Samurai 120 CNC Tool Changer Configuration

Hi all,
I’m looking for some advice on configuring a tool changer for a Samurai 120 CNC.The machine is currently running a Raspberry Pi 5 with EtherCAT-based Leadshine EL8 servo drives and motors.
The tool changer will require two additional motors, which I haven’t purchased yet. At the moment I’m considering the StepperOnline EtherCAT servo motors, as they’re significantly cheaper than the Leadshine units.
Has anyone here configured an EtherCAT-based tool changer using two motors, or got any advice on the best way to approach the setup and control side of it?I’m also using the Probe Basic interface, so I’ll probably need some help understanding how to correctly configure everything to work with that as well.Any guidance would be greatly appreciated.
 

Tool changers are often more difficult than the test of the machine, if only because there are more variations.
What do the two motors do? What manner of toolchanger is it?

Hi Andy,The tool changer uses two motors: one to rotate the carousel into position and the other to actuate the tool change mechanism.The carousel rotation has a proximity sensor fitted, which could be used to establish a reference or home position. Once the correct tool position has been indexed, the second motor drives the tool in and out to allow the machine to perform the tool change.I’ve added a video link below showing an example of the system running on Mach4. It should give a better idea of how the sequence operates.


thanks for the help !

Sorry for the slow reply, I haven't been able to find much time recently.

I think that the carousel component could be used for this, but you would need two instances of the component and I think that limitations of LinuxCNC (can't have two tools in the same pocket number) would mean that you would need to do some processing of pocket number in HAL to feed the right numbers in.

Luckily I did consider the possibility of multiple carousels being used, so you just use
loadrt carousel num_pockets = 10,10
to load two 10-pocket carousels

for example you could use pockets 0-10 for one carousel and 100-110 for the other. Then in HAL you would check the pocket number (comp component) and if >= 100 enable one carousel, and if <100 enable the other. Then pass pocket number - 100 to both carousel components (only the one that was actuated would move)
The sequencing could be done in any way that works for you, but G-code is one way. See the sim config configs/sim/axis/vismach/VMC_toolchange for an example that runs the tool magazine with the carousel component and handles the rest of the sequence in a g-code routine. You could equally well use classic ladder or a python script if that suits you better.