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;

; RosettaCNC (c) 2016-2020

;

; Name : tool_change.ngc

; Sub UID : 6

; Version : 2

; Description : Tool change macro

; Application : Standard CNC cycles

; Note : This macro is called by CNC with M06 or manually with G65 P"tool_change" for optional actions.

; : Check the #6000 parameter description for tool change supported types.

;

; DISCLAIMER : This macro is provided 'AS IS', without WARRANTY of any kind, express or implied.

; : The macro is provided as an example only.

; : Use this macro at your own risk.

;

; TAKE CARE : Don't use the CNC #5132..5135 because they are valid ONLY when the macro is called with a M06.

;

; Conventions of input parameters

;

; Xx compulsory parameter

; [Xx] optional parameter

; (Xx|Yy|Zz)? one of compulsory paramaters

; [Xx|Yy|Zz]* zero or more optionals parameters

; [Xx|Yy|Zz]+ at least one or more optionals parameters

; M! compulsory parameter don't take care of passed value

; [M!] optional parameter don't take care of passed value

; M[1|2]? compulsory parameter with one of listed values (e.g. M1 or M2)

; [M[1|2]?] optional parameter with one of listed values (e.g. None or M1 or M2)

;

; Format

;

; M06

;

; G65 P"tool_change" Aa Bb Cc Ii [Jj] [K!]

;

; Arguments with M6 call

;

; Aa #1 tool id of the tool to be loaded

; Bb #2 slot of the tool to be loaded

; Cc #3 tool id of the tool in use

; Ii #4 slot of the tool in use

;

; Extra arguments with G65 call

;

; Jj #5 optional action:

; #0 = the option is disabled (is the normal condition when the macro is called by a M06)

; 0 = do not change behavior of tool-setter after a pick in M06 or direct macro call

; 1 = do not execute tool-setter after a pick

; 2 = force execute tool-setter after pick

; 3 = execute only tool-setter of loaded tool

; 4 = execute only magazine open

; 5 = execute only magazine close

; 6 = return magazine state in #<tc.atc.magazine_state>

; 7 = manually cone unload/load

; Kk #6 optional magazine argument:

; #0 = the option is disabled (is the normal condition when the macro is called by a M06)

; any = don't close magazine, is not the last operation (PICK/PLACE/TOOL-SETTER) to do yet

;

; Protected Parameters

;

; Param Description

; ===== ===========

; #6000 TOOL_CHANGE [GEN] : Type:

; 0 = Dummy tool change:

; This mode only notice to the PLC about the loaded tool ID.

; No other actions or movments will be done.

; 1 = Manual Tool Change (MTC) with tool length probing:

; a] Moves to tool-setter position and measures the loaded tool length.

; b] Moves to tool change position and show info about tool to manually change.

; c] Waits for the manual tool change by the operator which confirm that change is done.

; d] Moves to tool-setter position to measures the length of the new tool.

; e] Calcs the difference and uses this value as tool length compensation.

; 2 = Manual Tool Change (MTC) with tool length from Tools Library info:

; a] Moves to tool change position and show info about tool to manually change.

; b] Waits for the manual tool change by the operator which confirm that change is done.

; c] If enabled applies the tool length compensation from Tools Libary info.

; 10 = Automatic Tool Change (ATC)

; This mode manages a rack of slots using place/side & pick/top approach.

; If there is a loaded tool it will be placed.

; If there is a requested tool it will be picked.

; If the tool length measurement/compensation are enabled they are automaticallly performed.

; 11 = Automatic Tool Change (ATC)

; This mode manages a rack of slots using place/top & pick/top approach.

; If there is a loaded tool it will be placed.

; If there is a requested tool it will be picked.

; If the tool length measurement/compensation are enabled they are automaticallly performed.

; #6001 TOOL_CHANGE [GEN] : Features:

; 0 = Back to work position is OFF.

; 1 = Back to work position is ON.

; #6002 TOOL_CHANGE [MTC] : Change position X (MCS)

; #6003 TOOL_CHANGE [MTC] : Change position Y (MCS)

; #6004 TOOL_CHANGE [MTC] : Change position Z (MCS)

; #6005 TOOL_CHANGE [TLS] : Sensor safe position Z (MCS)

; #6006 TOOL_CHANGE [TLS] : Sensor top/center position X (MCS)

; #6007 TOOL_CHANGE [TLS] : Sensor top/center position Y (MCS)

; #6008 TOOL_CHANGE [TLS] : Sensor top/center position Z (MCS)

; #6009 TOOL_CHANGE [GEN] : Feed during tool change procedure

; #6010 TOOL_CHANGE [TLS] : Z approaching sensor position (MCS, reached with feed #6011)

; #6011 TOOL_CHANGE [TLS] : Z feed to sensor approaching (FAST)

; #6012 TOOL_CHANGE [TLS] : Z feed to 1st probe input capture (SLOW)

; #6013 TOOL_CHANGE [TLS] : Z feed to 2nd probe input capture (VERY SLOW)

; #6014 TOOL_CHANGE [TLS] : Z up movement after 1st touch capture (REL)

; #6015 TOOL_CHANGE [TLS] : Minimum tool lenght accepted

; #6016 TOOL_CHANGE [TLS] : Enable tool length compensation (only for tool change type 1)

; #6017 TOOL_CHANGE [TLS] : Probe cleaning output

; #6018 TOOL_CHANGE [TLS] : Probe cleaning time

; #6019 TOOL_CHANGE [___] : !!! RESERVED FOR FUTURE USE !!!

; #6020 TOOL_CHANGE [ATC] : Magazine type:

; 0 = none magazine

; 1 = magazine with 2 control outputs (open and close with individual pulse output)

; #6021 TOOL_CHANGE [ATC] : Magazine input open

; #6022 TOOL_CHANGE [ATC] : Magazine input closed

; #6023 TOOL_CHANGE [ATC] : Magazine input timeout

; #6024 TOOL_CHANGE [ATC] : Magazine output time

; #6025 TOOL_CHANGE [ATC] : Magazine output open

; #6026 TOOL_CHANGE [ATC] : Magazine output close

; #6027..#6035 TOOL_CHANGE [___] : !!! RESERVED FOR FUTURE USE !!!

; #6036 TOOL_CHANGE [ATC] : Fast unload tool holder distance

; #6037 TOOL_CHANGE [ATC] : Slow unload tool holder distance

; #6038 TOOL_CHANGE [ATC] : Slow unload tool holder feed

; #6039 TOOL_CHANGE [ATC] : Fast load tool holder distance

; #6040 TOOL_CHANGE [ATC] : Medium load tool holder distance

; #6041 TOOL_CHANGE [ATC] : Medium load tool holder feed

; #6042 TOOL_CHANGE [ATC] : Final load tool holder feed

; #6043 TOOL_CHANGE [ATC] : Cone load unload time (used only if "Cone load unload input" is zero)

; #6044 TOOL_CHANGE [ATC] : Cone load unload input (used only for a NO button and detect the release. You must have a macro that start procedure)

; #6045 TOOL_CHANGE [ATC] : Cone cleaning blow output

; #6046 TOOL_CHANGE [ATC] : Bearing cleaning blow output

; #6047 TOOL_CHANGE [ATC] : Cone grip output

; #6048 TOOL_CHANGE [ATC] : Cone grip output time

; #6049 TOOL_CHANGE [ATC] : Slots positions parameters address

; If undefined (#0) or set to 0 the default address is 6061 for maximum 13 slots

; #6050 TOOL_CHANGE [ATC] : Safe Z

; #6051 TOOL_CHANGE [ATC] : Unlock input

; #6052 TOOL_CHANGE [ATC] : Unlock output

; #6053 TOOL_CHANGE [ATC] : Unlock timeout

; #6054 TOOL_CHANGE [ATC] : Clamp movement

; #6055 TOOL_CHANGE [ATC] : Pick distance Z

; #6056 TOOL_CHANGE [ATC] : Enable tool-setter

; #6057 TOOL_CHANGE [ATC] : Spindle s1 (tool-holder attached correctly)

; #6058 TOOL_CHANGE [ATC] : Spindle s2 (collet open)

; #6059 TOOL_CHANGE [ATC] : Slot axis orientation (0 = along X | 1 = along Y)

; #6060 TOOL_CHANGE [ATC] : Slots number

; #6061..#6099 TOOL_CHANGE [ATC] : Slots positions parameters (default, with #6049 = #0 or 0, for 1 to 13 slots) (MCS)

;

O6

; === DISCLAIMER ===

;

; This macro is provided 'AS IS', without WARRANTY of any kind, express or implied.

; The macro is provided as an example only.

; Use this macro at your own risk.

;

; NOTE: You can comment line 157 or delete this ADVICE but anyway you will accept the macro DISCLAIMER of the original code.

;

IF [EXISTS[#<tc.disclaimer.showed>] EQ 0] THEN10

#<tc.disclaimer.showed>=1

M109 P"DISCLAIMER This macro is provided 'AS IS', without WARRANTY of any kind, express or implied. The macro is provided as an example only. Use this macro at your own risk." Q2

END10

; store loaded/requested tool/slot ID

#<tc.requested.tool_id>=#1

#<tc.requested.slot_id>=#2

#<tc.loaded.tool_id>=#3

#<tc.loaded.slot_id>=#4

; recover macro optional action when macro is called with G65

IF [[#5 EQ #0] OR [#5 EQ 0]] THEN10

#<tc.macro.option>=0

ELSE10

#<tc.macro.option>=#5

END10

; recover macro optional magazine argument available when macro called with G65

IF [EXISTS[#<_args.K>]] THEN10

#<tc.do_not_close_magazine>=1

ELSE10

#<tc.do_not_close_magazine>=0

END10

; initialize ATC parameters

CALL P"TC_INIT"

; store actual PLC states in local variables

#<_saved.5001>=#5001 ; current TCP position X

#<_saved.5002>=#5002 ; current TCP position Y

#<_saved.5003>=#5003 ; current TCP position Z

#<_saved.5004>=#5004 ; current position A

#<_saved.5005>=#5005 ; current position B

#<_saved.5006>=#5006 ; current position C

#<_saved.5101>=#5101 ; active G-codes - group 01: G00, G01, ...

#<_saved.5130>=#5130 ; active feed rate (F)

#<_saved.5151>=#5151 ; active M-codes: M3, M4, M5

#<_saved.5153>=#5153 ; active M-codes: M7, M9

#<_saved.5154>=#5154 ; active M-codes: M8, M9

#<_saved.5103>=#5103 ; active G-codes - group 03: G90, G91

; store actual PLC states in global variables

#<saved.5136>=#5136 ; active feed override mode (P argument of M50)

; set absolute coordinate

G90

; check if last G-codes group 01 used instruction was a G00/G01 otherwise, to prevent

; an error when setting G#<_saved.5101>, set it to G80 (cancel motion mode)

IF [[#<_saved.5101> NE 0] AND [#<_saved.5101> NE 1]] THEN #<_saved.5101>=80

; check if required only a tool-setter procedure by ATCM macro

IF [#<tc.macro.option> EQ 3] THEN10

CALL P"TC_TOUCH_PROBE_EXTERNAL_REQUEST"

; enable tool length compensation if enabled

IF [#<tc.enable_tool_length_compensation> EQ 1] THEN G43 H#<tc.requested.tool_id>

GOTO10

ELIF [#<tc.macro.option> EQ 4] THEN10

CALL P"TC_MAGAZINE_OPEN"

GOTO10

ELIF [#<tc.macro.option> EQ 5] THEN10

#<tc.do_not_close_magazine>=0

CALL P"TC_MAGAZINE_CLOSE"

GOTO10

ELIF [#<tc.macro.option> EQ 6] THEN10

CALL P"TC_MAGAZINE_UPDATE_STATE"

GOTO10

ELIF [#<tc.macro.option> EQ 7] THEN10

CALL P"TC_TOGGLE_CONE_LOAD_UNLOAD"

GOTO10

END10

; check if tool change type = 0 then execute sub MANUAL_TOOL_CHANGE_0

IF [#<tc.type> EQ 0] THEN10

CALL P"MANUAL_TOOL_CHANGE_0"

GOTO10

END10

; avoid any activity if tool change type is 10 or 11 and requested tool is same of loaded tool

IF [[#<tc.type> EQ 10] OR [#<tc.type> EQ 11]] THEN10

IF [[#<tc.requested.tool_id> EQ 0] AND [#<tc.loaded.tool_id> EQ 0]] THEN M109 P"tool change require a PICK or PLACE or PLACE/PICK action" Q-1

IF [[#<tc.requested.tool_id> EQ #<tc.loaded.tool_id>]] THEN11

; enable tool length compensation if enabled

IF [#<tc.enable_tool_length_compensation> EQ 1] THEN G43 H#<tc.requested.tool_id>

GOTO10

END11

END10

; notice start change procedure to PLC

M107

; show main procedure message for 1s

M109 P"Tool change procedure" Q4

G04 P1

; set position of axes type "rotary axes for head"

