:* Place links to pages that explain how you accomplished your particular project. Write clear explanations that provide background on what you did and how you did it.
====[[Tool Changer - router linear 4 Tools - C Program]][[File:LINEAT+ATC.jpg|none|link=|246x178px]]====
<pre class="brush:c">#include "KMotionDef.h"
#define TMP 10 // which spare persist to use to transfer data
#include "..\..\KflopToKMotionCNCFunctions.c"
//-----------------------------------------
// LINEAR TOOL CHANGING
//-----------------------------------------
#define AXISX 0
#define AXISY 1
#define AXISZ 2
//---------Absolute position of tool holders
#define HOLDER_X_1 100
#define HOLDER_X_2 200
#define HOLDER_X_3 300
#define HOLDER_X_4 400
#define HOLDER_Y 1300
#define HOLDER_Z -200
// absolute position of the tool height setting plate
#define TOOL_HEIGHT_PLATE_X 50
#define TOOL_HEIGHT_PLATE_Y 50
// absolute position to move to that is permanently unobstructed, and safe to move down in Z
#define TOOL_CHANGE_SAFE_POS_X 250
#define TOOL_CHANGE_SAFE_POS_Y 1200
#define AXIS_SAFE_DISTANCE_Y 100 // distance in mm to approach tool holder
//---------
//--------- Spindle IO bits
#define CLAW_EJECT 58 // IO bit to eject tool from spindle (KONNECT OUTPUT 10)
#define SPINDLE_CLEAN 59 // IO bit to blow air out of spindle taper (KONNECT OUTPUT 11)
#define CLAW_LOOSE 1048 // IO bit to sense whether the claw has ejected (KONNECT INPUT 24)
#define TOOL_SENSE 1049 // IO bit to sense whether the a tool is in the spindle (KONNECT INPUT 24)
//---------
#define TOOL_VAR 9 // Tool changer desired new tool Var
// Tool changer Last tool loaded is saved globally in this Var
#define LAST_TOOL_VAR 8 // -1=Spindle empty, 0=unknown, 1-4 Tool Slot loaded into Spindle
#define TOOL_DISK_FILE "c:\\Temp\\ToolChangerData.txt"
#define CLAMP_TIME 1.0 // seconds to wait for the clamp/unclamp
#define TOOL_HEIGHT_BIT 1055 //bit to read tool height plate (KONNECT INPUT 31)
#define SAFE_HEIGHT_Z 100 // relative distance in mm to move to clear the top of the tool taper
#define TOOL_RETRACT_SPEED_Z 5000 //speed in counts/second to move spindle up after tool has been ejected
#define SlowSpeed 10.0 //mm/sec
#define CNT_PER_MM_X 800.0
#define CNT_PER_MM_Y 800.0
#define CNT_PER_MM_Z 800.0
// function prototypes
int DoToolChange(int ToolSlot);
int GetCurrentTool(int *tool);
int SaveCurrentTool(int tool);
BOOL ToolNumberValid(int tool);
float ToolPositionX(int tool);
int MoveXY(float x, float y, float Speed);
int MoveZ(float z, float Speed);
int UnloadTool(int CurrentTool);
int LoadNewTool(int Tool);
int EjectTool(void);
main()
{
int ToolSlot = persist.UserData[TOOL_VAR]; // Requested tool to load (value stored an integer)
if (DoToolChange(ToolSlot)) // perform Tool Change
{
// error, Halt Job
DoPC(PC_COMM_HALT);
}
}
// Perform Tool Change. Return 0=Success, 1=Failure
int DoToolChange(int ToolSlot)
{
int CurrentTool;
if (GetCurrentTool(&CurrentTool)) return 1; // -1=Spindle empty, 0=unknown, 1-4 Tool Slot loaded into Spindle
printf("Load Tool Slot %d requested, Current Tool %d\n",ToolSlot, CurrentTool);
if (!ToolNumberValid(ToolSlot)) // check if invalid
{
char s[80];
sprintf(s,"Invalid Tool Change Number %d\n",ToolSlot);
printf(s);
MsgBox(s, MB_ICONHAND | MB_OK);
return 1;
}
if (CurrentTool!=-1) // is there a tool in the Spindle??
