ATC Recovery

Is it possible to execute a subroutine or file at startup automatically (before homing) for safeguard of ATC after a power failure? If there's a power failure or a stoppage while turret is mid slide, i have a subroutine written that checks for the turret to be retracted at startup.

Is it something you could do with HAL only?
I'm not sure you can automatically run a subroutine.with INI's RS274NGC_STARTUP_CODE , but you would need to set up linuxcnc to be able to run code without homing to get it to be even possible to run (NO_FORCE_HOMING = 1)

I'm sure you could code one of the GUI to call a subroutine on first start up.
You would need to decide the logic on when it would do it.
The details of both depends on the screen you use and the toolchanger.

If your tool changer can detect a problem it's self, it would be easier to make a 'reset toolchanger' button to call the subroutine.
In fact iocontrol2 has HAL pins to work with toolchanger problems.
(it's not documented well - there is an axis sim)

That was my backup plan, just trigger it with button. I'll circle back around to automating it down the road.

Thanks