IF [[#<cnc.a.type>] EQ #<axis.type.rotary_head>] THEN10

G49

G53 G01 A0 F#<tc.feed>

END10

IF [[#<cnc.b.type>] EQ #<axis.type.rotary_head>] THEN10

G49

G53 G01 B0 F#<tc.feed>

END10

IF [[#<cnc.c.type>] EQ #<axis.type.rotary_head>] THEN10

G49

G53 G01 C0 F#<tc.feed>

END10

; check if Tool change type = 1 the execute sub MANUAL_TOOL_CHANGE_1

IF [#<tc.type> EQ 1] THEN CALL P"MANUAL_TOOL_CHANGE_1"

; check if Tool change type = 2 the execute sub MANUAL_TOOL_CHANGE_2

IF [#<tc.type> EQ 2] THEN CALL P"MANUAL_TOOL_CHANGE_2"

; check if Tool change type = 10 the execute sub AUTOMATIC_TOOL_CHANGE_10

IF [#<tc.type> EQ 10] THEN CALL P"AUTOMATIC_TOOL_CHANGE_10"

; check if Tool change type = 10 the execute sub AUTOMATIC_TOOL_CHANGE_10

IF [#<tc.type> EQ 11] THEN CALL P"AUTOMATIC_TOOL_CHANGE_11"

; move back to saved work position

IF [#<tc.features> EQ 1] THEN10

G01 X#<_saved.5001> Y#<_saved.5002>

G01 Z#<_saved.5003>

IF [[#<cnc.a.type>] EQ #<axis.type.rotary_head>] THEN G01 A#<_saved.5004>

IF [[#<cnc.b.type>] EQ #<axis.type.rotary_head>] THEN G01 B#<_saved.5005>

IF [[#<cnc.c.type>] EQ #<axis.type.rotary_head>] THEN G01 C#<_saved.5005>

END10

( restore saved states )

N10

; restore spindle & coolants states

IF [#<_saved.5151> EQ 3] THEN M03

IF [#<_saved.5151> EQ 4] THEN M04

IF [#<_saved.5153> EQ 7] THEN M07

IF [#<_saved.5154> EQ 8] THEN M08

; restore save feed

F#<_saved.5130>

; restore g-code group 03 state

G#<_saved.5103>

; restore g-code group 01 state

G#<_saved.5101>

; reset HUD message

M109 P"" Q4

; notice end change procedure to PLC

M108

M99

; TOOL CHANGE EXIT

;

; Inputs:

;

; Ee #8 Exit code

; Aa #1 Undefined compulsory protected parameter

;

; Exit codes:

;

; 0 NONE

; 1 Error : One or more compulsory protected parameters are undefined!

; 2 Error : Sensor was found already tripped before to start approach movements to probe!

; 3 Error : Sensor was tripped during approach movements to probe!

; 4 Error : Sensor was found already tripped before to start 1st touch movements!

; 5 Error : Sensor was not found during 1st touch movements!

; 6 Error : Sensor was found already tripped before to start 2nd touch movements!

; 7 Error : Sensor was not found during 2nd touch movements!

; ** Error : Unknown error<number>!

;

SUB "TC_EXIT"

; check for error code

IF [#<_args.e> EQ 0] THEN M99

; reset HUD message

IF [#<tc.enable_hud> EQ 1] THEN M109 P"" Q4

; notice end change procedure to PLC

M108

IF [#<_args.e> EQ 1] THEN M109 P"compulsory protected parameter ##<_args.a> is undefined!" Q-1

IF [#<_args.e> EQ 2] THEN M109 P"Error during measure of tool length Sensor was found already tripped before to start approach movements to probe! " Q1

IF [#<_args.e> EQ 3] THEN M109 P"Error during measure of tool length Sensor was tripped during approach movements to probe! " Q1

IF [#<_args.e> EQ 4] THEN M109 P"Error during measure of tool length Sensor was found already tripped before to start 1st touch movements! " Q1

IF [#<_args.e> EQ 5] THEN M109 P"Error during measure of tool length Sensor was not found during 1st touch movements! " Q1

IF [#<_args.e> EQ 6] THEN M109 P"Error during measure of tool length Sensor was found already tripped before to start 2nd touch movements! " Q1

IF [#<_args.e> EQ 7] THEN M109 P"Error during measure of tool length Sensor was not found during 2nd touch movements! " Q1

IF [#<_args.e> EQ 8] THEN M109 P"compulsory protected parameter ##<_args.a> has a wrong value!" Q-1

M109 P"Generic Error Unknown error #<_args.e>!" Q1

ENDSUB

; MANUAL TOOL CHANGE TYPE 0

;

; This mode only notice to the PLC about the loaded tool ID.

; No other actions or movments will be done.

;

SUB "MANUAL_TOOL_CHANGE_0"

; notice to PLC the loaded tool ID

M61 Q#<tc.requested.tool_id>

ENDSUB

; MANUAL TOOL CHANGE TYPE 1

;

; Manual Tool Change (MTC) with tool length probing:

; a] Moves to tool-setter position and measures the loaded tool length.

; b] Moves to tool change position and show info about tool to manually change.

; c] Waits for the manual tool change by the operator which confirm that change is done.

; d] Moves to tool-setter position to measures the length of the new tool.

; e] Calcs the difference and uses this value as tool length compensation.

;

SUB "MANUAL_TOOL_CHANGE_1"

; disable spindle, flood & mist

M05 M09

; initialize local variabiles

#<_measure1_>=0 ; measured tool offset Z

; disable tool length compensation to avoid software limits error

G49

; measure of tool to unload : approaching to probe

IF [#<tc.enable_hud> EQ 1] THEN M109 P"Measure of tool to unload : approacing to probe..." Q4

; call touch probe procedure

CALL P"TC_TOUCH_PROBE" A#<tc.tls.top_center_position.z> B#<tc.tls.1st_capture_feed> C#<tc.tls.up_movement_after_1st_touch> D#<tc.tls.minimum_tool_lenght_accepted> E#<tc.tls.2nd_capture_feed>

; calculate the tool length offset as the difference between when the sensor was tripped and the sensor Z position.

#<_measure1_> = [#5713 - #<tc.tls.top_center_position.z>]

; move to sensor safe position Z

G53 G01 Z#<tc.tls.safe_position.z> F#<tc.feed>

; move to tool change position

G53 G01 Z#<tc.mtc.change_position.z> F#<tc.feed>

G53 G01 X#<tc.mtc.change_position.x> Y#<tc.mtc.change_position.y>

; a different tool should be inserted. Display the message to the user

M109 P" Insert tool T#<tc.requested.tool_id> <@TI=#<tc.requested.tool_id>> " Q2

G04 P1

; notice to PLC the loaded tool ID

M61 Q#<tc.requested.tool_id>

; measure of loaded tool : approaching to probe

IF [#<tc.enable_hud> EQ 1] THEN M109 P"Measure of loaded tool : approacing to probe..." Q4

; call touch probe procedure

CALL P"TC_TOUCH_PROBE" A#<tc.tls.top_center_position.z> B#<tc.tls.1st_capture_feed> C#<tc.tls.up_movement_after_1st_touch> D#<tc.tls.minimum_tool_lenght_accepted> E#<tc.tls.2nd_capture_feed>

; calculate the tool length offset as the difference between when the sensor was tripped and the sensor Z position.

#<_measure2_> = [#5713 - #<tc.tls.top_center_position.z>]

; move to sensor safe position Z

G53 G01 Z#<tc.tls.safe_position.z> F#<tc.feed>

; calc compensation to do

#<_toll_length_difference_>=[#<_measure2_>-#<_measure1_>+#5422]

; enable dynamic tool length compensation (without use of tools library)

G43.1 Z#<_toll_length_difference_>

ENDSUB

; MANUAL TOOL CHANGE TYPE 2

;

; Manual Tool Change (MTC) with tool length from Tools Library info:

; a] Moves to tool change position and show info about tool to manually change.

; b] Waits for the manual tool change by the operator which confirm that change is done.

; c] If enabled applies the tool length compensation from Tools Libary info.

;

SUB "MANUAL_TOOL_CHANGE_2"

; check if a different tool should be inserted.

IF [#<tc.requested.tool_id> NE #<tc.loaded.tool_id>] THEN10

; disable spindle, flood & mist

M05 M09

; disable tool length compensation to avoid software limits error

G49

; move to tool change position

G53 G01 Z#<tc.mtc.change_position.z> F#<tc.feed>

G53 G01 X#<tc.mtc.change_position.x> Y#<tc.mtc.change_position.y>

; A different tool should be inserted. Display the message to the user.

M109 P" Insert tool T#<tc.requested.tool_id> <@TI=#<tc.requested.tool_id>> " Q2

G04 P1

; notice to PLC the loaded tool ID

M61 Q#<tc.requested.tool_id>

; enable tool length compensation if enabled

IF [#<tc.enable_tool_length_compensation> EQ 1] THEN G43 H#<tc.requested.tool_id>

END10

ENDSUB

; AUTOMATIC TOOL CHANGE TYPE 10

;

; This mode manages a rack of slots using place/side & pick/top approach.

; If there is a loaded tool it will be placed.

; If there is a requested tool it will be picked.

; If the tool length measurement/compensation are enabled they are automaticallly performed.

;

SUB "AUTOMATIC_TOOL_CHANGE_10"

; checks if slots for the PICK and PLACE actions are valid

;

; this happen if G-code require a T with a slot higher than available slots to keep it

IF [[#<tc.loaded.slot_id> LT 0] OR [#<tc.loaded.slot_id> GT #<tc.atc.slots>]] THEN M109 P"tool change require a PLACE slot number not in range (1..#<tc.atc.slots>)" Q-1

IF [[#<tc.requested.slot_id> LT 0] OR [#<tc.requested.slot_id> GT #<tc.atc.slots>]] THEN M109 P"tool change require a PICK slot number not in range (1..#<tc.atc.slots>)" Q-1

; disable tool length compensation to avoid errors in software limits checking

G49

; check actions to do

#<_has.place>=[#<tc.loaded.tool_id> NE 0] ; evaluate if tool change has place action

#<_has.pick>=[#<tc.requested.tool_id> NE 0] ; evaluate if tool change has pick action

( loaded tool placing )

; check if necessary to place the loaded tool

IF [#<_has.place>] THEN10

; show place info

IF [#<tc.enable_hud> EQ 1] THEN M109 P"Tool Changing: PLACE of T#<tc.loaded.tool_id>" Q4

; move Z to safe position

G53 G00 Z#<tc.atc.safe.z>

; disable spindle, flood & mist

M05 M09

; open magazine

CALL P"TC_MAGAZINE_OPEN"

; move XY to clamp zone slot of loaded tool to place it

CALL P"TC_MOVE_XY_TO_CLAMP_ZONE_SLOT" M0

; move Z to tool drop position

G53 G00 Z#<tc.atc.slots[#<tc.loaded.slot_id>].z>

; move XY into tool place

G53 G01 X#<tc.atc.slots[#<tc.loaded.slot_id>].x> Y#<tc.atc.slots[#<tc.loaded.slot_id>].y> F#<tc.feed>

; unload tool-holder

CALL P"TC_TOOLHOLDER_UNLOAD"

; inform the PLC that the tool has been dropped

M61 Q0

; move Z to safe position

G53 G00 Z#<tc.atc.safe.z>

; turn OFF tool unlock output

M63 P#<tc.atc.unlock.output>

; check if there is not a pick action

IF [#<_has.pick> EQ 0] THEN11

; move XY to clamp zone slot of just now unloaded tool

CALL P"TC_MOVE_XY_TO_CLAMP_ZONE_SLOT" M0

END11

END10

( requested tool picking )

; check if necessary to pick the requested tool

IF [#<_has.pick>] THEN10

; show pick info

IF [#<tc.enable_hud> EQ 1] THEN M109 P"Tool Changing: PICK of T#<tc.requested.tool_id>" Q4

; check if place action is enabled

IF [#<_has.place> EQ 0] THEN11

; move Z to safe position

G53 G00 Z#<tc.atc.safe.z>

; disable spindle, flood & mist

M05 M09

; open magazine

CALL P"TC_MAGAZINE_OPEN"

; move XY to outer of tool place position

G53 G00 X#<tc.atc.slots[#<tc.requested.slot_id>].x> Y#<tc.atc.slots[#<tc.requested.slot_id>].y>

; enable bearing and cone cleaning blow

CALL P"TC_BEARING_CONE_CLEANING_BLOW" E1

ELSE11

; move Z to safe position

G53 G00 Z#<tc.atc.safe.z>

; move XY to outer of tool place position

G53 G00 X#<tc.atc.slots[#<tc.requested.slot_id>].x> Y#<tc.atc.slots[#<tc.requested.slot_id>].y>

END11

; turn ON tool unlock output and wait 1s

M62 P#<tc.atc.unlock.output>

G04 P1.0

; enable bearing and cone cleaning blow

CALL P"TC_BEARING_CONE_CLEANING_BLOW" E1

; move Z to tool pick position

#<change.pick.z>=[#<tc.atc.slots[#<tc.requested.slot_id>].z> + #<tc.atc.pick_distance.z>]

G53 G01 Z#<change.pick.z> F#<tc.feed>

; load tool-holder

CALL P"TC_TOOLHOLDER_LOAD"

; disable bearing and cone cleaning blow

CALL P"TC_BEARING_CONE_CLEANING_BLOW" E0

; inform PLC that requested tool has been picked

M61 Q#<tc.requested.tool_id>

; move X or Y to outer of tool place position depending by slot axis orientation

IF [#<tc.atc.slot.axis.orientation> EQ 0] THEN11

#<change.outer.y> = [#<tc.atc.slots[#<tc.requested.slot_id>].y> - #<tc.atc.clamp_movement>]

G53 G00 Y#<change.outer.y>

ELSE11

#<change.outer.x> = [#<tc.atc.slots[#<tc.requested.slot_id>].x> - #<tc.atc.clamp_movement>]

G53 G00 X#<change.outer.x>

END11

; move Z to safe position

G53 G00 Z#<tc.atc.safe.z>

END10

( new loaded tool measuring and compensation )

; check if there was a pick action so a new tool should be in the spindle

IF [#<_has.pick>] THEN10

; check if necessary to measure loaded tool

IF [[[#<tc.atc.enable_tool_setter> EQ 1] AND [#<tc.macro.option> EQ 0]] OR [#<tc.macro.option> EQ 2]] THEN11

CALL P"TC_TOUCH_PROBE"

END11

; enable tool length compensation if enabled

IF [#<tc.enable_tool_length_compensation> EQ 1] THEN G43 H#<tc.requested.tool_id>

END10

; close magazine

CALL P"TC_MAGAZINE_CLOSE"

ENDSUB

; AUTOMATIC TOOL CHANGE TYPE 11

;

; This mode manages a rack of slots using place/top & pick/top approach.