if (UnloadTool(CurrentTool)) return 1; // yes, unload it
// Now Spindle is empty, load requested tool
if (LoadNewTool(ToolSlot)) return 1;
SaveCurrentTool(ToolSlot); // save the one that has been loaded
return 0; // success
}
// - Load new Tool (Spindle must be empty)
int LoadNewTool(int Tool)
{
// - Move to position of requested tool
// - Rapid move to absolute position of new tool only in X and Y
if (MoveXY(ToolPositionX(Tool),HOLDER_Y,SlowSpeed)) return 1;
// - Move to tool Z position at TOOL_RETRACT_SPEED_Z
if (MoveZ(HOLDER_Z,SlowSpeed)) return 1;
// - Engage new tool
// - CLAW_EJECT and SPINDLE_CLEAN bits are currently high from tool removal operation
// - Turn off CLAW_EJECT and SPINDLE_CLEAN bits to engage tool
ClearBit(CLAW_EJECT);
ClearBit(SPINDLE_CLEAN);
// - Wait for time in seconds defined by CLAMP_TIME
Delay_sec(CLAMP_TIME);
// - Check to see if CLAW_LOOSE and TOOL_SENSE are high; if either are not,
// something has gone wrong; halt everything and display message indicating failure
// - Tool has been engaged
if (!ReadBit(CLAW_LOOSE))
{
printf("Claw Still Loose Error\n");
MsgBox("Claw Still Loose Error\n", MB_ICONHAND | MB_OK);
return 1;
}
if (!ReadBit(TOOL_SENSE))
{
printf("Tool Sense Error\n");
MsgBox("Tool Sense Error\n", MB_ICONHAND | MB_OK);
return 1;
}
// - Leave tool holder by moving Y axis by the negative value of Y_AXIS_SAFE_DISTANCE
// - Move to position of requested tool
// - Rapid move to absolute position of new tool only in X and Y
if (MoveXY(ToolPositionX(Tool),HOLDER_Y+AXIS_SAFE_DISTANCE_Y,SlowSpeed)) return 1;
// - Rapid to Z home
if (MoveZ(0.0,SlowSpeed)) return 1;
return 0; //success
}
// - Remove tool in spindle by going to holder of current tool
int UnloadTool(int CurrentTool)
{
// - Rapid to Z Home to clear any work that may be on the table
if (MoveZ(0.0,SlowSpeed)) return 1;
// - Rapid to TOOL_CHANGE_SAFE_POS to execute a safe negative Z move
if (MoveXY(TOOL_CHANGE_SAFE_POS_X,TOOL_CHANGE_SAFE_POS_Y,SlowSpeed)) return 1;
// - Approach tool holder by matching Z height of tool flange currently in spindle with tool holder claw
if (MoveZ(HOLDER_Z,SlowSpeed)) return 1;
// - After matching height above, approach tool holder by moving to holder X position
if (MoveXY(ToolPositionX(CurrentTool),TOOL_CHANGE_SAFE_POS_Y,SlowSpeed)) return 1;
// - After matching X position, match tool Y position
if (MoveXY(ToolPositionX(CurrentTool),HOLDER_Y,SlowSpeed)) return 1;
// - Move only in Y position until current position matches tool holder position (maybe disable X) axis?)
// ???
