Hurco BMC30 toolchanger setup with Pico PPMC

net car-lock motion.digital-out-01

M64 P1 ; lock carousel

net arm-retracted motion.digital-in-02 ppmc.0.din.21.in

# M66 INPUTSnet spindle-is-oriented motion.digital-in-06 ppmc.0.din.07.innet spindle-stopped motion.digital-in-09 ppmc.0.din.XX.in-notnet is-z-homed motion.digital-in-08 halui.joint.2.is-homednet arm-retracted motion.digital-in-02 ppmc.0.din.21.innet arm-extended motion.digital-in-03 ppmc.0.din.22.innet tool-released motion.digital-in-05 ppmc.0.din.10.innet tool-locked motion.digital-in-06 ppmc.0.din.09.in#M62-65 OUTPUTSnet orient-spindle motion.digital-out-06 ppmc.0.dout.05.outnet arm-retract motion.digital-out-01 ppmc.0.dout.10.outnet arm-extend motion.digital-out-02 ppmc.0.dout.11.outnet tool-release motion.digital-out-03 ppmc.0.dout.09.out

; HURCO BMC30 11/23/2021
o<toolchange> sub

; M66 inputs
; P0 carosuel completed
; P1 spindle-oriented
; P2 arm-retracted
; P3 arm-extended
; P4 tool-locked
; P5 tool-released
; P6 air-alarm

; M64 outputs
; P0  start carosuel
; P1  spindle-orient
; P2  arm-retract
; P3  arm-extend
; P5  release-tool

M64 P1         ;spindle orient command
M66 P1 L3 Q5   ;spindle oriented complete
    O030 if [#5399 LT 0]
    O030 endif

; only unload the tool if there is a tool in the spindle
; This assumes that the carousel is already aligned correctly.
; It is important to unload the tool before shutting down the machine.

O100 IF [#<tool_in_spindle> GT 0]
    G53 G0 Z -4
    M66 P6 ; air-alarm
    M64 P3 ; extend arm
    M66 P3 L3 Q5 ; wait for arm-extended = true
    O104 if [#5399 LT 0]
        (abort, failed to move arm-extended)
    O104 endif

    M64 P5 ; release tool
    M66 P5 L3 Q2 ; wait for tool-released = true
    O105 if [#5399 LT 0]
        (abort, failed to release tool)
    O105 endif

O100 ENDIF

    G53 G0 Z0

O200 IF [#<selected_tool> GT 0]


    M68 E0 Q#<selected_pocket> ;set the carousel to move to the right pocket

    M64 P0 ; start carousel
    G4 P2
    M66 P0 L3 Q60 ; wait for carousel finished
    O107 if [#5399 LT 0]
        (abort, failed to align carousel)
    O107 endif
   
    O108 endif

    M66 P6 ; air-alarm
    M64 P3 ; move arm extend (might already be in)
    M66 P3 L3 Q5 ; wait for arm-extended = true
    O109 if [#5399 LT 0]
        (abort, failed to move arm in)
    O109 endif

    G53 G0 Z-4 ; pick up the tool

O200 ENDIF

M64 P5 ; release-tool (release tool false)
M66 P4 L4 Q2 ; wait for tool-locked = true
O110 if [#5399 LT 0]
    (abort, failed to lock tool)
O110 endif

M64 P2 ; arm-retract
M66 P2 L3 Q5 ; wait for arm-retracted = true
O111 if [#5399 LT 0]
    (abort, failed to move arm out)
O111 endif


o<toolchange> endsub [1]


M2

#24 Pocket tool changer, Home pin @#24 Index switch on rotator.
loadrt carousel pockets=24 dir=2 encoding=index num_sense=2
loadrt conv_float_s32
addf carousel.0 servo-thread
addf conv-float-s32.0 servo-thread
net car-enable motion.digital-out-00 carousel.0.enable  
net car-ready carousel.0.ready motion.digital-in-00
net sense-0 carousel.0.sense-0 ppmc.0.din.19.in
net sense-1 carousel.0.sense-1 ppmc.0.din.20.in
net car-pos-req motion.analog-out-00 conv-float-s32.0.in
net car-pos-s32 conv-float-s32.0.out carousel.0.pocket-number  

# RELEASE-BUTTON    DI 32
net release-button  ppmc.0.din.31.in-not and2.1.in1

# Mag ROTATE   
net car-fwd carousel.0.motor-fwd ppmc.0.dout.01.out
net car-rev carousel.0.motor-rev ppmc.0.dout.15.out
# net jog-fwd motion.digital-in-10 ppmc.0.din.29.in

# M66 INPUTS
net spindle-is-oriented motion.digital-in-01 ppmc.0.din.10.in
#net spindle-stopped motion.digital-in-09 ppmc.0.din.02.in-not
#net is-z-homed motion.digital-in-08 halui.joint.2.is-homed
net arm-retracted motion.digital-in-02 ppmc.0.din.21.in
net arm-extended motion.digital-in-03 ppmc.0.din.22.in
net tool-locked motion.digital-in-04 ppmc.0.din.07.in
net tool-released motion.digital-in-05 ppmc.0.din.11.in
net air-alarm motion.digital-in-06 ppmc.0.din.28.in-not

#M62-65   OUTPUTS
net spindle-orient motion.digital-out-01 ppmc.0.dout.05.out
net arm-retract motion.digital-out-02 ppmc.0.dout.12.out
net arm-extend motion.digital-out-03 ppmc.0.dout.13.out
net tool-release motion.digital-out-05 ppmc.0.dout.09.out #or2.1.out
net tool-prep-loop iocontrol.0.tool-prepare iocontrol.0.tool-prepared
net tool-change-loop iocontrol.0.tool-change iocontrol.0.tool-changed

O100 IF [#<tool_in_spindle> GT 0]
    G53 G0 Z -4
    M66 P6 ; air-alarm
    M64 P3 ; extend arm
    M66 P3 L3 Q5 ; wait for arm-extended = true
    M65 P3 ; arm extend off
    O104 if [#5399 LT 0]
        (abort, failed to move arm-extended)
    O104 endif

    M64 P5 ; release tool
    M66 P5 L3 Q2 ; wait for tool-released = true
    O105 if [#5399 LT 0]
        (abort, failed to release tool)
    O105 endif

O100 ENDIF