; If there is a loaded tool it will be placed.

; If there is a requested tool it will be picked.

; If the tool length measurement/compensation are enabled they are automaticallly performed.

;

SUB "AUTOMATIC_TOOL_CHANGE_11"

; checks if slots for the PICK and PLACE actions are valid

;

; this happen if G-code require a T with a slot higher than available slots to keep it

IF [[#<tc.loaded.slot_id> LT 0] OR [#<tc.loaded.slot_id> GT #<tc.atc.slots>]] THEN M109 P"tool change require a PLACE slot number not in range (1..#<tc.atc.slots>)" Q-1

IF [[#<tc.requested.slot_id> LT 0] OR [#<tc.requested.slot_id> GT #<tc.atc.slots>]] THEN M109 P"tool change require a PICK slot number not in range (1..#<tc.atc.slots>)" Q-1

; disable tool length compensation to avoid errors in software limits checking

G49

; check actions to do

#<_has.place>=[#<tc.loaded.tool_id> NE 0] ; evaluate if tool change has place action

#<_has.pick>=[#<tc.requested.tool_id> NE 0] ; evaluate if tool change has pick action

( loaded tool placing )

; check if necessary to place the loaded tool

IF [#<_has.place>] THEN10

; show place info

IF [#<tc.enable_hud> EQ 1] THEN M109 P"Tool Changing: PLACE of T#<tc.loaded.tool_id>" Q4

; move Z to safe position

G53 G00 Z#<tc.atc.safe.z>

; disable spindle, flood & mist

M05 M09

; open magazine

CALL P"TC_MAGAZINE_OPEN"

; move XY to clamp zone slot of loaded tool to place it

CALL P"TC_MOVE_XY_TO_CLAMP_ZONE_SLOT" M0

; move XY into tool place

G53 G01 X#<tc.atc.slots[#<tc.loaded.slot_id>].x> Y#<tc.atc.slots[#<tc.loaded.slot_id>].y> F#<tc.feed>

; aproach to tool-holder drop zone

G53 G01 Z[#<tc.atc.slots[#<tc.loaded.slot_id>].z> + #<tc.atc.fast.unload.tool.holder.distance>] F#<tc.feed>

G53 G01 Z[#<tc.atc.slots[#<tc.loaded.slot_id>].z> + #<tc.atc.slow.unload.tool.holder.distance>] F#<tc.atc.slow.unload.tool.holder.feed>

; unload tool-holder

CALL P"TC_TOOLHOLDER_UNLOAD"

; inform the PLC that the tool has been dropped

M61 Q0

; move Z to safe position

G53 G00 Z#<tc.atc.safe.z>

; turn OFF tool unlock output

M63 P#<tc.atc.unlock.output>

; check if there is not a pick action

IF [#<_has.pick> EQ 0] THEN11

; move XY to clamp zone slot of just now unloaded tool

CALL P"TC_MOVE_XY_TO_CLAMP_ZONE_SLOT" M0

END11

END10

( requested tool picking )

; check if necessary to pick the requested tool

IF [#<_has.pick>] THEN10

; show pick info

IF [#<tc.enable_hud> EQ 1] THEN M109 P"Tool Changing: PICK of T#<tc.requested.tool_id>" Q4

; check if place action is enabled

IF [#<_has.place> EQ 0] THEN11

; move Z to safe position

G53 G00 Z#<tc.atc.safe.z>

; disable spindle, flood & mist

M05 M09

; open magazine

CALL P"TC_MAGAZINE_OPEN"

; move XY to clamp zone slot of requested tool to pick it

CALL P"TC_MOVE_XY_TO_CLAMP_ZONE_SLOT" M1

; move XY into tool place

G53 G01 X#<tc.atc.slots[#<tc.requested.slot_id>].x> Y#<tc.atc.slots[#<tc.requested.slot_id>].y> F#<tc.feed>

ELSE11

; move XY to outer of tool place position

G53 G00 X#<tc.atc.slots[#<tc.requested.slot_id>].x> Y#<tc.atc.slots[#<tc.requested.slot_id>].y>

END11

( BEGIN UNLOAD TOOL-HOLDER )

; aproach to tool-holder drop zone

G53 G01 Z[#<tc.atc.slots[#<tc.requested.slot_id>].z> + #<tc.atc.fast.load.tool.holder.distance>] F#<tc.feed>

; turn ON tool unlock output

M62 P#<tc.atc.unlock.output>

; enable bearing and cone cleaning blow

CALL P"TC_BEARING_CONE_CLEANING_BLOW" E1

; check if required unlock output feedback

IF [#<tc.atc.unlock.input> GT 0] THEN11

; wait and check for tool unlock input signal with timeout

M66 P#<tc.atc.unlock.input> L#<wait_input.high> Q#<tc.atc.unlock.timeout>

IF [#5722 EQ #<wait_input.failure>] THEN M109 P"TOOL T#<tc.requested.tool_id> PICK ERROR Collet Unlock Input is LOW " Q1

END11

; wait and check spindle S1/S2 for S1 HIGH & S2 LOW

CALL P"TC_WAIT_AND_CHECK_SPINDLE_S1_S2_FOR_HL"

; aproach to tool-holder drop zone

G53 G01 Z[#<tc.atc.slots[#<tc.requested.slot_id>].z> + #<tc.atc.medium.load.tool.holder.distance>] F#<tc.atc.medium.load.tool.holder.feed>

; disable bearing and cone cleaning blow

CALL P"TC_BEARING_CONE_CLEANING_BLOW" E0

; move Z to tool pick position

G53 G01 Z#<tc.atc.slots[#<tc.requested.slot_id>].z> F#<tc.atc.final.load.tool.holder.feed>

; turn OFF tool unlock output and wait 1s

M63 P#<tc.atc.unlock.output>

; check if required unlock output feedback

IF [#<tc.atc.unlock.input> GT 0] THEN11

; wait settle time for P5 input stabilizatin

G04 P1.0

; wait and check for tool unlock input signal with timeout

M66 P#<tc.atc.unlock.input> L#<wait_input.high> Q#<tc.atc.unlock.timeout>

IF [#5722 EQ #<wait_input.failure>] THEN12

M109 P"TOOL T#<tc.requested.tool_id> PICK ERROR Cone present Input is LOW " Q1

END12

END11

; cone grip pulse management

CALL P"TC_CONE_GRIP_PULSE"

; inform PLC that requested tool has been picked

M61 Q#<tc.requested.tool_id>

; move Z to safe position

G53 G01 Z#<tc.atc.safe.z> F#<tc.feed>

; move XY to clamp zone slot of requested tool just now loaded

CALL P"TC_MOVE_XY_TO_CLAMP_ZONE_SLOT" M1

END10

( new loaded tool measuring and compensation )

; check if there was a pick action so a new tool should be in the spindle

IF [#<_has.pick>] THEN10

; check if necessary to measure loaded tool

IF [[[#<tc.atc.enable_tool_setter> EQ 1] AND [#<tc.macro.option> EQ 0]] OR [#<tc.macro.option> EQ 2]] THEN11

CALL P"TC_TOUCH_PROBE"

END11

; enable tool length compensation if enabled

IF [#<tc.enable_tool_length_compensation> EQ 1] THEN G43 H#<tc.requested.tool_id>

END10

; close magazine

CALL P"TC_MAGAZINE_CLOSE"

ENDSUB

; TOOL CHANGE CONE GRIP PULSE

;

SUB "TC_CONE_GRIP_PULSE"

; check if required cone grip pulse

IF [#<tc.atc.cone.grip.output> GT 0] THEN10

G04 P#<tc.atc.cone.grip.output.time>

M62 P#<tc.atc.cone.grip.output>

G04 P#<tc.atc.cone.grip.output.time>

M63 P#<tc.atc.cone.grip.output>

END10

ENDSUB

; TOOL CHANGE BEARING/CONE CLEANING BLOW

;

; Arguments

; E0 #8 Enabled state: OFF

; E1 #8 Enabled state: ON

;

SUB "TC_BEARING_CONE_CLEANING_BLOW"

; evaluate enabled state

IF [#8 EQ 0] THEN10

; check if required cone clearing blow and put it OFF

IF [#<tc.atc.cone.cleaning.blow.output> GT 0] THEN11

M63 P#<tc.atc.cone.cleaning.blow.output>

END11

; check if required bearing cleaning blow and put it OFF

IF [#<tc.atc.bearing.cleaning.blow.output> GT 0] THEN11

M63 P#<tc.atc.bearing.cleaning.blow.output>

END11

ELSE10

; check if required cone clearing blow and put it ON

IF [#<tc.atc.cone.cleaning.blow.output> GT 0] THEN11

M62 P#<tc.atc.cone.cleaning.blow.output>

END11

; check if required bearing cleaning blow and put it ON

IF [#<tc.atc.bearing.cleaning.blow.output> GT 0] THEN11

M62 P#<tc.atc.bearing.cleaning.blow.output>

END11

END10

ENDSUB

; TOOL CHANGE WAIT AND CHECK SPINDLE S1/S2 FOR S1 LOW & S2 HIGH

;

SUB "TC_WAIT_AND_CHECK_SPINDLE_S1_S2_FOR_LH"

; check if required spindle S1/S2 management

IF [[#<tc.atc.spindle.s1> GT 0] AND [#<tc.atc.spindle.s2> GT 0]] THEN10

; wait and check for spindle S1/S2 management

M66 P#<tc.atc.spindle.s1> L#<wait_input.low> Q#<tc.atc.unlock.timeout>

IF [#5722 EQ #<wait_input.failure>] THEN M109 P"TOOL T#<tc.loaded.tool_id> PLACE ERROR Spindle S1 is HIGH " Q1

M66 P#<tc.atc.spindle.s2> L#<wait_input.high> Q#<tc.atc.unlock.timeout>

IF [#5722 EQ #<wait_input.failure>] THEN M109 P"TOOL T#<tc.loaded.tool_id> PLACE ERROR Spindle S2 is LOW " Q1

END10

ENDSUB

; TOOL CHANGE WAIT AND CHECK SPINDLE S1/S2 FOR S1 HIGH & S2 LOW

;

SUB "TC_WAIT_AND_CHECK_SPINDLE_S1_S2_FOR_HL"

; check if required spindle S1/S2 management

IF [[#<tc.atc.spindle.s1> GT 0] AND [#<tc.atc.spindle.s2> GT 0]] THEN10

; wait and check for spindle S1/S2 management

M66 P#<tc.atc.spindle.s1> L#<wait_input.high> Q#<tc.atc.unlock.timeout>

IF [#5722 EQ #<wait_input.failure>] THEN M109 P"TOOL T#<tc.loaded.tool_id> PICK ERROR Spindle S1 is LOW " Q1

M66 P#<tc.atc.spindle.s2> L#<wait_input.low> Q#<tc.atc.unlock.timeout>

IF [#5722 EQ #<wait_input.failure>] THEN M109 P"TOOL T#<tc.loaded.tool_id> PICK ERROR Spindle S2 is HIGH " Q1

END10

ENDSUB

; TOOL CHANGE MOVE XY TO CLAMP ZONE SLOT FOR LOADED OR SELECTED TOOL

;

; Arguments

; M0 #13 Required position: for the loaded tool

; M1 #13 Required position: for the requested tool

;

SUB "TC_MOVE_XY_TO_CLAMP_ZONE_SLOT"