// - Eject tool
if (EjectTool()) return 1;
return 0; //success
}
// - Eject tool
int EjectTool(void)
{
// - Turn on CLAW_EJECT bit to remove tool from spindle
SetBit(CLAW_EJECT);
// - Turn on SPINDLE_CLEAN bit to remove any debris from taper and tools
SetBit(SPINDLE_CLEAN);
// - Wait for time in seconds defined by CLAMP_TIME
Delay_sec(CLAMP_TIME);
// - Read CLAW_LOOSE bit to see whether the tool is loose, to make a safe Z move without
// destroying tool holder
// - If CLAW_LOOSE bit is high, something has gone wrong;
// halt everything and display message indicating failure
if (ReadBit(CLAW_LOOSE))
{
printf("Claw Loose Error\n");
MsgBox("Claw Loose Error\n", MB_ICONHAND | MB_OK);
return 1;
}
// - Move Z axis up at speed defined by 'Z_TOOL_RETRACT_SPEED', to Z_SAFE_HEIGHT
if (MoveZ(HOLDER_Z+SAFE_HEIGHT_Z,TOOL_RETRACT_SPEED_Z)) return 1;
// - Read TOOL_SENSE bit to see whether the tool has been successfully ejected from the spindle
// - If TOOL_SENSE bit is high, something has gone wrong;
// halt everything and display message indicating failure
if (ReadBit(TOOL_SENSE))
{
printf("Tool Sense Release Error\n");
MsgBox("Tool Sense Release Error\n", MB_ICONHAND | MB_OK);
return 1;
}
return 0; // success
}
//return x position of tool holder as a function of the tool
float ToolPositionX(int tool)
{
return (HOLDER_X_2-HOLDER_X_1)*(tool-1) + HOLDER_X_1;
}
// Get the last loaded tool. Parameter points to where to return tool
// First try to get from KFLOP memory
// if memory is invalid, try to read from disk
// if can't read disk then ask Operator
// returns 0 on success, 1 on fail or Operator asked to abort
int GetCurrentTool(int *ptool)
{
int success,Answer,result,tool;
float value;
tool = persist.UserData[LAST_TOOL_VAR];
success = ToolNumberValid(tool); // check if valid
if (!success) // invalid after power up, try to read from PC Disk File
{
// Try to open file
FILE *f=fopen(TOOL_DISK_FILE,"rt");
if (f) // did file open?
{
// read a line and convert it
result=fscanf(f,"%d",&tool);
fclose(f);
if (result==1 && ToolNumberValid(tool))
{
printf("Read Disk File Value of %d\n",tool);
success=TRUE; // success if one value converted
}
}
if (!success) printf("Unable to open/read file:%s\n",TOOL_DISK_FILE);
}
if (!success) // if still no success ask Operator
{
Answer = InputBox("Tool in Spindle or -1",&value);
if (Answer)
{
printf("Operator Canceled\n");
return 1;
}
else
{
tool=value;
printf("Operator Entered Value of %d\n",tool);
}
}
if (!ToolNumberValid(tool)) // check if invalid
{
char s[80];
sprintf(s,"Invalid Current Tool Number %d\n",tool);
printf(s);
MsgBox(s, MB_ICONHAND | MB_OK);
return 1;
}
printf("Current tool = %d\n",tool);
*ptool = tool; // return result to caller
return 0; //success
}
// save the tool number to KFLOP global Variable and to PC Disk file in case we loose power
int SaveCurrentTool(int tool)
{
persist.UserData[LAST_TOOL_VAR]=tool;
FILE *f=fopen(TOOL_DISK_FILE,"wt");
fprintf(f,"%d\n",tool);
fclose(f);
return 0;
}
// check if Current Tool number Valid
// -1 = no tool loaded
// 1-4 = valid tool
BOOL ToolNumberValid(int tool)
{
return tool == -1 || (tool>=1 && tool<=4);
}
// Move Axis XY at specified Speed and wait until complete
// return 0 = success, 1 if axis disabled
int MoveXY(float x, float y, float Speed)
{
MoveAtVel(AXISX, x * CNT_PER_MM_X, Speed * CNT_PER_MM_X);
MoveAtVel(AXISZ, y * CNT_PER_MM_Y, Speed * CNT_PER_MM_Y);
while (!CheckDone(AXISX) || !CheckDone(AXISY))
{
if (!chan[AXISX].Enable)
{
printf("Error X Axis Disabled\n");
MsgBox("Error X Axis Disabled\n", MB_ICONHAND | MB_OK);
return 1;
}
if (!chan[AXISY].Enable)
{
printf("Error Y Axis Disabled\n");
MsgBox("Error Y Axis Disabled\n", MB_ICONHAND | MB_OK);
return 1;
}
}
return 0; //success
}
// Move Axis Z at specified Speed and wait until complete
// return 0 = success, 1 if axis disabled
int MoveZ(float z, float Speed)
{
MoveAtVel(AXISZ, z * CNT_PER_MM_Z, Speed * CNT_PER_MM_Z);
while (!CheckDone(AXISZ))
{
if (!chan[AXISZ].Enable)
{
printf("Error Z Axis Disabled\n");
MsgBox("Error Z Axis Disabled\n", MB_ICONHAND | MB_OK);
return 1;
}
}
return 0; //success
}
</pre>