio output 2

In order to make a tool change:
1. Activate - CSmio output 2
2. Wait for correct BCD - CSmio inputs 14, 13, 12, 11
3. When desired BCD achieved wait for Geneva Cam sensor - CSmio input 10
4. DeActivate - CSmio output 2

I modified sample macro from CS-Lab to suit my setup. However, I don't know VB good enough to make it work properly.
Now it stops on random tool station, sometimes even in between. It completely ignores the cam sensor.
I'd appreciate any help.

Code: [Select]

'------------------------------------------------------------------------------
' CS-Lab s.c. - Auto toolchanger for lathe (rotary type of ATC)
' (C) 2011
' v1.2 - 2011-11-05
'------------------------------------------------------------------------------
' CONFIG
'------------------------------------------------------------------------------
Const TOOLCOUNT			= 8 	' max Tool #
' Actual ATC position inputs (CSMIO-IP inputs)
Const InT1 = 14
Const InT2 = 13
Const InT3 = 14 And 13
Const InT4 = 12
Const InT5 = 14 And 12
Const InT6 = 13 And 12
Const InT7 = 14 And 13 And 12
Const InT8 = 11
' ATC sensors inputs
Const GenevaSensor		= 10	' Geneva Cam on position
' digital outputs for ATC control (CSMIO outputs)
Const OutRun			= 2		' unlock and rotate
'------------------------------------------------------------------------------
' program variables - don't modify
'------------------------------------------------------------------------------
Dim ToolNew, ToolOld, ToolSlot As Integer
Dim ToolRdy As Boolean
Dim ATC_CloseRetry
Dim InToolSens(TOOLCOUNT)
'------------------------------------------------------------------------------
  ' MACRO START
'------------------------------------------------------------------------------
	if(GetOEMLed(800)) Then ' MACH is at RESET condition
		Message("System is at ESTOP - Tool Change terminated")
		Sleep(150)
		WaitForMove
		End
	End If

  	SetUserLED(1001, 1) ' User LED - toolchange in progress (Pause Feed Hold condition)
  	
  	InToolSens(0) = InT1
  	InToolSens(1) = InT2
  	InToolSens(2) = InT3
  	InToolSens(3) = InT4
  	InToolSens(4) = InT5
  	InToolSens(5) = InT6
  	InToolSens(6) = InT7
  	InToolSens(7) = InT8

	' Get actual tool # and new tool #
	ToolOld = GetCurrentTool()
	ToolNew = GetSelectedTool()

	' little trick for double slots ATC
	If(ToolNew >= 10) Then
		ToolSlot = ToolNew - 10
	Else
		ToolSlot = ToolNew
	End If
	
	If(ToolOld >= 10) Then
		ToolOld = ToolOld - 10
	End If
	
	' The same position - no need to move
	If (ToolSlot = ToolOld) Then
		SetCurrentTool( ToolNew )
		Message("ATC is on position "& ToolSlot & " and new tool is " & ToolNew)
		WaitForMove
		SetUserLED(1001, 0) ' Pause Feed Hold off
		End
	End If
	
	If (ToolSlot > TOOLCOUNT) Then
		SetCurrentTool( ToolOld )
		SetUserLED(1001, 0) ' Pause Feed Holf off
		DoOEMButton(1003) ' Stop
		DoOEMButton(1002) ' G-Code Rewind
		Sleep(150)
		Message("There is no tool T" & ToolNew & " in ATC")
		Sleep(150)
		End
	End If
	
	
	' T0 is a fake tool, no need to change
	If (ToolSlot = 0) Then
		ToolNew = 0
		SetCurrentTool( ToolNew )
		Message("Succesful loaded tool T" & ToolNew)
		WaitForMove
		SetUserLED(1001, 0) ' Pause Feed Hold off
		End
	End If
	

	' unlock and rotate ATC
	RunATC
	Sleep(150)
	' wait to ATC will be on the desired position
	ToolRdy = false
	While(Not ToolRdy)
		If(GetCsmioIn((InToolSens(ToolSlot - 1)))) Then
			ToolRdy = true
		End If
	Wend
	
	
	' stop rotation and lock ATC
	ATC_CloseRetry = 0
	' Check lock sensor, retry lock if needed
	While(Not GetCsmioIn(GenevaSensor) And ATC_CloseRetry < 4)
		StopATC
		ATC_CloseRetry = ATC_CloseRetry + 1
	Wend
	
	' double check for succesful ATC lock
	If (Not GetCsmioIn(GenevaSensor)) Then
		SetCurrentTool( 0 )
		SetUserLED(1001, 0) ' Pause Feed Hold off
'		DoOEMButton(1021) ' Reset
		DoOEMButton(1002) ' G-Code Rewind
		Sleep(150)
		Message("ATC lock alert. Check ATC.")
		Sleep(150)
		End
	End If
  
	SetCurrentTool( ToolNew )
	Message("Succesful loaded tool T" & ToolNew)
	Sleep(150)
	WaitForMove
	SetUserLED(1001, 0) ' Pause Feed Hold off
	End
' -----------------------------------------------------------------------------
Public Function GetCsmioIn (n As Integer) As Boolean
	Dim reg As Integer
	
	If(n < 16) Then
		reg = 90
	Else
		reg = 91
		n = n - 16
	End If
	
	If(GetInBit(reg, n)) Then
		GetCsmioIn = true
	Else
		GetCsmioIn = false
	End If
	Exit Function
End Function 
' -----------------------------------------------------------------------------
Sub RunATC ()
	Call SetCsmioOut(OutRun, true)
	Sleep(150)
End Sub
' -----------------------------------------------------------------------------
Sub StopATC ()
	Call SetCsmioOut(OutRun, false)
	Sleep(150)
End Sub
' -----------------------------------------------------------------------------
Public Sub SetCsmioOut (ByVal n As Integer, ByVal state As Boolean)
	If(state) Then
		SetOutBit(90, n)
	Else
		ResetOutBit(90, n)
	End If
End Sub
' -----------------------------------------------------------------------------
Sub WaitForMove ()
	While IsMoving() 
		Sleep(15) 
	Wend
End Sub

Topics - lion_rapid

CS-Lab / Lag on inputs

VB and the development of wizards / Macro for Rotary Tool Changer