CMS MAXIMA 4 axis Machine retrofit

Yannis wrote:

The machine has ATC spindle and 30 linear tool position witch i want to utilize
what is the best way to approach this?

Can you give more detail of the "linear tool position"? It is possible that the "carousel" HAL component would be useful, but equally possible that it might not.

Right, so a rack tool changer which can be done entirely as a remapped G-code.

There is a sample config you can run, start LinuxCNC and choose:
sim->axis->remap->rack tool change
(You can run this on your live system or another PC, it doesn't try to move hardware and doesn't need hardware to run)

It needs a couple of lines in the INI file to specify the G-code subroutine to use when M6 is called:
github.com/LinuxCNC/linuxcnc/blob/master...cktoolchange.ini#L58
And then a G-code routine to calculate the correct position to move to based on the tool number:
github.com/LinuxCNC/linuxcnc/blob/master...ines/rack_change.ngc
The important part here is the use of M64 and M65 G-codes to set the values of the HAL pins that operate solenoids and brakes etc.
The main routine calls a sub-routine, you can find all the files here:
github.com/LinuxCNC/linuxcnc/tree/master...emap/rack-toolchange

It's a demo running in a simulation, and it might well be that the sequence is slightly wrong and nobody has noticed.
You would certainly want to be checking operation with no tools loaded as part of the configuration checking.
The sequencing is handled by G-code, so is easy to change.

The tool number display updates on an M6, I think, so unless you put an M6 T0 (or M61 Q0) your remap code you won't see the tool go to zero during the change. I have not experimented with two M6 codes in an M6 remap sub.


I have never experimented with two M6 commands in the