Manual tool change + tool lengh touch off

( see: http://www.linuxcnc.org/index.php/english/forum/10-advanced-configuration/5596-manual-tool-change--tool-lengh-touch-off?start=120#227008 ) ( Filename: tool-change.ngc ) ( LinuxCNC Manual Tool-Change Subroutines for Milling Machines version 1.1: subroutine 1/2 ) ( BEFORE USING CHANGE "CONFIGURATION PARAMETERS" BELOW FOR YOUR MACHINE! ) ( ) ( In the LinuxCNC .ini config file, under the [RS274NGC] section add: ) ( # change/add/use SUBROUTINE_PATH to point to the location where these tool-change subroutines are located: ) ( SUBROUTINE_PATH = macros ) ( REMAP=M6 modalgroup=6 ngc=tool-change ) ( and under the [EMCIO] section add: ) ( TOOL_CHANGE_AT_G30 = 0 ) ( and ensure neither TOOL_CHANGE_POSITION nor TOOL_CHANGE_QUILL_UP is set. ) ( In the LinuxCNC .hal config file, map some input pin to be the probe input, e.g.: ) ( net probe-z parport.0.pin-12-in => motion.probe-input ) ( For multiple probe inputs, the following can be used, in this case a MESA 7i96 is controlling a NO probe, and a NC Toolsetter ) ( net probe-in <= hm2_7i96.0.gpio.005.in ) ( net length-in <= hm2_7i96.0.gpio.009.in_not ) ( net probe-in => or2.0.in0 ) ( net length-in => or2.0.in1 ) ( net probe-or-length <= or2.0.out => motion.probe-input ) ( The following tool change pins are required as well; ) ( loadusr -W hal_manualtoolchange ) ( net tool-change iocontrol.0.tool-change => hal_manualtoolchange.change ) ( net tool-changed iocontrol.0.tool-changed <= hal_manualtoolchange.changed ) ( net tool-number iocontrol.0.tool-prep-number => hal_manualtoolchange.number ) ( net tool-prepare-loopback iocontrol.0.tool-prepare => iocontrol.0.tool-prepared ) ( In addition I have had to modify the post-processor for the following; ) ( Eliminate G43 call outs after tool changes ) ( Use G53 instead of G28, typically just a check box when post processing ) ( Set machine home for Z in F360 machine setup to be -.250, my machine Zero is at top of travel ) ( Usage: M6 in the g-code will invoke a manual tool change with automatic tool height adjustment. ) ( My sequence of Running; ) ( 1. Use a T99, a .250" Rod, to touch off X, Y, and Z of WCS as modeled in CAM ) ( 2. Manually call an M6 T99, tool will touch off on toolsetter and store tool height ) ( 3. Load program and run, M6 in program will prompt tool change, after changing, tool will touch off and Z will adjust ) ( 4. Run any and all code using the same desired Z height for the WCS as designed ) ( General theory of operation: touches each tool off to the tool height sensor. The first tool is used as the reference, all ) ( subsequent tools adjust the tool offset. ) ( It is moved away by raising Z to _TravelZ before moving towards the switch, and when ) ( moving back from the switch again moves at height _TravelZ before going straight back down to the original position. Set ) ( all necessary modes to ensure correct operation no matter what state the program is in when this is called. We eliminate ) ( almost all side effects by saving and restoring the modal state. ) ( ) O<tool_change> SUB (PRINT,tool change routine BEGIN) (PRINT,current tool is #<_current_tool>) (PRINT,selected tool is #<_selected_tool>) O100 IF [ #<_selected_tool> EQ #<_current_tool> ] #4921 = 0 (PRINT,LinuxCNC starting, initialize value) O100 ELSE (PRINT,save current position in WCS ) #<xpos> = #<_x> (PRINT,X=#<_x>) #<ypos> = #<_y> (PRINT,X=#<_y>) #<prevtool> = #<_current_tool> #<tsx> = #<_ini[TOOLSENSOR]X> #<tsy> = #<_ini[TOOLSENSOR]Y> #<tsz> = #<_ini[TOOLSENSOR]Z> #<trv> = #<_ini[TOOLSENSOR]TRAVELZ> #<chx> = #<_ini[CHANGE_POSITION]X> #<chy> = #<_ini[CHANGE_POSITION]Y> #<chz> = #<_ini[CHANGE_POSITION]Z> O101 IF [EXISTS[#4920]] O101 ELSE #4920 = #5220 (PRINT,save WCS id) O101 ENDIF O102 IF [ #<_metric> EQ 1 ] (PRINT,set probe feeds according to units ) #<fast> = 150.0 (PRINT,selected speed unit mm/mn ) #<slow> = 30.0 #<retract> = 3.0 (PRINT,mm ) O102 ELSE #<fast> = 6.0 (PRINT,selected speed unit in/mn ) #<slow> = 1.2 #<retract> = 0.1 (PRINT,in ) O102 ENDIF M9 (PRINT,turn off coolant, will be restored on return if it was on ) M5 (PRINT,turn off spindle, cannot be on during the probe ) M70 (PRINT,save current modal state ) G40 (PRINT,turn cutter radius compensation off here ) G49 (PRINT,clear tool length compensation ) G90 (PRINT,use absolute positioning here ) G94 (PRINT,use feedrate in units/min ) G53 G0 Z[#<trv>] (PRINT,moves to safe height for travelling) G53 G0 X[#<chx>] Y[#<chy>] G53 G0 Z[#<chz>] (PRINT,moves to desired potion for manual tool change ) M6 (PRINT,do the normal M6 stuff ) G53 G0 Z[#<trv>] (PRINT,go to high travel level on Z ) #<zDelta>=[#<_z>-#<trv>] (PRINT,retrieve absolute offset ) G53 G0 X[#<tsx>] Y[#<tsy>] (PRINT,to tool setter ) G38.2 Z[#<_ini[AXIS_Z]MIN_LIMIT>+#<zDelta>] F[#<fast>] (PRINT,trip switch slowly ) G91 (PRINT,relative move ) G0 Z[#<retract>] (PRINT,move away ) G0 Z-[#<retract>/2] (PRINT,go forward ) G38.2 Z-[#<retract>] F[#<slow>] (PRINT,trip switch very slowly ) G90 (PRINT,absolute moves ) O103 IF [ #<prevtool> EQ 0 OR #4920 NE #5220 OR #<_current_tool> EQ 99 ] (PRINT,first tool load or WCS change ) #4921 = #5063 (PRINT,save trip point ) #4920 = #5220 (PRINT,save WCS ) G53 G0 Z[#<trv>] (PRINT,return to safe level ) M72 (PRINT,restore modal state ) O103 ELSE G53 G0 Z[#<trv>] (PRINT,return to high travel level ) M72 (PRINT,restore modal state ) G43.1 Z[#5063 - #4921] (PRINT,apply offset to Z height after Modal reset ) O103 ENDIF G0 X[#<xpos>] Y[#<ypos>] (PRINT,return to where we were in X=#<xpos> Y=#<ypos> ) (PRINT,tool change routine END) O100 ENDIF O<tool-change> ENDSUB M2