; evaluate required position

IF [#13 EQ 0] THEN10

; move XY to outer of tool place position depending by slot axis orientation

IF [#<tc.atc.slot.axis.orientation> EQ 0] THEN11

G53 G00 Y[#<tc.atc.slots[#<tc.loaded.slot_id>].y> - #<tc.atc.clamp_movement>]

G53 G00 X#<tc.atc.slots[#<tc.loaded.slot_id>].x>

ELSE11

G53 G00 X[#<tc.atc.slots[#<tc.loaded.slot_id>].x> - #<tc.atc.clamp_movement>]

G53 G00 Y#<tc.atc.slots[#<tc.loaded.slot_id>].y>

END11

ELSE10

; move XY to outer of tool place position depending by slot axis orientation

IF [#<tc.atc.slot.axis.orientation> EQ 0] THEN11

G53 G00 Y[#<tc.atc.slots[#<tc.requested.slot_id>].y> - #<tc.atc.clamp_movement>]

G53 G00 X#<tc.atc.slots[#<tc.requested.slot_id>].x>

ELSE11

G53 G00 X[#<tc.atc.slots[#<tc.requested.slot_id>].x> - #<tc.atc.clamp_movement>]

G53 G00 Y#<tc.atc.slots[#<tc.requested.slot_id>].y>

END11

END10

ENDSUB

; TOOL CHANGE MOVE TO SAFE Z CLAMP ZONE TOOL-SETTER

;

SUB "TC_MOVE_TO_SAFE_Z_CLAMP_ZONE_TOOLSETTER"

; move Z to safe position

G53 G00 Z#<tc.tls.safe_position.z>

; move XY to outer of tool-setter position depending by slot axis orientation

IF [#<tc.atc.slot.axis.orientation> EQ 0] THEN11

G53 G00 Y[#<tc.tls.top_center_position.y> - #<tc.atc.clamp_movement>]

G53 G00 X#<tc.tls.top_center_position.x>

ELSE11

G53 G00 X[#<tc.tls.top_center_position.x> - #<tc.atc.clamp_movement>]

G53 G00 Y#<tc.tls.top_center_position.y>

END11

ENDSUB

; TOOL CHANGE TOUCH PROBE EXTERNAL REQUEST

;

SUB "TC_TOUCH_PROBE_EXTERNAL_REQUEST"

; disable tool length compensation to avoid software limits error

G49

; move to safe Z clamp zone tool-setter

CALL P"TC_MOVE_TO_SAFE_Z_CLAMP_ZONE_TOOLSETTER"

; open magazine

CALL P"TC_MAGAZINE_OPEN"

; call touch probe procedure

CALL P"TC_TOUCH_PROBE"

; move to safe Z clamp zone tool-setter

CALL P"TC_MOVE_TO_SAFE_Z_CLAMP_ZONE_TOOLSETTER"

; close magazine

CALL P"TC_MAGAZINE_CLOSE"

ENDSUB

; TOOL CHANGE TOUCH PROBE

;

SUB "TC_TOUCH_PROBE"

; check mode type

IF [[#<tc.type> EQ 10] OR [#<tc.type> EQ 11]] THEN10

; move to safe Z clamp zone tool-setter

CALL P"TC_MOVE_TO_SAFE_Z_CLAMP_ZONE_TOOLSETTER"

ELSE10

; move to safe Z zone tool-setter

G53 G01 Z#<tc.tls.safe_position.z> F#<tc.feed>

END10

; move XY to probe positions

G53 G00 X#<tc.tls.top_center_position.x> Y#<tc.tls.top_center_position.y>

; check if required cleaning probe pulse

IF [#<tc.tls.probe.cleaning.output> GT 0] THEN11

M62 P#<tc.tls.probe.cleaning.output>

G04 P#<tc.tls.probe.cleaning.output.time>

M63 P#<tc.tls.probe.cleaning.output>

END11

; move z to probe approaching position

G53 G38.3 Z#<tc.tls.approaching_position.z> X#<tc.tls.top_center_position.x> Y#<tc.tls.top_center_position.y> F#<tc.tls.approaching_feed>

; check if sensor was found already tripped before to start approach movements to probe

IF [#5700 EQ -2] THEN CALL P"TC_EXIT" E2

; check if sensor was tripped during approach movements to probe

IF [#5700 EQ 1] THEN CALL P"TC_EXIT" E3

; call tc touch probe managemnt

CALL P"TC_TOUCH_PROBE_MAIN" A#<tc.tls.top_center_position.z> B#<tc.tls.1st_capture_feed> C#<tc.tls.up_movement_after_1st_touch> D#<tc.tls.minimum_tool_lenght_accepted> E#<tc.tls.2nd_capture_feed>

; calc and set new tool length (offset Z)

#<_offset.z_>=[#5713 - #<tc.tls.top_center_position.z>]

G10 L1 P#<tc.requested.tool_id> V#<tc.requested.slot_id> X0 Y0 Z#<_offset.z_>

; show calculated tool length

IF [#<tc.enable_hud> EQ 1] THEN M109 P"Tool T#<tc.requested.tool_id> measured length = #<_offset.z_>mm" Q4

; check mode type

IF [[#<tc.type> EQ 10] OR [#<tc.type> EQ 11]] THEN10

; move to safe Z clamp zone tool-setter

CALL P"TC_MOVE_TO_SAFE_Z_CLAMP_ZONE_TOOLSETTER"

ELSE10

; move to safe Z zone tool-setter

G53 G01 Z#<tc.tls.safe_position.z> F#<tc.feed>

END10

ENDSUB

; TOOL CHANGE TOUCH PROBE MAIN

;

; Inputs:

;

; Ee #8 Exit code

; Aa #1 Sensor top/center position Z (MCS)

; Bb #2 Z feed to 1st probe input capture (SLOW)

; Cc #3 Z up movement after 1st touch capture (REL)

; Dd #7 Minimum tool lenght accepted

; Ee #8 Z feed to 2nd probe input capture (VERY SLOW)

;

SUB "TC_TOUCH_PROBE_MAIN"

; disable the feed rate override controls

;

; NOTE

; ====

; During debug movements, for safety, you can disable this code and use feed rate OVR

M50 P0

; measure of tool : 1st touch

IF [#<tc.enable_hud> EQ 1] THEN M109 P"Tool Measuring: Approach for 1st touch..." Q4

G53 G38.3 Z[#<_args.a>+#<_args.d>] F#<_args.b>

; check if sensor was found already tripped before to start 1st touch movements

IF [#5700 EQ -2] THEN10

; restore the feed rate override controls

M50 P#<saved.5136>

; move to safe Z clamp zone tool-setter and notice error

CALL P"TC_MOVE_TO_SAFE_Z_CLAMP_ZONE_TOOLSETTER"

CALL P"TC_EXIT" E4

END10

; check if sensor was not found during 1st touch movements

IF [#5700 NE 1] THEN10

; restore the feed rate override controls

M50 P#<saved.5136>

; move to safe Z clamp zone tool-setter and notice error

CALL P"TC_MOVE_TO_SAFE_Z_CLAMP_ZONE_TOOLSETTER"

CALL P"TC_EXIT" E5

END10

; measure of tool : 2nd touch

IF [#<tc.enable_hud> EQ 1] THEN M109 P"Tool Measuring: Approach for 2nd touch..." Q4

G53 G00 Z[#5713+#<_args.c>]

G53 G38.3 Z[#<_args.a>+#<_args.d>] F#<_args.e>

; check if sensor was found already tripped before to start 2nd touch movements

IF [#5700 EQ -2] THEN10

; restore the feed rate override controls

M50 P#<saved.5136>

; move to safe Z clamp zone tool-setter and notice error

CALL P"TC_MOVE_TO_SAFE_Z_CLAMP_ZONE_TOOLSETTER"

CALL P"TC_EXIT" E6

END10

; check if sensor was not found during 2nd touch movements

IF [#5700 NE 1] THEN10

; restore the feed rate override controls

M50 P#<saved.5136>

; move to safe Z clamp zone tool-setter and notice error

CALL P"TC_MOVE_TO_SAFE_Z_CLAMP_ZONE_TOOLSETTER"

CALL P"TC_EXIT" E7

END10

; restore the feed rate override controls

M50 P#<saved.5136>

ENDSUB

; TOOL CHANGE TOOLHOLDER LOAD (ATC)

;

SUB "TC_TOOLHOLDER_LOAD"

; turn OFF tool unlock output and wait 1s

M63 P#<tc.atc.unlock.output>

G04 P1.0

; check if required unlock output feedback

IF [#<tc.atc.unlock.input> GT 0] THEN10

; wait and check for tool unlock input signal with timeout

M66 P#<tc.atc.unlock.input> L#<wait_input.high> Q#<tc.atc.unlock.timeout>

IF [#5722 EQ #<wait_input.failure>] THEN M109 P"TOOL T#<tc.requested.tool_id> PICK ERROR Collet Unlock Input is LOW " Q1

END10

; wait and check spindle S1/S2 for S1 HIGH & S2 LOW

CALL P"TC_WAIT_AND_CHECK_SPINDLE_S1_S2_FOR_HL"

M99

; TOOL CHANGE TOOLHOLDER UNLOAD (ATC)

;

SUB "TC_TOOLHOLDER_UNLOAD"

; turn ON tool unlock output and wait 1s

M62 P#<tc.atc.unlock.output>

G04 P1.0

; check if required unlock output feedback

IF [#<tc.atc.unlock.input> GT 0] THEN10

; wait and check for tool unlock input signal with timeout

M66 P#<tc.atc.unlock.input> L#<wait_input.low> Q#<tc.atc.unlock.timeout>

IF [#5722 EQ #<wait_input.failure>] THEN11

; turn OFF tool unlock output

M63 P#<tc.atc.unlock.output>

; notice error and stop

M109 P"TOOL T#<tc.requested.tool_id> PLACE ERROR Collet Unlock Input is HIGH " Q1

END11

END10

; wait and check spindle S1/S2 for S1 LOW & S2 HIGH

CALL P"TC_WAIT_AND_CHECK_SPINDLE_S1_S2_FOR_LH"

ENDSUB

; TOOL CHANGE MAGAZINE UPDATE STATE

;

; #<tc.atc.magazine_state>

; 0 = undefined

; 1 = open

; 2 = closed

;

SUB "TC_MAGAZINE_UPDATE_STATE"

; set magazine state to UNDEFINED

#<tc.atc.magazine_state>=0

; evaluate magazine type

IF [#<tc.atc.magazine.type> EQ 1] THEN10

IF [[#<tc.atc.magazine.input.open> GT 0] AND [#<tc.atc.magazine.input.closed> GT 0]] THEN11

M66 P#<tc.atc.magazine.input.open> L#<wait_input.immediate>

IF [#5722 EQ #<wait_input.failure>] THEN M109 P"Error in magazine input recovering states" Q1

#<_open_>=#5720

M66 P#<tc.atc.magazine.input.closed> L#<wait_input.immediate>

IF [#5722 EQ #<wait_input.failure>] THEN M109 P"Error in magazine input recovering states" Q1

#<_closed_>=#5720

IF [[#<_open_> EQ 1] AND [#<_closed_> EQ 0]] THEN #<tc.atc.magazine_state>=1

IF [[#<_open_> EQ 0] AND [#<_closed_> EQ 1]] THEN #<tc.atc.magazine_state>=2

END11

END10

ENDSUB

; TOOL CHANGE MAGAZINE OPEN

;

SUB "TC_MAGAZINE_OPEN"

; get magazine state

CALL P"TC_MAGAZINE_UPDATE_STATE"

; evaluate magazine type

IF [#<tc.atc.magazine.type> EQ 1] THEN10

; if magazine is already OPEN nothing to do

IF [#<tc.atc.magazine_state> EQ 1] THEN11

M99

END11

; open magazine

IF [#<tc.enable_hud> EQ 1] THEN M109 P"Opening Magazine" Q4

#<tc.atc.magazine_state>=0

M63 P#<tc.atc.magazine.output.close>

M62 P#<tc.atc.magazine.output.open>

IF [#<tc.atc.magazine.input.open> GT 0] THEN11

M66 P#<tc.atc.magazine.input.open> L#<wait_input.high> Q#<tc.atc.magazine.input.timeout>

M63 P#<tc.atc.magazine.output.open>

IF [#5722 EQ #<wait_input.failure>] THEN M109 P"Magazine not reached open state in the specified time" Q1

ELSE11

G4 P#<tc.atc.magazine.output.time>

M63 P#<tc.atc.magazine.output.open>

END11

IF [#<tc.atc.magazine.input.closed> GT 0] THEN11

M66 P#<tc.atc.magazine.input.closed> L#<wait_input.immediate>

IF [#5722 EQ #<wait_input.failure>] THEN M109 P"Error in magazine input recovering states" Q1

IF [#5720 EQ 1] THEN M109 P"Magazine in wrong state Opened/Closed inputs are HIGH" Q1

END11

#<tc.atc.magazine_state>=1

IF [#<tc.enable_hud> EQ 1] THEN M109 P"" Q4

END10

ENDSUB

; TOOL CHANGE MAGAZINE CLOSE

;

SUB "TC_MAGAZINE_CLOSE"

