I am back to working on my tool changer, I have been looking over the files in the VMC toolchange on GITHUB and the section of the manual, and I still have not been able to put the pieces together.
I am missing it where I am matching a pin to the M code
Like moving the tool changer arm into position, which mine is just a left/right slide.
This would be in the toolchange_index.hal
Code:
# Tool changer arm act, limit switches
net arm-in-act motion.ppmc.0.dout.10.out
net arm-out-act motion.ppmc.0.dout.11.out
net arm-in motion.ppmc.0.din.19.in
net arm-out motion.ppmc.0.din.20.in
Now for a section of my remapped M6 in toolchange.ngc
How does it know what hal pin is matched to the M66, Px and M64, Px ??
Code:
o<toolchange> sub
; M66
; P0 carosuel completed ??? <- what will signal carosuel complete
; P1 spindle-is-aligned
; P2 arm-in
; P3 arm-out
; P4 tool-locked
; P5 tool-released
; M64
; P1 arm-in-act
; P2 arm-out-act
; P3 release-tool
M19 R0 ;align the spindle
M66 P1 L3 Q5 ; wait for spindle-aligned = true
O103 if [#5399 LT0]
(abort, failed to orient spindle)
O103
; 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
M63 P2 ; move arm in
M66 P2 L3 Q5 ; wait for arm-in = true
O104 if [#5399 LT 0]
(abort, failed to move arm in)
O104 endif
M63 P3 ; release tool
M66 P3 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
M63 P2 ; move arm in (might already be in)
M66 P2 L3 Q5 ; wait for arm-in = true
O109 if [#5399 LT 0]
(abort, failed to move arm in)
O109 endif
G53 G0 Z-4 ; pick up the tool
O200 ENDIF
M63 P3 ; clamp tool
M66 P3 L4 Q2 ; wait for tool-locked = true
O110 if [#5399 LT 0]
(abort, failed to lock tool)
O110 endif
M65 P2 ; move arm back out
M66 P4 L3 Q5 ; wait for arm-out = true
O111 if [#5399 LT 0]
(abort, failed to move arm out)
O111 endif
o<toolchange> endsub [1]
M2
