ATC persistent position

akb1212:
I don't Think there is much in common with our two ATCs.
Mine are a carousel disc with 20 pockets that is move down and then in under the spindle and up to insert the tool in spindle. No intermedeate gripper arm.
Pneumatic motion and a 230v motor for turning the carousel. No sensor at the carousel except a sensor on the motor that signals it have rotated one turn =1 pocket.

Andy:
Where can i find the sample config with your carousel component?
From start i was thinking to make the ATC logic in Classic ladder, but now i'm more in to writing a G-code macro to handle all of it.
So far i have only written some pseudo code on a pice of paper.

your atc sound very similar to the one Arceye and i did for the denford triac
you should find details on the wiki pages .

>It is probably possible to have a startup G-code (in the INI ) that performs an M61 using a ersistent parameter (though tool-in-spindle is automatically persistent with a random toolchanger)

Any suggestions how to implement this?

I tried to put it in
[RS274NGC]
RS274NGC_STARTUP_CODE=M61 Q#5451

But then linuxcnc won't start.
I an thinking of adding it to postgui.hal with halui.mdi-command
But how should I wire it to get it run once?

No special error message, just "a configuration error prevents linuxcnc to start"
Just like this other poor guy: emc-users.narkive.com/NvIuCJ34/persistent-tool-number

But I found a suggestion here, link halui-mdicommand to finished homing: forum.linuxcnc.org/forum/38-general-linu...-load-on-start#65653

I tried to put it in
[RS274NGC]
RS274NGC_STARTUP_CODE=M61 Q#5451

That is not the purpose of that ini file entry, as the docs suggest

RS274NGC_STARTUP_CODE = G17 G20 G40 G49 G64 P0.001 G80 G90 G92 G94 G97 G98. A string of NC codes that the interpreter is initialized with.

The purpose is to set modal states, ensure compensation is off, set machine type, measurement units etc.
They are not actually 'commands' executed then and there but initialisation for the interpreter.

You can use the technique I suggested in your other link.

The optimum solution would be a proper toolchanger component and a mod to iocontrol, such I did with the toolchangers that @cncbasher and I developed, but that is a lot more work.

regards

your toolchanger apart from the knowing the tool pocket due to having a greycode encoder , is identical to the triac toolchanger Arceye and i suggested .
you could easily keep a record of the tool last used .
what are you trying to achieve ? , realtime feedback of tool