Category: Deutsch
Thanks! That is already a great place to start! I will have a look at it. In the meantime, I came up with my own code (thanks Chatgpt). However, when executing it I get the error "Unknown word starting with f" in the GUI. However, without any hint to any line in the code. It seems I have to open linuxcnc via console and active the debug mode to see it?
This is my code for now. More work tomorrow.
%
(MSG, --- Start of toolchange.ngc ---)
o<toolchange> sub
(MSG, --- Toolchange Subroutine Entry ---)
; ------------------------------------------------------------------
; A) Named parameters (populated by stdglue.py / M6 prolog):
; #<selected_tool>, #<tool_in_spindle>,
; #<selected_pocket>, #<current_pocket>,
; #<atc_z_tool_change_height>, #<atc_z_tool_clearance_height>, etc.
; ------------------------------------------------------------------
(MSG, Selected tool = #<selected_tool>)
(MSG, Tool in spindle = #<tool_in_spindle>)
(MSG, Selected pocket = #<selected_pocket>)
(MSG, Current pocket = #<current_pocket>)
; ------------------------------------------------------------------
; B) Check if a tool change is actually needed
; ------------------------------------------------------------------
IF [#<selected_tool> EQ #<tool_in_spindle>] THEN
(MSG, Tool #<tool_in_spindle> is already loaded. No change needed.)
M99
END-IF
; ------------------------------------------------------------------
; C) Stop the spindle
; ------------------------------------------------------------------
M5 ; no spindle orientation (M19) requested
; ------------------------------------------------------------------
; D) Rack coordinates (adjust as needed for your machine)
; ------------------------------------------------------------------
#<rack_x> = 1123
#<rack_y_base> = 164
#<rack_y_pitch> = 50
; We comment these out so they are NOT overwritten (assuming INI defines them):
; #<atc_z_tool_change_height> = -80
; #<atc_z_tool_clearance_height> = 0
; Move Z to clearance
G53 G0 Z[#<atc_z_tool_clearance_height>]
; ------------------------------------------------------------------
; E) Drop off the old tool (#<tool_in_spindle>) in #<current_pocket>
; ------------------------------------------------------------------
IF [#<tool_in_spindle> GT 0] THEN
; 1) Y coordinate for the current pocket
#<old_pocket_y> = [#<rack_y_base> + ([#<current_pocket>] - 1) * #<rack_y_pitch>]
; 2) Move to that pocket in machine coords (G53)
G53 G0 X[#<rack_x>] Y[#<old_pocket_y>]
; 3) Lower Z to the tool-change height
G53 G0 Z[#<atc_z_tool_change_height>]
; 4) Unclamp (M64 P2) to release old tool
(MSG, Unclamping old tool with M64 P2)
M64 P2
G4 P1 ; dwell 1 second, adjust as needed
; 5) Move back up to clearance
G53 G0 Z[#<atc_z_tool_clearance_height>]
; 6) Update the pocket table (#4001..#4024)
#<pocket_index> = [4000 + #<current_pocket>]
#[#<pocket_index>] = #<tool_in_spindle>
END-IF
; ------------------------------------------------------------------
; F) Pick up the new tool (#<selected_tool>) from #<selected_pocket>
; ------------------------------------------------------------------
IF [#<selected_tool> GT 0] THEN
; 1) Optional check: does pocket #<selected_pocket> hold #<selected_tool>?
#<pocket_index> = [4000 + #<selected_pocket>]
IF [#[#<pocket_index>] NE #<selected_tool>] THEN
(MSG, *** WARNING: Pocket #<selected_pocket> does not match tool #<selected_tool>!)
END-IF
; 2) Compute Y coordinate for the selected pocket
#<new_pocket_y> = [#<rack_y_base> + ([#<selected_pocket>] - 1) * #<rack_y_pitch>]
; 3) Move to that pocket
G53 G0 X[#<rack_x>] Y[#<new_pocket_y>]
; 4) Lower Z to the tool-change height
G53 G0 Z[#<atc_z_tool_change_height>]
; 5) Clamp (M65 P2) to pick up the new tool
(MSG, Clamping new tool with M65 P2)
M65 P2
G4 P1 ; dwell 1 second, adjust as needed
; 6) Return to clearance
G53 G0 Z[#<atc_z_tool_clearance_height>]
; 7) This pocket is now empty
#[#<pocket_index>] = 0
END-IF
; ------------------------------------------------------------------
; G) The spindle now has the new tool
; ------------------------------------------------------------------
#<tool_in_spindle> = #<selected_tool>
; ------------------------------------------------------------------
; H) Tell LinuxCNC the new tool is active & load offset
; ------------------------------------------------------------------
M61 Q[#<selected_tool>] ; set active tool to #<selected_tool>
G43 H[#<selected_tool>] ; load that tool's offset from table
; ------------------------------------------------------------------
; I) Return to caller
; ------------------------------------------------------------------
M99
o<toolchange> endsub
M2
(MSG, --- End of toolchange.ngc ---)
%
