100 lines
3.9 KiB
Plaintext
100 lines
3.9 KiB
Plaintext
(author: Chris P)
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(version: 0.1)
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(date: 05/29/25)
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o<toolchange> sub
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; Parameter #3989 is used to track if the rack is homed (M13) (volatile)
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; Parameter #3990 is used to track the current tool pocket (persistently)
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; Parameter #3991 is used to track the current tool loaded it in the spindle (persistently)
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; Parameters #4001 to #4024 are used to track which tool is in which pocket (persistently)
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; Parameter #4000 is not populated just used in the maths to calculate the above numbers
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; #<atc_z_tool_change_height> The Z height your spindle needs to be at to clamp/unclamp a tool from the ATC platter (Set via INI [ATC]Z_TOOL_CHANGE_HEIGHT)
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; #<atc_z_tool_clearance_height> The Z clearance height in machine coordinates that your spindle needs to be at to clear the tools during rack rotation (Set via INI [ATC]Z_TOOL_CLEARANCE_HEIGHT)
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(PRINT, o<toolchange> selected_tool: #<selected_tool>, tool_in_spindle: #<tool_in_spindle>, selected_pocket: #<selected_pocket>, current_pocket: #<current_pocket>, task: #<_task>)
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o100 if [#<_task> EQ 0]
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(DEBUG, Task is null)
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o<toolchange> return [999]
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o100 endif (this code eliminates tool missing error on load for multiple use tools)
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#<number_of_pockets> = #3973
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#<atc_z_tool_change_height> = #3981
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#<atc_z_tool_clearance_height> = #3982
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; assign the variables passed by M6 change_prolog to some parameters
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#100 = #<selected_tool>
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#110 = #<tool_in_spindle>
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#120 = #<selected_pocket>
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#121 = #<current_pocket>
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o110 if [#<selected_tool> EQ #<tool_in_spindle>] ; checks if tool in the spindle is same as requested
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(PRINT, Requested tool already in spindle)
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(PRINT, o<toolchange> endsub)
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o<toolchange> endsub [1]
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M2
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o110 endif
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o120 if [#3991 NE #<tool_in_spindle>]
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(PRINT, o<toolchange> tool_in_spindle does not match 3991)
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o120 endif
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#<next_pocket> = 0 ; assigns 0 to the next pocket for a later check if the tool is found in the rack
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#<open_pocket> = 0
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#130 = #<number_of_pockets> ; assign test parameter the number of pockets in the rack
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o130 do
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o161 if [#[4000 + #130] EQ #<selected_tool>] ; checks all pockets to see if it contains tool number requested as the new tool
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#<next_pocket> = #130 ; if tool is found in pocket, assigns the next pocket
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o161 endif
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o162 if [#[4000 + #130] EQ 0] ; checks if the pocket is empty, last pocket checked will be the lowest empty pocket number, for putting tool in spindle away.
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#<open_pocket> = #130
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o162 endif
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#130 = [#130 - 1]
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o130 while [#130 GT 0]
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o140 if [#<next_pocket> EQ 0] ; if tool is not found, aborts and sends a message
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(abort, Tool T%d#<selected_tool> not found in rack)
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o140 endif
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; now we know which pocket the next tool is sitting in
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; we need to know if we need to put a tool away
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; or if there is not tool in the spindle
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o150 if [#<tool_in_spindle> GT 0] ; checks if there is a valid tool in the spindle
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o151 if [#<open_pocket> EQ 0] ; If there is a tool in the spindle, checks if there is an open pocket
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(abort, rack is full, cant store tool T#<tool_in_spindle> in rack)
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o151 endif
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o<m21> call [#<open_pocket>]; puts the tool in spindle away into the open pocket
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(DEBUG, EVAL[vcp.getWidget{"rackatc"}.store_tool{#<open_pocket>, #<tool_in_spindle>}])
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#140 = #<open_pocket>
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#[4000 + #140] = #<tool_in_spindle> ; save tool number in pocket
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#3991 = 0 ; empty tool in the spindle
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M61 Q0
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G49
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o150 endif
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o160 if [#<selected_tool> GT 0] ; selected tool is not tool 0
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o<m22> call [#<next_pocket>] ; set the spindle to move to the right pocket for the selected tool
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(DEBUG, EVAL[vcp.getWidget{"rackatc"}.store_tool{#<next_pocket>, 0}])
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#150 = #<next_pocket>
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#[4000 + #150] = 0 ; empty the pocket
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#3991 = #<selected_tool> ; Set persistent variable to remember tool in spindle after power cycle
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o160 else
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M25 ; deactive drawbar
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o160 endif
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M61 Q#<selected_tool>
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o170 if [1 EQ 1]
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G43 H#<selected_tool>
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o170 endif
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o<program_coolant> call
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(PRINT, o<toolchange> endsub)
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o<toolchange> endsub [1]
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M2
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