; check if magazine close is bypassed

IF [#<tc.do_not_close_magazine> EQ 1] THEN M99

; get magazine state

CALL P"TC_MAGAZINE_UPDATE_STATE"

; evaluate magazine type

IF [#<tc.atc.magazine.type> EQ 1] THEN10

; if magazine is already CLOSED nothing to do

IF [#<tc.atc.magazine_state> EQ 2] THEN11

M99

END11

; close magazine

IF [#<tc.enable_hud> EQ 1] THEN M109 P"Closing Magazine" Q4

#<tc.atc.magazine_state>=0

M63 P#<tc.atc.magazine.output.open>

M62 P#<tc.atc.magazine.output.close>

IF [#<tc.atc.magazine.input.closed> GT 0] THEN11

M66 P#<tc.atc.magazine.input.closed> L#<wait_input.high> Q#<tc.atc.magazine.input.timeout>

M63 P#<tc.atc.magazine.output.close>

IF [#5722 EQ #<wait_input.failure>] THEN M109 P"Magazine not reached closed state in the specified time" Q1

ELSE11

G4 P#<tc.atc.magazine.output.time>

M63 P#<tc.atc.magazine.output.close>

END11

IF [#<tc.atc.magazine.input.open> GT 0] THEN11

M66 P#<tc.atc.magazine.input.open> L#<wait_input.immediate>

IF [#5722 EQ #<wait_input.failure>] THEN M109 P"Error in magazine input recovering states" Q1

IF [#5720 EQ 1] THEN M109 P"Magazine in wrong state Opened/Closed inputs are HIGH" Q1

END11

#<tc.atc.magazine_state>=2

IF [#<tc.enable_hud> EQ 1] THEN M109 P"" Q4

END10

ENDSUB

; TOOL CHANGE TOGGLE CONE LOAD/UNLOAD

;

SUB "TC_TOGGLE_CONE_LOAD_UNLOAD"

; turn ON tool unlock output and wait 1s

M62 P#<tc.atc.unlock.output>

G04 P1.0

; wait cone load/unload input goes low

IF [#<tc.atc.cone.load.unload.input> GT 0] THEN11

M66 P#<tc.atc.cone.load.unload.input> L#<wait_input.low>

IF [#5722 EQ #<wait_input.failure>] THEN M109 P"Unable to get cone load/unload input state" Q1

ELSE11

G04 P#<tc.atc.cone.load.unload.time>

END11

; turn OFF tool unlock output

M63 P#<tc.atc.unlock.output>

; check if required cone grip pulse

IF [#<tc.atc.cone.grip.output> GT 0] THEN11

G04 P#<tc.atc.cone.grip.output.time>

M62 P#<tc.atc.cone.grip.output>

G04 P#<tc.atc.cone.grip.output.time>

M63 P#<tc.atc.cone.grip.output>

END11

ENDSUB

; TOOL CHANGE INITIALIZATION

;

SUB "TC_INIT"

; if true enable all hud messages

#<tc.enable_hud> = 0

; check if there are compulsory protected parameters undefined

; tool change generic parameters

IF [#6000 EQ #0] THEN CALL P"TC_EXIT" E1 A6000

IF [#6001 EQ #0] THEN CALL P"TC_EXIT" E1 A6001

IF [#6009 EQ #0] THEN CALL P"TC_EXIT" E1 A6009

IF [#6016 EQ #0] THEN CALL P"TC_EXIT" E1 A6016

; manual tool change parameters

IF [#6002 EQ #0] THEN CALL P"TC_EXIT" E1 A6002

IF [#6003 EQ #0] THEN CALL P"TC_EXIT" E1 A6003

IF [#6004 EQ #0] THEN CALL P"TC_EXIT" E1 A6004

; tls (tool length presetter) parameters

IF [#6005 EQ #0] THEN CALL P"TC_EXIT" E1 A6005

IF [#6006 EQ #0] THEN CALL P"TC_EXIT" E1 A6006

IF [#6007 EQ #0] THEN CALL P"TC_EXIT" E1 A6007

IF [#6008 EQ #0] THEN CALL P"TC_EXIT" E1 A6008

IF [#6010 EQ #0] THEN CALL P"TC_EXIT" E1 A6010

IF [#6011 EQ #0] THEN CALL P"TC_EXIT" E1 A6011

IF [#6012 EQ #0] THEN CALL P"TC_EXIT" E1 A6012

IF [#6013 EQ #0] THEN CALL P"TC_EXIT" E1 A6013

IF [#6014 EQ #0] THEN CALL P"TC_EXIT" E1 A6014

IF [#6015 EQ #0] THEN CALL P"TC_EXIT" E1 A6015

IF [#6017 EQ #0] THEN CALL P"TC_EXIT" E1 A6017

IF [#6018 EQ #0] THEN CALL P"TC_EXIT" E1 A6018

; atc parameters

IF [#6020 EQ #0] THEN CALL P"TC_EXIT" E1 A6020

IF [#6021 EQ #0] THEN CALL P"TC_EXIT" E1 A6021

IF [#6022 EQ #0] THEN CALL P"TC_EXIT" E1 A6022

IF [#6023 EQ #0] THEN CALL P"TC_EXIT" E1 A6023

IF [#6024 EQ #0] THEN CALL P"TC_EXIT" E1 A6024

IF [#6025 EQ #0] THEN CALL P"TC_EXIT" E1 A6025

IF [#6026 EQ #0] THEN CALL P"TC_EXIT" E1 A6026

IF [#6036 EQ #0] THEN CALL P"TC_EXIT" E1 A6036

IF [#6037 EQ #0] THEN CALL P"TC_EXIT" E1 A6037

IF [#6038 EQ #0] THEN CALL P"TC_EXIT" E1 A6038

IF [#6039 EQ #0] THEN CALL P"TC_EXIT" E1 A6039

IF [#6040 EQ #0] THEN CALL P"TC_EXIT" E1 A6040

IF [#6041 EQ #0] THEN CALL P"TC_EXIT" E1 A6041

IF [#6042 EQ #0] THEN CALL P"TC_EXIT" E1 A6042

IF [#6043 EQ #0] THEN CALL P"TC_EXIT" E1 A6043

IF [#6044 EQ #0] THEN CALL P"TC_EXIT" E1 A6044

IF [#6045 EQ #0] THEN CALL P"TC_EXIT" E1 A6045

IF [#6046 EQ #0] THEN CALL P"TC_EXIT" E1 A6046

IF [#6047 EQ #0] THEN CALL P"TC_EXIT" E1 A6047

IF [#6048 EQ #0] THEN CALL P"TC_EXIT" E1 A6048

IF [#6050 EQ #0] THEN CALL P"TC_EXIT" E1 A6050

IF [#6051 EQ #0] THEN CALL P"TC_EXIT" E1 A6051

IF [#6052 EQ #0] THEN CALL P"TC_EXIT" E1 A6052

IF [#6053 EQ #0] THEN CALL P"TC_EXIT" E1 A6053

IF [#6054 EQ #0] THEN CALL P"TC_EXIT" E1 A6054

IF [#6055 EQ #0] THEN CALL P"TC_EXIT" E1 A6055

IF [#6056 EQ #0] THEN CALL P"TC_EXIT" E1 A6056

IF [#6057 EQ #0] THEN CALL P"TC_EXIT" E1 A6057

IF [#6058 EQ #0] THEN CALL P"TC_EXIT" E1 A6058

IF [#6059 EQ #0] THEN CALL P"TC_EXIT" E1 A6059

IF [#6060 EQ #0] THEN CALL P"TC_EXIT" E1 A6060

; define tool change generic parameters

#<tc.type>=#6000

#<tc.features>=#6001

#<tc.feed>=#6009

#<tc.enable_tool_length_compensation>=#6016

; define manual tool change parameters

#<tc.mtc.change_position.x>=#6002

#<tc.mtc.change_position.y>=#6003

#<tc.mtc.change_position.z>=#6004

; define tls (tool length presetter) parameters

#<tc.tls.safe_position.z>=#6005

#<tc.tls.top_center_position.x>=#6006

#<tc.tls.top_center_position.y>=#6007

#<tc.tls.top_center_position.z>=#6008

#<tc.tls.approaching_position.z>=#6010

#<tc.tls.approaching_feed>=#6011

#<tc.tls.1st_capture_feed>=#6012

#<tc.tls.2nd_capture_feed>=#6013

#<tc.tls.up_movement_after_1st_touch>=#6014

#<tc.tls.minimum_tool_lenght_accepted>=#6015

#<tc.tls.probe.cleaning.output>=#6017

#<tc.tls.probe.cleaning.output.time>=#6018

; define atc parameters

#<tc.atc.magazine.type>=#6020

#<tc.atc.magazine.input.open>=#6021

#<tc.atc.magazine.input.closed>=#6022

#<tc.atc.magazine.input.timeout>=#6023

#<tc.atc.magazine.output.time>=#6024

#<tc.atc.magazine.output.open>=#6025

#<tc.atc.magazine.output.close>=#6026

#<tc.atc.safe.z>=#6050

#<tc.atc.unlock.input>=#6051

#<tc.atc.unlock.output>=#6052

#<tc.atc.unlock.timeout>=#6053

#<tc.atc.clamp_movement>=#6054

#<tc.atc.pick_distance.z>=#6055

#<tc.atc.enable_tool_setter>=#6056

#<tc.atc.spindle.s1>=#6057

#<tc.atc.spindle.s2>=#6058

#<tc.atc.slot.axis.orientation>=#6059

#<tc.atc.fast.unload.tool.holder.distance>=#6036

#<tc.atc.slow.unload.tool.holder.distance>=#6037

#<tc.atc.slow.unload.tool.holder.feed>=#6038

#<tc.atc.fast.load.tool.holder.distance>=#6039

#<tc.atc.medium.load.tool.holder.distance>=#6040

#<tc.atc.medium.load.tool.holder.feed>=#6041

#<tc.atc.final.load.tool.holder.feed>=#6042

#<tc.atc.cone.load.unload.time>=#6043

#<tc.atc.cone.load.unload.input>=#6044

#<tc.atc.cone.cleaning.blow.output>=#6045

#<tc.atc.bearing.cleaning.blow.output>=#6046

#<tc.atc.cone.grip.output>=#6047

#<tc.atc.cone.grip.output.time>=#6048

; check slots number and get slots positions parameters address

#<tc.atc.slots>=#6060

IF [#<tc.atc.slots> LT 0] THEN CALL P"TC_EXIT" E8 A6060

IF [[#6049 EQ #0] OR [#6049 EQ 0]] THEN10

IF [#<tc.atc.slots> GT 13] THEN CALL P"TC_EXIT" E8 A6060

#<tc.atc.slot.address>=6061

ELSE10

#<tc.atc.slot.address>=#6049

IF [[#<tc.atc.slot.address> + [#<tc.atc.slots> * 3] GE 7000] THEN CALL P"TC_EXIT" E8 A6049

END10

; recover atc slots positions (MCS)

#<_i_>=1

#<_j_>=#<tc.atc.slot.address>

WHILE [#<_i_> LE #<tc.atc.slots>] DO10

IF [##<_j_> EQ #0] THEN CALL P"TC_EXIT" E1 A#<_j_>

#<tc.atc.slots[#<_i_>].x>=##<_j_>

#<_j_>=[#<_j_> + 1]

IF [##<_j_> EQ #0] THEN CALL P"TC_EXIT" E1 A#<_j_>

#<tc.atc.slots[#<_i_>].y>=##<_j_>

#<_j_>=[#<_j_> + 1]

IF [##<_j_> EQ #0] THEN CALL P"TC_EXIT" E1 A#<_j_>

#<tc.atc.slots[#<_i_>].z>=##<_j_>

#<_j_>=[#<_j_> + 1]

#<_i_>=[#<_i_> + 1]

