Best approach for automatic tool change on rack
19 Sep 2011 00:05 - 19 Sep 2011 07:44 #13274
by grandixximo
Replied by grandixximo on topic Re:Best approach for automatic tool change on rack
So you are suggesting i use the ladder system to program a tool change?
I'll look into ladders a little more then, thanks for your help
For what i have seen so far, i still don't get how am i suppose to move the machine in the tool change positions with ladders....
after some tinkering and some chatting on IRC, i have come to the conclusion of doing it all by O codes, i'll read current tool from parameter #5400, i'll give my tool number and position trough the o-code and i'll write the whole ATC process in O code language or subroutine language, i'll use custom M codes for control input and output.
If i can do it i'll post the files here, if anyone is interested
I'll look into ladders a little more then, thanks for your help
For what i have seen so far, i still don't get how am i suppose to move the machine in the tool change positions with ladders....
after some tinkering and some chatting on IRC, i have come to the conclusion of doing it all by O codes, i'll read current tool from parameter #5400, i'll give my tool number and position trough the o-code and i'll write the whole ATC process in O code language or subroutine language, i'll use custom M codes for control input and output.
If i can do it i'll post the files here, if anyone is interested
Please Log in or Create an account to join the conversation.
19 Sep 2011 13:55 #13292
by andypugh
Replied by andypugh on topic Re:Best approach for automatic tool change on rack
grandixximo wrote:
I can envisage a rack toolchanger HAL component that would take the current axis positions as inputs, and feed them straight through to the stepgens (or whatever) in normal mode, but over-ride the values (while lying to EMC2 about the feedback) during a toolchange.
For your application the ideal solution would be re-mappable G-codes, so that M6 TN called a G-code subroutine rather than the built-in M6 code.
There is support for this in the experimental branch of EMC2. We currently hace 2.4.6 as the released version, 2.5 as the soon-to-be-released version, and "Master", also known as 2.6 as the hairy, flaky development version. I think that the ability to re-define a G-code to be a subroutine is only included in Master.
I haven't managed to find any documentation on how you re-map a G-code.
However, looking through the source code it appears that in Master you can use
M6_COMMAND = O<subroutinename>
to define a G-code subroutine that will be called by M6. There is even a demo config which does it:
git.linuxcnc.org/gitweb?p=emc2.git;a=blo...hb=refs/heads/master
(Line 93 onwards)
If you need this feature more than you need stability, it is possible to get the bleeding-edge Master build from the buildbot:
buildbot.linuxcnc.org
I don't think it is easy to move axes with Ladder, and that is what you need to do.So you are suggesting i use the ladder system to program a tool change?
I'll look into ladders a little more then, thanks for your help
I can envisage a rack toolchanger HAL component that would take the current axis positions as inputs, and feed them straight through to the stepgens (or whatever) in normal mode, but over-ride the values (while lying to EMC2 about the feedback) during a toolchange.
For your application the ideal solution would be re-mappable G-codes, so that M6 TN called a G-code subroutine rather than the built-in M6 code.
There is support for this in the experimental branch of EMC2. We currently hace 2.4.6 as the released version, 2.5 as the soon-to-be-released version, and "Master", also known as 2.6 as the hairy, flaky development version. I think that the ability to re-define a G-code to be a subroutine is only included in Master.
I haven't managed to find any documentation on how you re-map a G-code.
However, looking through the source code it appears that in Master you can use
M6_COMMAND = O<subroutinename>
to define a G-code subroutine that will be called by M6. There is even a demo config which does it:
git.linuxcnc.org/gitweb?p=emc2.git;a=blo...hb=refs/heads/master
(Line 93 onwards)
If you need this feature more than you need stability, it is possible to get the bleeding-edge Master build from the buildbot:
buildbot.linuxcnc.org
Please Log in or Create an account to join the conversation.
Time to create page: 0.084 seconds