Mazak QT20 Automatic tool changer

Attached HAL Files

I would suggest that you connect iocontrol.0.tool-prepare to the turret-unclamp output pin, and then connect carousel.0.enable to the turret-unclamp-ready pin.

That way a tool change request will immediately unclamp the turret, and the carousel component will only start up once the turret is actually unclamped.

Probably, some experimentation may be needed, especially regarding how the re-clamping happens.

I played around with some HAL components and Classic ladder and I managed to get it working. I used a combination of Timedelay and Or2 to get the m6 command to change tools in mdi and auto. I also had to change my signals for iocontrol. I used classicladder to time the jog fwd command from the carousel component, leaving enough time to unclamp first.

Thanks for the help.