END10

ENDSUB

Author

Title

Language

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;
;   RosettaCNC (c) 2016-2020
;
; Name              : tool_change.ngc
; Sub UID           : 6
; Version           : 2
; Description       : Tool change macro
; Application       : Standard CNC cycles
; Note              : This macro is called by CNC with M06 or manually with G65 P&quot;tool_change&quot; for optional actions.
;                   : Check the #6000 parameter description for tool change supported types.
;
; DISCLAIMER        : This macro is provided 'AS IS', without WARRANTY of any kind, express or implied.
;                   : The macro is provided as an example only.
;                   : Use this macro at your own risk.
;
; TAKE CARE         : Don't use the CNC #5132..5135 because they are valid ONLY when the macro is called with a M06.
;
; Conventions of input parameters
;
;   Xx              compulsory parameter
;   [Xx]            optional parameter
;   (Xx|Yy|Zz)?     one of compulsory paramaters
;   [Xx|Yy|Zz]*     zero or more optionals parameters
;   [Xx|Yy|Zz]+     at least one or more optionals parameters
;   M!              compulsory parameter don't take care of passed value
;   [M!]            optional parameter don't take care of passed value
;   M[1|2]?         compulsory parameter with one of listed values (e.g. M1 or M2)
;   [M[1|2]?]       optional parameter with one of listed values (e.g. None or M1 or M2)
;
; Format
;
;   M06
;
;   G65 P&quot;tool_change&quot; Aa Bb Cc Ii [Jj] [K!]
;
; Arguments with M6 call
;
;   Aa  #1          tool id of the tool to be loaded
;   Bb  #2          slot of the tool to be loaded
;   Cc  #3          tool id of the tool in use
;   Ii  #4          slot of the tool in use
;
; Extra arguments with G65 call
;
;   Jj  #5          optional action:
;                       #0  = the option is disabled (is the normal condition when the macro is called by a M06)
;                        0  = do not change behavior of tool-setter after a pick in M06 or direct macro call
;                        1  = do not execute tool-setter after a pick
;                        2  = force execute tool-setter after pick
;                        3  = execute only tool-setter of loaded tool
;                        4  = execute only magazine open
;                        5  = execute only magazine close
;                        6  = return magazine state in #&lt;tc.atc.magazine_state&gt;
;                        7  = manually cone unload/load
;   Kk  #6          optional magazine argument:
;                       #0  = the option is disabled (is the normal condition when the macro is called by a M06)
;                       any = don't close magazine, is not the last operation (PICK/PLACE/TOOL-SETTER) to do yet
;
; Protected Parameters
;
;   Param           Description
;   =====           ===========
;   #6000           TOOL_CHANGE [GEN] : Type:
;                                       0   = Dummy tool change:
;                                             This mode only notice to the PLC about the loaded tool ID.
;                                             No other actions or movments will be done.
;                                       1   = Manual Tool Change (MTC) with tool length probing:
;                                             a] Moves to tool-setter position and measures the loaded tool length.
;                                             b] Moves to tool change position and show info about tool to manually change.
;                                             c] Waits for the manual tool change by the operator which confirm that change is done.
;                                             d] Moves to tool-setter position to measures the length of the new tool.
;                                             e] Calcs the difference and uses this value as tool length compensation.
;                                       2   = Manual Tool Change (MTC) with tool length from Tools Library info:
;                                             a] Moves to tool change position and show info about tool to manually change.
;                                             b] Waits for the manual tool change by the operator which confirm that change is done.
;                                             c] If enabled applies the tool length compensation from Tools Libary info.
;                                       10  = Automatic Tool Change (ATC)
;                                             This mode manages a rack of slots using place/side &amp; pick/top approach.
;                                             If there is a loaded tool it will be placed.
;                                             If there is a requested tool it will be picked.
;                                             If the tool length measurement/compensation are enabled they are automaticallly performed.
;                                       11  = Automatic Tool Change (ATC)
;                                             This mode manages a rack of slots using place/top &amp; pick/top approach.
;                                             If there is a loaded tool it will be placed.
;                                             If there is a requested tool it will be picked.
;                                             If the tool length measurement/compensation are enabled they are automaticallly performed.
;   #6001           TOOL_CHANGE [GEN] : Features:
;                                       0   = Back to work position is OFF.
;                                       1   = Back to work position is ON.
;   #6002           TOOL_CHANGE [MTC] : Change position X (MCS)
;   #6003           TOOL_CHANGE [MTC] : Change position Y (MCS)
;   #6004           TOOL_CHANGE [MTC] : Change position Z (MCS)
;   #6005           TOOL_CHANGE [TLS] : Sensor safe position Z (MCS)
;   #6006           TOOL_CHANGE [TLS] : Sensor top/center position X (MCS)
;   #6007           TOOL_CHANGE [TLS] : Sensor top/center position Y (MCS)
;   #6008           TOOL_CHANGE [TLS] : Sensor top/center position Z (MCS)
;   #6009           TOOL_CHANGE [GEN] : Feed during tool change procedure
;   #6010           TOOL_CHANGE [TLS] : Z approaching sensor position (MCS, reached with feed #6011)
;   #6011           TOOL_CHANGE [TLS] : Z feed to sensor approaching (FAST)
;   #6012           TOOL_CHANGE [TLS] : Z feed to 1st probe input capture (SLOW)
;   #6013           TOOL_CHANGE [TLS] : Z feed to 2nd probe input capture (VERY SLOW)
;   #6014           TOOL_CHANGE [TLS] : Z up movement after 1st touch capture (REL)
;   #6015           TOOL_CHANGE [TLS] : Minimum tool lenght accepted
;   #6016           TOOL_CHANGE [TLS] : Enable tool length compensation (only for tool change type 1)
;   #6017           TOOL_CHANGE [TLS] : Probe cleaning output
;   #6018           TOOL_CHANGE [TLS] : Probe cleaning time
;   #6019           TOOL_CHANGE [___] : !!! RESERVED FOR FUTURE USE !!!
;   #6020           TOOL_CHANGE [ATC] : Magazine type:
;                                       0 = none magazine
;                                       1 = magazine with 2 control outputs (open and close with individual pulse output)
;   #6021           TOOL_CHANGE [ATC] : Magazine input open
;   #6022           TOOL_CHANGE [ATC] : Magazine input closed
;   #6023           TOOL_CHANGE [ATC] : Magazine input timeout
;   #6024           TOOL_CHANGE [ATC] : Magazine output time
;   #6025           TOOL_CHANGE [ATC] : Magazine output open
;   #6026           TOOL_CHANGE [ATC] : Magazine output close
;   #6027..#6035    TOOL_CHANGE [___] : !!! RESERVED FOR FUTURE USE !!!
;   #6036           TOOL_CHANGE [ATC] : Fast unload tool holder distance
;   #6037           TOOL_CHANGE [ATC] : Slow unload tool holder distance
;   #6038           TOOL_CHANGE [ATC] : Slow unload tool holder feed
;   #6039           TOOL_CHANGE [ATC] : Fast load tool holder distance
;   #6040           TOOL_CHANGE [ATC] : Medium load tool holder distance
;   #6041           TOOL_CHANGE [ATC] : Medium load tool holder feed
;   #6042           TOOL_CHANGE [ATC] : Final load tool holder feed
;   #6043           TOOL_CHANGE [ATC] : Cone load unload time (used only if &quot;Cone load unload input&quot; is zero)
;   #6044           TOOL_CHANGE [ATC] : Cone load unload input (used only for a NO button and detect the release. You must have a macro that start procedure)
;   #6045           TOOL_CHANGE [ATC] : Cone cleaning blow output
;   #6046           TOOL_CHANGE [ATC] : Bearing cleaning blow output
;   #6047           TOOL_CHANGE [ATC] : Cone grip output
;   #6048           TOOL_CHANGE [ATC] : Cone grip output time
;   #6049           TOOL_CHANGE [ATC] : Slots positions parameters address
;                                       If undefined (#0) or set to 0 the default address is 6061 for maximum 13 slots
;   #6050           TOOL_CHANGE [ATC] : Safe Z
;   #6051           TOOL_CHANGE [ATC] : Unlock input
;   #6052           TOOL_CHANGE [ATC] : Unlock output
;   #6053           TOOL_CHANGE [ATC] : Unlock timeout
;   #6054           TOOL_CHANGE [ATC] : Clamp movement
;   #6055           TOOL_CHANGE [ATC] : Pick distance Z
;   #6056           TOOL_CHANGE [ATC] : Enable tool-setter
;   #6057           TOOL_CHANGE [ATC] : Spindle s1 (tool-holder attached correctly)
;   #6058           TOOL_CHANGE [ATC] : Spindle s2 (collet open)
;   #6059           TOOL_CHANGE [ATC] : Slot axis orientation (0 = along X | 1 = along Y)
;   #6060           TOOL_CHANGE [ATC] : Slots number
;   #6061..#6099    TOOL_CHANGE [ATC] : Slots positions parameters (default, with #6049 = #0 or 0, for 1 to 13 slots) (MCS)
;
O6
    ; === DISCLAIMER ===
    ;
    ; This macro is provided 'AS IS', without WARRANTY of any kind, express or implied.
    ; The macro is provided as an example only.
    ; Use this macro at your own risk.
    ;
    ; NOTE: You can comment line 157 or delete this ADVICE but anyway you will accept the macro DISCLAIMER of the original code.
    ;
    IF [EXISTS[#&lt;tc.disclaimer.showed&gt;] EQ 0] THEN10
        #&lt;tc.disclaimer.showed&gt;=1
        M109 P&quot;&lt;B&gt;DISCLAIMER&lt;/B&gt;&lt;BR&gt;&lt;BR&gt;This macro is provided 'AS IS'&lt;/B&gt;,&lt;BR&gt;without WARRANTY of any kind, express or implied.&lt;BR&gt;&lt;BR&gt;The macro is provided as an example only.&lt;BR&gt;&lt;BR&gt;Use this macro at your own risk.&quot; Q2
    END10

; store loaded/requested tool/slot ID
    #&lt;tc.requested.tool_id&gt;=#1
    #&lt;tc.requested.slot_id&gt;=#2
    #&lt;tc.loaded.tool_id&gt;=#3
    #&lt;tc.loaded.slot_id&gt;=#4

; recover macro optional action when macro is called with G65
    IF [[#5 EQ #0] OR [#5 EQ 0]] THEN10
        #&lt;tc.macro.option&gt;=0
    ELSE10
        #&lt;tc.macro.option&gt;=#5
    END10

; recover macro optional magazine argument available when macro called with G65
    IF [EXISTS[#&lt;_args.K&gt;]] THEN10
        #&lt;tc.do_not_close_magazine&gt;=1
    ELSE10
        #&lt;tc.do_not_close_magazine&gt;=0
    END10

; initialize ATC parameters
    CALL P&quot;TC_INIT&quot;

; store actual PLC states in local variables
    #&lt;_saved.5001&gt;=#5001        ; current TCP position X
    #&lt;_saved.5002&gt;=#5002        ; current TCP position Y
    #&lt;_saved.5003&gt;=#5003        ; current TCP position Z
    #&lt;_saved.5004&gt;=#5004        ; current position A
    #&lt;_saved.5005&gt;=#5005        ; current position B
    #&lt;_saved.5006&gt;=#5006        ; current position C
    #&lt;_saved.5101&gt;=#5101        ; active G-codes - group 01: G00, G01, ...
    #&lt;_saved.5130&gt;=#5130        ; active feed rate (F)
    #&lt;_saved.5151&gt;=#5151        ; active M-codes: M3, M4, M5
    #&lt;_saved.5153&gt;=#5153        ; active M-codes: M7, M9
    #&lt;_saved.5154&gt;=#5154        ; active M-codes: M8, M9
    #&lt;_saved.5103&gt;=#5103        ; active G-codes - group 03: G90, G91

; store actual PLC states in global variables
    #&lt;saved.5136&gt;=#5136         ; active feed override mode (P argument of M50)

; set absolute coordinate
    G90

; check if last G-codes group 01 used instruction was a G00/G01 otherwise, to prevent
    ; an error when setting G#&lt;_saved.5101&gt;, set it to G80 (cancel motion mode)
    IF [[#&lt;_saved.5101&gt; NE 0] AND [#&lt;_saved.5101&gt; NE 1]] THEN #&lt;_saved.5101&gt;=80

; check if required only a tool-setter procedure by ATCM macro
    IF [#&lt;tc.macro.option&gt; EQ 3] THEN10
        CALL P&quot;TC_TOUCH_PROBE_EXTERNAL_REQUEST&quot;
        ; enable tool length compensation if enabled
        IF [#&lt;tc.enable_tool_length_compensation&gt; EQ 1] THEN G43 H#&lt;tc.requested.tool_id&gt;
        GOTO10
    ELIF [#&lt;tc.macro.option&gt; EQ 4] THEN10
        CALL P&quot;TC_MAGAZINE_OPEN&quot;
        GOTO10
    ELIF [#&lt;tc.macro.option&gt; EQ 5] THEN10
        #&lt;tc.do_not_close_magazine&gt;=0
        CALL P&quot;TC_MAGAZINE_CLOSE&quot;
        GOTO10
    ELIF [#&lt;tc.macro.option&gt; EQ 6] THEN10
        CALL P&quot;TC_MAGAZINE_UPDATE_STATE&quot;
        GOTO10
    ELIF [#&lt;tc.macro.option&gt; EQ 7] THEN10
        CALL P&quot;TC_TOGGLE_CONE_LOAD_UNLOAD&quot;
        GOTO10
    END10

; check if tool change type = 0 then execute sub MANUAL_TOOL_CHANGE_0
    IF [#&lt;tc.type&gt; EQ 0] THEN10
        CALL P&quot;MANUAL_TOOL_CHANGE_0&quot;
        GOTO10
    END10

; avoid any activity if tool change type is 10 or 11 and requested tool is same of loaded tool
    IF [[#&lt;tc.type&gt; EQ 10] OR [#&lt;tc.type&gt; EQ 11]] THEN10
        IF [[#&lt;tc.requested.tool_id&gt; EQ 0] AND [#&lt;tc.loaded.tool_id&gt; EQ 0]] THEN M109 P&quot;tool change require a PICK or PLACE or PLACE/PICK action&quot; Q-1
        IF [[#&lt;tc.requested.tool_id&gt; EQ #&lt;tc.loaded.tool_id&gt;]] THEN11
            ; enable tool length compensation if enabled
            IF [#&lt;tc.enable_tool_length_compensation&gt; EQ 1] THEN G43 H#&lt;tc.requested.tool_id&gt;
            GOTO10
        END11
    END10

