Mill atc configuration

After change to Random_toolchanger = 0 in ini Now after change tool in tool-tbl nothing change and is ok.
But make M6 T0 tool from spindle back to last pocket, Z axis go to up and starting another cycle with error why? After this spindle is in Z-50  and when try to make another change M6 T1 Z axis dont go to up and arm with tool T1 crash spindle.

Artur_1617 wrote:

But make M6 T0 tool from spindle back to last pocket, Z axis go to up and starting another cycle with error why?

What error? Is it an error from LinuxCNC or an error from your toolchnage routine?
M6 T0 should unload the tool, but maybe your toolchanger routine needs to ignre a lack of a tool-clamped signal in that case?

After this spindle is in Z-50  and when try to make another change M6 T1 Z axis dont go to up and arm with tool T1 crash spindle.

After an error, you need an ON_ABORT routine to put the changer in a safe state, or you need to put it in a safe state yourself. Or possibly your tool change routine could detect the state and do the right thing. Unfortunately there is such a wide range of toolchangers that a safe generic behaviour is almost impossible to build-inn to the controller.

Making M6 T0 start unload tool from the spindle to last pocket and finish the tool is in the pocket and spindle is empty Z go to Z -5 all correct how should be. After this and dont taching anything start other routine (dont now why)  Z axis going to down (make all like for load the tool to spindle empty) go to Z-50 and give error "Failed to move arm out" 

There are two "failed to move arm out" lines, and I think you need to work out which one is the problem.

I would suggest modifying the text (possibly adding the line number) to see where the problem is.

I would also add some lines like (DEBUG, The selected too is #<selected_tool> ) to check that the input data is correct (tool and pocket especially)

Yesterday I make some changes en toolchange.ngc and all start working correctly. M6 T6 unload tool from the spindle without problem.
Need to add pressure sensor, orient and homing Z with homing corousel.

     


 

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.