Mill atc configuration

I think that you should have a pause between tool-unclamp and head retract too. (Though I suspect that is what the pressure sensor is for?)

I haven't seen many commercial ATCs, but the last one I looked at used a switch to detect the movement of the clamp mechanism rather than a pressure sensor, which makes sense to cover the case of a stuck mechanism.

My own tool clamping system is pneumatic (no tool changer, I didn't get that far, but the rapid tool changes are great) and that sometimes sticks if the spindle gets very hot. To detect tool release with that I would definitely be looking at piston motion rather than pressure (as it physically ejects the tool in the last part of the stroke).

However, if your system has an air purge to clean the taper (as many do) then detecting that pressure _dropping_ would be a good detection of tool release.

Artur_1617 wrote:

I have compressor than make 8bar and drop to 6 before start to load again. Spindle need 6.3bar to unclamp cone.

What is the rated pressure of the compressor reservoir? You can generally adjust the pressure switch to cut in and out at higher pressures.

But, even then, I think that 8 bar is too close to the limit for reliability. Can you use a 10 bar compressor or a bigger cylinder?

I had this problem with my pneumatic drawbar, and re-made the actuator cylinder as a tandem one:

Read all topic with orient but no found setup like mine. Try to mixed all in one but not lucky.
Think the first one orient atached in first post was the best for working with my setup.
I use relay for spindle cw on.       # --- SPINDLE-CW --- net spindle-cw hm2_5i25.0.7i77.0.0.output-01
Can You write me example how turn on spindle orient with turn on spindle? 

Do you plan to orient with only clockwise motion? Is there a physical stop pin?

Artur_1617 wrote:

Dont see any problem orient with only clockwise motion. Dont have physical stop pin.

The problem is with inertia in the spindle.

If you turn on the spindle until is it in position, and then turn it off, by the time it stops it won't be in position.

Can you explain how you intend spindle orient to work? Is there a brake? Encoder? Index?

Generally the spindle motor is operated like a position-mode servo during orient, and for that it needs to be controlled with variable speed and in both directions.

If you are not going to do it like that, then I can't help with the HAL unless I know what you do expect.

232 PPR sounds rather coarse, it will limit the accuracy of alignment that is possible.

You can try using a wcomp component:
linuxcnc.org/docs/stable/html/man/man9/wcomp.9.html

It will take a little work to get the "max" and "min" values for it. max needs to be the position from the orient comp + one or two encoder counts, and min needs to be - one or two.

This will need massaging to fit your system, and is untested.