; notice start change procedure to PLC
    M107

; show main procedure message for 1s
    M109 P&quot;Tool change procedure&quot; Q4
    G04 P1

; set position of axes type &quot;rotary axes for head&quot;
    IF [[#&lt;cnc.a.type&gt;] EQ #&lt;axis.type.rotary_head&gt;] THEN10
        G49
        G53 G01 A0 F#&lt;tc.feed&gt;
    END10
    IF [[#&lt;cnc.b.type&gt;] EQ #&lt;axis.type.rotary_head&gt;] THEN10
        G49
        G53 G01 B0 F#&lt;tc.feed&gt;
    END10
    IF [[#&lt;cnc.c.type&gt;] EQ #&lt;axis.type.rotary_head&gt;] THEN10
        G49
        G53 G01 C0 F#&lt;tc.feed&gt;
    END10

; check if Tool change type = 1 the execute sub MANUAL_TOOL_CHANGE_1
    IF [#&lt;tc.type&gt; EQ 1] THEN CALL P&quot;MANUAL_TOOL_CHANGE_1&quot;

; check if Tool change type = 2 the execute sub MANUAL_TOOL_CHANGE_2
    IF [#&lt;tc.type&gt; EQ 2] THEN CALL P&quot;MANUAL_TOOL_CHANGE_2&quot;

; check if Tool change type = 10 the execute sub AUTOMATIC_TOOL_CHANGE_10
    IF [#&lt;tc.type&gt; EQ 10] THEN CALL P&quot;AUTOMATIC_TOOL_CHANGE_10&quot;

; check if Tool change type = 10 the execute sub AUTOMATIC_TOOL_CHANGE_10
    IF [#&lt;tc.type&gt; EQ 11] THEN CALL P&quot;AUTOMATIC_TOOL_CHANGE_11&quot;

; move back to saved work position
    IF [#&lt;tc.features&gt; EQ 1] THEN10
        G01 X#&lt;_saved.5001&gt; Y#&lt;_saved.5002&gt;
        G01 Z#&lt;_saved.5003&gt;
        IF [[#&lt;cnc.a.type&gt;] EQ #&lt;axis.type.rotary_head&gt;] THEN G01 A#&lt;_saved.5004&gt;
        IF [[#&lt;cnc.b.type&gt;] EQ #&lt;axis.type.rotary_head&gt;] THEN G01 B#&lt;_saved.5005&gt;
        IF [[#&lt;cnc.c.type&gt;] EQ #&lt;axis.type.rotary_head&gt;] THEN G01 C#&lt;_saved.5005&gt;
    END10

( restore saved states )
    
N10
    ; restore spindle &amp; coolants states
    IF [#&lt;_saved.5151&gt; EQ 3] THEN M03
    IF [#&lt;_saved.5151&gt; EQ 4] THEN M04
    IF [#&lt;_saved.5153&gt; EQ 7] THEN M07
    IF [#&lt;_saved.5154&gt; EQ 8] THEN M08

; restore save feed
    F#&lt;_saved.5130&gt;

; restore g-code group 03 state
    G#&lt;_saved.5103&gt;

; restore g-code group 01 state
    G#&lt;_saved.5101&gt;

; reset HUD message
    M109 P&quot;&quot; Q4

; notice end change procedure to PLC
    M108

M99

; TOOL CHANGE EXIT
;
; Inputs:
;
;   Ee  #8          Exit code
;   Aa  #1          Undefined compulsory protected parameter
;
; Exit codes:
;
;   0       NONE
;   1       Error : One or more compulsory protected parameters are undefined!
;   2       Error : Sensor was found already tripped before to start approach movements to probe!
;   3       Error : Sensor was tripped during approach movements to probe!
;   4       Error : Sensor was found already tripped before to start 1st touch movements!
;   5       Error : Sensor was not found during 1st touch movements!
;   6       Error : Sensor was found already tripped before to start 2nd touch movements!
;   7       Error : Sensor was not found during 2nd touch movements!
;   **      Error : Unknown error&lt;number&gt;!
;
SUB &quot;TC_EXIT&quot;

; check for error code
    IF [#&lt;_args.e&gt; EQ 0] THEN M99

; reset HUD message
    IF [#&lt;tc.enable_hud&gt; EQ 1] THEN M109 P&quot;&quot; Q4

; notice end change procedure to PLC
    M108

IF [#&lt;_args.e&gt; EQ 1] THEN M109 P&quot;compulsory protected parameter ##&lt;_args.a&gt; is undefined!&quot;   Q-1
    IF [#&lt;_args.e&gt; EQ 2] THEN M109 P&quot;&lt;B&gt;Error during measure of tool length&lt;/B&gt;&lt;BR&gt;&lt;BR&gt;Sensor was found already tripped before to start approach movements to probe!&lt;/B&gt;&lt;BR&gt;&quot; Q1
    IF [#&lt;_args.e&gt; EQ 3] THEN M109 P&quot;&lt;B&gt;Error during measure of tool length&lt;/B&gt;&lt;BR&gt;&lt;BR&gt;Sensor was tripped during approach movements to probe!&lt;/B&gt;&lt;BR&gt;&quot; Q1
    IF [#&lt;_args.e&gt; EQ 4] THEN M109 P&quot;&lt;B&gt;Error during measure of tool length&lt;/B&gt;&lt;BR&gt;&lt;BR&gt;Sensor was found already tripped before to start 1st touch movements!&lt;/B&gt;&lt;BR&gt;&quot; Q1
    IF [#&lt;_args.e&gt; EQ 5] THEN M109 P&quot;&lt;B&gt;Error during measure of tool length&lt;/B&gt;&lt;BR&gt;&lt;BR&gt;Sensor was not found during 1st touch movements!&lt;/B&gt;&lt;BR&gt;&quot; Q1
    IF [#&lt;_args.e&gt; EQ 6] THEN M109 P&quot;&lt;B&gt;Error during measure of tool length&lt;/B&gt;&lt;BR&gt;&lt;BR&gt;Sensor was found already tripped before to start 2nd touch movements!&lt;/B&gt;&lt;BR&gt;&quot; Q1
    IF [#&lt;_args.e&gt; EQ 7] THEN M109 P&quot;&lt;B&gt;Error during measure of tool length&lt;/B&gt;&lt;BR&gt;&lt;BR&gt;Sensor was not found during 2nd touch movements!&lt;/B&gt;&lt;BR&gt;&quot; Q1
    IF [#&lt;_args.e&gt; EQ 8] THEN M109 P&quot;compulsory protected parameter ##&lt;_args.a&gt; has a wrong value!&quot; Q-1

M109 P&quot;&lt;B&gt;Generic Error&lt;BR&gt;&lt;BR&gt;Unknown error #&lt;_args.e&gt;!&lt;/B&gt;&quot; Q1

ENDSUB

; MANUAL TOOL CHANGE TYPE 0
;
; This mode only notice to the PLC about the loaded tool ID.
; No other actions or movments will be done.
;
SUB &quot;MANUAL_TOOL_CHANGE_0&quot;

; notice to PLC the loaded tool ID
    M61 Q#&lt;tc.requested.tool_id&gt;

ENDSUB

; MANUAL TOOL CHANGE TYPE 1
;
; Manual Tool Change (MTC) with tool length probing:
;   a] Moves to tool-setter position and measures the loaded tool length.
;   b] Moves to tool change position and show info about tool to manually change.
;   c] Waits for the manual tool change by the operator which confirm that change is done.
;   d] Moves to tool-setter position to measures the length of the new tool.
;   e] Calcs the difference and uses this value as tool length compensation.
;
SUB &quot;MANUAL_TOOL_CHANGE_1&quot;

; disable spindle, flood &amp; mist
    M05 M09

; initialize local variabiles
    #&lt;_measure1_&gt;=0     ; measured tool offset Z

; disable tool length compensation to avoid software limits error
    G49

; measure of tool to unload : approaching to probe
    IF [#&lt;tc.enable_hud&gt; EQ 1] THEN M109 P&quot;Measure of tool to unload : approacing to probe...&quot; Q4

; call touch probe procedure
    CALL P&quot;TC_TOUCH_PROBE&quot; A#&lt;tc.tls.top_center_position.z&gt; B#&lt;tc.tls.1st_capture_feed&gt; C#&lt;tc.tls.up_movement_after_1st_touch&gt; D#&lt;tc.tls.minimum_tool_lenght_accepted&gt; E#&lt;tc.tls.2nd_capture_feed&gt;

; calculate the tool length offset as the difference between when the sensor was tripped and the sensor Z position.
    #&lt;_measure1_&gt; = [#5713 - #&lt;tc.tls.top_center_position.z&gt;]

; move to sensor safe position Z
    G53 G01 Z#&lt;tc.tls.safe_position.z&gt; F#&lt;tc.feed&gt;

; move to tool change position
    G53 G01 Z#&lt;tc.mtc.change_position.z&gt; F#&lt;tc.feed&gt;
    G53 G01 X#&lt;tc.mtc.change_position.x&gt; Y#&lt;tc.mtc.change_position.y&gt;

; a different tool should be inserted. Display the message to the user
    M109 P&quot;&lt;BR&gt;Insert tool &lt;B&gt;T#&lt;tc.requested.tool_id&gt;&lt;/B&gt;&lt;BR&gt;&lt;@TI=#&lt;tc.requested.tool_id&gt;&gt;&lt;BR&gt;&quot; Q2
    G04 P1

; notice to PLC the loaded tool ID
    M61 Q#&lt;tc.requested.tool_id&gt;

; measure of loaded tool : approaching to probe
    IF [#&lt;tc.enable_hud&gt; EQ 1] THEN M109 P&quot;Measure of loaded tool : approacing to probe...&quot; Q4

; calculate the tool length offset as the difference between when the sensor was tripped and the sensor Z position.
    #&lt;_measure2_&gt; = [#5713 - #&lt;tc.tls.top_center_position.z&gt;]

; move to sensor safe position Z
    G53 G01 Z#&lt;tc.tls.safe_position.z&gt; F#&lt;tc.feed&gt;

; calc compensation to do
    #&lt;_toll_length_difference_&gt;=[#&lt;_measure2_&gt;-#&lt;_measure1_&gt;+#5422]

; enable dynamic tool length compensation (without use of tools library)
    G43.1 Z#&lt;_toll_length_difference_&gt;

ENDSUB

; MANUAL TOOL CHANGE TYPE 2
;
; Manual Tool Change (MTC) with tool length from Tools Library info:
;   a] Moves to tool change position and show info about tool to manually change.
;   b] Waits for the manual tool change by the operator which confirm that change is done.
;   c] If enabled applies the tool length compensation from Tools Libary info.
;
SUB &quot;MANUAL_TOOL_CHANGE_2&quot;

; check if a different tool should be inserted.
    IF [#&lt;tc.requested.tool_id&gt; NE #&lt;tc.loaded.tool_id&gt;] THEN10

; disable spindle, flood &amp; mist
        M05 M09

; disable tool length compensation to avoid software limits error
        G49

; move to tool change position
        G53 G01 Z#&lt;tc.mtc.change_position.z&gt; F#&lt;tc.feed&gt;
        G53 G01 X#&lt;tc.mtc.change_position.x&gt; Y#&lt;tc.mtc.change_position.y&gt;

; A different tool should be inserted. Display the message to the user.
        M109 P&quot;&lt;BR&gt;Insert tool &lt;B&gt;T#&lt;tc.requested.tool_id&gt;&lt;/B&gt;&lt;BR&gt;&lt;@TI=#&lt;tc.requested.tool_id&gt;&gt;&lt;BR&gt;&quot; Q2
        G04 P1

; notice to PLC the loaded tool ID
        M61 Q#&lt;tc.requested.tool_id&gt;

; enable tool length compensation if enabled
        IF [#&lt;tc.enable_tool_length_compensation&gt; EQ 1] THEN G43 H#&lt;tc.requested.tool_id&gt;

END10

ENDSUB

; AUTOMATIC TOOL CHANGE TYPE 10
;
; This mode manages a rack of slots using place/side &amp; pick/top approach.
; If there is a loaded tool it will be placed.
; If there is a requested tool it will be picked.
; If the tool length measurement/compensation are enabled they are automaticallly performed.
;
SUB &quot;AUTOMATIC_TOOL_CHANGE_10&quot;

; checks if slots for the PICK and PLACE actions are valid
    ;
    ; this happen if G-code require a T with a slot higher than available slots to keep it
    IF [[#&lt;tc.loaded.slot_id&gt; LT 0] OR [#&lt;tc.loaded.slot_id&gt; GT #&lt;tc.atc.slots&gt;]] THEN M109 P&quot;tool change require a PLACE slot number not in range (1..#&lt;tc.atc.slots&gt;)&quot; Q-1
    IF [[#&lt;tc.requested.slot_id&gt; LT 0] OR [#&lt;tc.requested.slot_id&gt; GT #&lt;tc.atc.slots&gt;]] THEN M109 P&quot;tool change require a PICK slot number not in range (1..#&lt;tc.atc.slots&gt;)&quot; Q-1

