Emco 240 Tool Turret

########################################################## # example Hal linkages required:- ########################################################## setp stepgen.3.position-scale [AXIS_3]SCALE setp stepgen.3.steplen 1 setp stepgen.3.stepspace 0 setp stepgen.3.dirhold 16000 setp stepgen.3.dirsetup 31000 ## make sure accel and velocity are sensibly low or it will take off! setp stepgen.3.maxaccel [AXIS_3]STEPGEN_MAXACCEL ### must unlink these 2 to access stepgen.3.position-cmd ### and prevent continual following errors if motor-pos-fb left linked #net apos-cmd axis.3.motor-pos-cmd => stepgen.3.position-cmd #net apos-fb stepgen.3.position-fb => axis.3.motor-pos-fb net astep <= stepgen.3.step net adir <= stepgen.3.dir net aenable axis.3.amp-enable-out => stepgen.3.enable

sub change_tool ;Switch off guard for tool change area collision TCAGuard off ;Use #5015 to indicate succesfull toolchange #5015 = 0 ; Tool change not performed ; check tool in spindle and exit sub msg"Current 5008 "#5008 msg"new 5011 "#5011 IF [ [#5011] <> [#5008] ] IF [[#5011] > 6 ] ERRMSG "PLEASE SELECT A TOOL FROM 1 TO 6." ENDIF ENDIF IF [#5011]>[#5008] #4600=[#5011-#5008] ENDIF IF [#5011<#5008] #4600=[[#5011-#5008]+6] ENDIF #4601=[[#4600*60]+3] msg #4601 G00 G91 A#4601 G00 G91 A-4 G90 M6T#5011 G43 ;Switch on guard for tool change area collision TCAGuard on ;;Check if ZHeight comp was on before and switch ON again if it was. ;if [#5019 == 1] ; ZHC on ;endif EndSub