A tool changer a differnt way...

The gripper is the Dorna.ai standard gripper with the ends replaced with 3d printed gripper ends...
I am 100% comfortable sharing all the code, robot, pathpilot , 3d parts everything.

I'm an experienced C/C++ programmer, this is the first thing I've ever done in python. At the end of the project I hate it less than I did at the start, given that I still miss my {} and ;

This is code thrown together for my personal , one application use, in a language where I'm a complete amateur.

Given that I'm 100% willing to share with anyone that asks...
That is a bit different than putting it out in a 100% public widely distributed way with my name on it as it is not up to the standards for code I release.

I will probably put together a detailed blog post on the full mill upgrade including the tool changer and all the code modifications some time in the next month or so. After I've used it some and fixed any gotchas I discover in actual use.

>an how you do the needed indexing
In the latest video you can see a blue ring on the mill table....
That is a 3d printed hollowed out version of the tool grabbing of the tool holder.

I put that in the grippers then I have a simple command line driven utility that lets my cycle through all the tool positions, adjusting the position and saving it all to disk in a big array...

The original version of this file was generated in excel and edited by hand from the cad files for the tool holder rack... (the rack is in an arc, so all three levels are nominally on the self similar arcs, so the only joint change for each of the 5 positions per level is the rotation)

Once I had something close I went through all the positions with the 3d printed sight tool making slight adjustments. All positons were within 0.2" of the CAD position.

Does that answer your indexing question?

For example here is the code for pick and place....
Putting a tool in or picking up the tool from a specific slot..

#f_k joint to xyz i_k xyz to joint
def pick(n):
global theRobot
global poslist
if(poslist==None):
LoadList()
dn=poslist[n];
xyz=theRobot.f_k(dn)
xyzdn=theRobot.f_k(dn)
showp(dn,"dn")
xyz[2]=16
up=theRobot.i_k(xyz)
showp(up,"up")
theRobot.open()
mp(up)
theRobot.movx(xyzdn[0],xyzdn[1],xyzdn[2]+1)
mp(dn)
theRobot.close()
theRobot.movx(xyzdn[0],xyzdn[1],16)

def place(n):
global theRobot
global poslist
if(poslist==None):
LoadList()
dn=poslist[n];
xyz=theRobot.f_k(dn)
xyzdn=theRobot.f_k(dn)
showp(dn,"dn")
xyz[2]=16
up=theRobot.i_k(xyz)
showp(up,"up")
mp(up)
theRobot.movx(xyzdn[0],xyzdn[1],xyzdn[2]+1)
mp(dn)
theRobot.open()
theRobot.movx(xyzdn[0],xyzdn[1],16)

mp is move to point...in joint coordinates...

Boy that format sure got butchered in posting...

pbreed wrote: Boy that format sure got butchered in posting...

Use the code embed. the button with <> on it..

Some of the major machine tool manufacturer use a setup like this to feed the main tool magazine for a multi pallet system.

I think makino makes one