And here are some code:
ini-file
Code:
...
[RS274NGC]
# File containing interpreter variables
PARAMETER_FILE = Leadwell_hm2-servo.var
# 5450 used to remember carousel position, pocket number facing to spindle.
# 5451 used to remember tool in spindle after power cycle.
SUBROUTINE_PATH = ./
#See python-stdglue for prolog and epilog handlers
REMAP=M6 modalgroup=6 prolog=change_prolog ngc=toolchange epilog=change_epilog
REMAP=M10 modalgroup=6 argspec=p ngc=m10
REMAP=M11 modalgroup=6 argspec=p ngc=m11
REMAP=M12 modalgroup=6 argspec=p ngc=m12
REMAP=M21 modalgroup=6 ngc=m21
REMAP=M22 modalgroup=6 ngc=m22
REMAP=M23 modalgroup=6 ngc=m23
REMAP=M24 modalgroup=6 ngc=m24
REMAP=M25 modalgroup=6 ngc=m25
REMAP=M26 modalgroup=6 ngc=m26
#RS274NGC_STARTUP_CODE = G17 G21 G40 G49 G64 P0.001 G80 G90 G94 G97 G98 M61 Q[#5451]
[PYTHON]
TOPLEVEL=./toplevel.py
PATH_APPEND= ./
#PATH_APPEND= ./python-stdglue/
...
toolchange.ngc
Code:
o<toolchange> sub
(print, o<toolchange>)
G53 G0 Z0
M19 P0 Q10 ;align the spindle
(print, spindle aligned)
; only unload the tool if there is a tool in the spindle
O100 IF [#<tool_in_spindle> GT 0]
(print, remove tool)
M10 P[#<tool_in_spindle>]
;Align carousel
M21
;Carousel right
M26
;Tool unclamp
M24
;Carousel down
#5451 = 0
;Set persistent variable to remember tool in spindle after power cycle
O100 ENDIF
O200 IF [#<selected_tool> GT 0]
(print, insert tool)
M10 P#<selected_pocket> ;set the carousel to move to the right pocket
M24 ;Carousel down
M21 ;Carousel right
M26 ;Tool unclamp
M23 ;Carousel up
M25 ;Tool clamp
#5451 = #<selected_tool> ;Set persistent variable to remember tool in spindle after power cycle
O200 ENDIF
(print, return tool magazine)
M22 ;Carousel left
M23 ;Lift carousel up (If no tool selected, else already up)
o<toolchange> endsub [1]
M2
M10.ngc
Code:
o<m10> sub
; Move tool carousel best direction to pocket P
; Parameter #5450 is used to track the current tool pocket (persistently)
#<steps> = [#5450 - #<p>]
(print, o<M10> P#<p>, steps=#<steps>)
o1000 if [#<steps> GT 10]
#<steps>=[#<steps> - 20]
o1000 endif
o1001 if [#<steps> LT -10]
#<steps>=[#<steps> + 20]
o1001 endif
o1003 if [#<steps> GT 0]
M12 P[#<steps>]
o1003 elseif [#<steps> LT 0]
#<steps>=[#<steps> * -1]
M11 P[#<steps>]
o1003 endif
o<m10> endsub [1]
M2
M12.ngc
Code:
o<m12> sub
; Move tool carousel CCW Parameter P number of steps
; Without parameter one step CCW.
; Parameter #5450 is used to track the current tool pocket (persistently)
(print, o<M12> P#<p>)
O100 if [EXISTS[#<p>]]
#<Steps_to_move> = #<p>
O100 else
#<Steps_to_move>=1
O100 endif
M64 P4 ; Set backward dir to motor
G4 P0.5 (wait for 0.5 seconds before proceeding)
M64 P3 ; Run motor
O110 do
M66 P8 L2 Q3 ; wait for negative edge on rotation index
O120 if [#5399 LT 0]
(abort, failed to get rotation index)
O120 endif
#5450 = [[[#5450-2] MOD 20]+1] ;Pocket is no.1-20
#<Steps_to_move> = [#<Steps_to_move>-1]
O110 while [#<Steps_to_move> GT 0]
M65 P3 ; Stop motor
M65 P4 ; Reset direction
o<m12> endsub [1]
M2
Sometimes but not always is the last printout "return tool magazine" shown, but nothing has been moving.
I have tried M6 T2 both in mdi and in a short g-code file.