; disable tool length compensation to avoid errors in software limits checking
    G49

; check actions to do
    #&lt;_has.place&gt;=[#&lt;tc.loaded.tool_id&gt; NE 0]       ; evaluate if tool change has place action
    #&lt;_has.pick&gt;=[#&lt;tc.requested.tool_id&gt; NE 0]     ; evaluate if tool change has pick action

( loaded tool placing )

; check if necessary to place the loaded tool
    IF [#&lt;_has.place&gt;] THEN10

; show place info
        IF [#&lt;tc.enable_hud&gt; EQ 1] THEN M109 P&quot;Tool Changing: PLACE of T#&lt;tc.loaded.tool_id&gt;&quot; Q4

; move Z to safe position
        G53 G00 Z#&lt;tc.atc.safe.z&gt;

; disable spindle, flood &amp; mist
        M05 M09

; open magazine
        CALL P&quot;TC_MAGAZINE_OPEN&quot;

; move XY to clamp zone slot of loaded tool to place it
        CALL P&quot;TC_MOVE_XY_TO_CLAMP_ZONE_SLOT&quot; M0

; move Z to tool drop position
        G53 G00 Z#&lt;tc.atc.slots[#&lt;tc.loaded.slot_id&gt;].z&gt;

; move XY into tool place
        G53 G01 X#&lt;tc.atc.slots[#&lt;tc.loaded.slot_id&gt;].x&gt; Y#&lt;tc.atc.slots[#&lt;tc.loaded.slot_id&gt;].y&gt; F#&lt;tc.feed&gt;

; unload tool-holder
        CALL P&quot;TC_TOOLHOLDER_UNLOAD&quot;

; inform the PLC that the tool has been dropped
        M61 Q0

; move Z to safe position
        G53 G00 Z#&lt;tc.atc.safe.z&gt;

; turn OFF tool unlock output
        M63 P#&lt;tc.atc.unlock.output&gt;

; check if there is not a pick action
        IF [#&lt;_has.pick&gt; EQ 0] THEN11
            ; move XY to clamp zone slot of just now unloaded tool
            CALL P&quot;TC_MOVE_XY_TO_CLAMP_ZONE_SLOT&quot; M0
        END11

END10

( requested tool picking )

; check if necessary to pick the requested tool
    IF [#&lt;_has.pick&gt;] THEN10

; show pick info
        IF [#&lt;tc.enable_hud&gt; EQ 1] THEN M109 P&quot;Tool Changing: PICK of T#&lt;tc.requested.tool_id&gt;&quot; Q4

; check if place action is enabled
        IF [#&lt;_has.place&gt; EQ 0] THEN11

; move Z to safe position
            G53 G00 Z#&lt;tc.atc.safe.z&gt;

; disable spindle, flood &amp; mist
            M05 M09

; open magazine
            CALL P&quot;TC_MAGAZINE_OPEN&quot;

; move XY to outer of tool place position
            G53 G00 X#&lt;tc.atc.slots[#&lt;tc.requested.slot_id&gt;].x&gt; Y#&lt;tc.atc.slots[#&lt;tc.requested.slot_id&gt;].y&gt;

; enable bearing and cone cleaning blow
            CALL P&quot;TC_BEARING_CONE_CLEANING_BLOW&quot; E1
            
        ELSE11
            ; move Z to safe position
            G53 G00 Z#&lt;tc.atc.safe.z&gt;

; move XY to outer of tool place position
            G53 G00 X#&lt;tc.atc.slots[#&lt;tc.requested.slot_id&gt;].x&gt; Y#&lt;tc.atc.slots[#&lt;tc.requested.slot_id&gt;].y&gt;
        END11

; turn ON tool unlock output and wait 1s
        M62 P#&lt;tc.atc.unlock.output&gt;
        G04 P1.0

; enable bearing and cone cleaning blow
        CALL P&quot;TC_BEARING_CONE_CLEANING_BLOW&quot; E1

; move Z to tool pick position
        #&lt;change.pick.z&gt;=[#&lt;tc.atc.slots[#&lt;tc.requested.slot_id&gt;].z&gt; + #&lt;tc.atc.pick_distance.z&gt;]
        G53 G01 Z#&lt;change.pick.z&gt; F#&lt;tc.feed&gt;

; load tool-holder
        CALL P&quot;TC_TOOLHOLDER_LOAD&quot;

; disable bearing and cone cleaning blow
        CALL P&quot;TC_BEARING_CONE_CLEANING_BLOW&quot; E0

; inform PLC that requested tool has been picked
        M61 Q#&lt;tc.requested.tool_id&gt;

; move X or Y to outer of tool place position depending by slot axis orientation
        IF [#&lt;tc.atc.slot.axis.orientation&gt; EQ 0] THEN11
            #&lt;change.outer.y&gt; = [#&lt;tc.atc.slots[#&lt;tc.requested.slot_id&gt;].y&gt; - #&lt;tc.atc.clamp_movement&gt;]
            G53 G00 Y#&lt;change.outer.y&gt;
        ELSE11
            #&lt;change.outer.x&gt; = [#&lt;tc.atc.slots[#&lt;tc.requested.slot_id&gt;].x&gt; - #&lt;tc.atc.clamp_movement&gt;]
            G53 G00 X#&lt;change.outer.x&gt;
        END11

; move Z to safe position
        G53 G00 Z#&lt;tc.atc.safe.z&gt;
    END10

( new loaded tool measuring and compensation )

; check if there was a pick action so a new tool should be in the spindle
    IF [#&lt;_has.pick&gt;] THEN10
    
        ; check if necessary to measure loaded tool
        IF [[[#&lt;tc.atc.enable_tool_setter&gt; EQ 1] AND [#&lt;tc.macro.option&gt; EQ 0]] OR [#&lt;tc.macro.option&gt; EQ 2]] THEN11
            CALL P&quot;TC_TOUCH_PROBE&quot;
        END11

; enable tool length compensation if enabled
        IF [#&lt;tc.enable_tool_length_compensation&gt; EQ 1] THEN G43 H#&lt;tc.requested.tool_id&gt;
        
    END10

; close magazine
    CALL P&quot;TC_MAGAZINE_CLOSE&quot;

ENDSUB

; AUTOMATIC TOOL CHANGE TYPE 11
;
; This mode manages a rack of slots using place/top &amp; pick/top approach.
; If there is a loaded tool it will be placed.
; If there is a requested tool it will be picked.
; If the tool length measurement/compensation are enabled they are automaticallly performed.
;
SUB &quot;AUTOMATIC_TOOL_CHANGE_11&quot;

; disable tool length compensation to avoid errors in software limits checking
    G49

( loaded tool placing )

; check if necessary to place the loaded tool
    IF [#&lt;_has.place&gt;] THEN10

; show place info
        IF [#&lt;tc.enable_hud&gt; EQ 1] THEN M109 P&quot;Tool Changing: PLACE of T#&lt;tc.loaded.tool_id&gt;&quot; Q4

; move Z to safe position
        G53 G00 Z#&lt;tc.atc.safe.z&gt;

; disable spindle, flood &amp; mist
        M05 M09

; open magazine
        CALL P&quot;TC_MAGAZINE_OPEN&quot;

; move XY to clamp zone slot of loaded tool to place it
        CALL P&quot;TC_MOVE_XY_TO_CLAMP_ZONE_SLOT&quot; M0

; move XY into tool place
        G53 G01 X#&lt;tc.atc.slots[#&lt;tc.loaded.slot_id&gt;].x&gt; Y#&lt;tc.atc.slots[#&lt;tc.loaded.slot_id&gt;].y&gt; F#&lt;tc.feed&gt;

; aproach to tool-holder drop zone
        G53 G01 Z[#&lt;tc.atc.slots[#&lt;tc.loaded.slot_id&gt;].z&gt; + #&lt;tc.atc.fast.unload.tool.holder.distance&gt;] F#&lt;tc.feed&gt;
        G53 G01 Z[#&lt;tc.atc.slots[#&lt;tc.loaded.slot_id&gt;].z&gt; + #&lt;tc.atc.slow.unload.tool.holder.distance&gt;] F#&lt;tc.atc.slow.unload.tool.holder.feed&gt;

; unload tool-holder
        CALL P&quot;TC_TOOLHOLDER_UNLOAD&quot;

; inform the PLC that the tool has been dropped
        M61 Q0

; move Z to safe position
        G53 G00 Z#&lt;tc.atc.safe.z&gt;

; turn OFF tool unlock output
        M63 P#&lt;tc.atc.unlock.output&gt;

END10

( requested tool picking )

; check if necessary to pick the requested tool
    IF [#&lt;_has.pick&gt;] THEN10

; show pick info
        IF [#&lt;tc.enable_hud&gt; EQ 1] THEN M109 P&quot;Tool Changing: PICK of T#&lt;tc.requested.tool_id&gt;&quot; Q4

; check if place action is enabled
        IF [#&lt;_has.place&gt; EQ 0] THEN11

; move Z to safe position
            G53 G00 Z#&lt;tc.atc.safe.z&gt;

; disable spindle, flood &amp; mist
            M05 M09

; open magazine
            CALL P&quot;TC_MAGAZINE_OPEN&quot;

; move XY to clamp zone slot of requested tool to pick it
            CALL P&quot;TC_MOVE_XY_TO_CLAMP_ZONE_SLOT&quot; M1

; move XY into tool place
            G53 G01 X#&lt;tc.atc.slots[#&lt;tc.requested.slot_id&gt;].x&gt; Y#&lt;tc.atc.slots[#&lt;tc.requested.slot_id&gt;].y&gt; F#&lt;tc.feed&gt;
        ELSE11
            ; move XY to outer of tool place position
            G53 G00 X#&lt;tc.atc.slots[#&lt;tc.requested.slot_id&gt;].x&gt; Y#&lt;tc.atc.slots[#&lt;tc.requested.slot_id&gt;].y&gt;
        END11

( BEGIN UNLOAD TOOL-HOLDER )

; aproach to tool-holder drop zone
        G53 G01 Z[#&lt;tc.atc.slots[#&lt;tc.requested.slot_id&gt;].z&gt; + #&lt;tc.atc.fast.load.tool.holder.distance&gt;] F#&lt;tc.feed&gt;

; turn ON tool unlock output
        M62 P#&lt;tc.atc.unlock.output&gt;

; enable bearing and cone cleaning blow
        CALL P&quot;TC_BEARING_CONE_CLEANING_BLOW&quot; E1

; check if required unlock output feedback
        IF [#&lt;tc.atc.unlock.input&gt; GT 0] THEN11
            ; wait and check for tool unlock input signal with timeout
            M66 P#&lt;tc.atc.unlock.input&gt; L#&lt;wait_input.high&gt; Q#&lt;tc.atc.unlock.timeout&gt;
            IF [#5722 EQ #&lt;wait_input.failure&gt;] THEN M109 P&quot;&lt;B&gt;TOOL T#&lt;tc.requested.tool_id&gt; PICK ERROR&lt;/B&gt;&lt;BR&gt;&lt;BR&gt;Collet Unlock Input is LOW&lt;BR&gt;&quot; Q1
        END11

; wait and check spindle S1/S2 for S1 HIGH &amp; S2 LOW
        CALL P&quot;TC_WAIT_AND_CHECK_SPINDLE_S1_S2_FOR_HL&quot;

; aproach to tool-holder drop zone
        G53 G01 Z[#&lt;tc.atc.slots[#&lt;tc.requested.slot_id&gt;].z&gt; + #&lt;tc.atc.medium.load.tool.holder.distance&gt;] F#&lt;tc.atc.medium.load.tool.holder.feed&gt;

; disable bearing and cone cleaning blow
        CALL P&quot;TC_BEARING_CONE_CLEANING_BLOW&quot; E0

; move Z to tool pick position
        G53 G01 Z#&lt;tc.atc.slots[#&lt;tc.requested.slot_id&gt;].z&gt; F#&lt;tc.atc.final.load.tool.holder.feed&gt;

; turn OFF tool unlock output and wait 1s
        M63 P#&lt;tc.atc.unlock.output&gt;

; check if required unlock output feedback
        IF [#&lt;tc.atc.unlock.input&gt; GT 0] THEN11

; wait settle time for P5 input stabilizatin
            G04 P1.0

; wait and check for tool unlock input signal with timeout
            M66 P#&lt;tc.atc.unlock.input&gt; L#&lt;wait_input.high&gt; Q#&lt;tc.atc.unlock.timeout&gt;
            IF [#5722 EQ #&lt;wait_input.failure&gt;] THEN12
                M109 P&quot;&lt;B&gt;TOOL T#&lt;tc.requested.tool_id&gt; PICK ERROR&lt;/B&gt;&lt;BR&gt;&lt;BR&gt;Cone present Input is LOW&lt;BR&gt;&quot; Q1
            END12
        END11

; cone grip pulse management
        CALL P&quot;TC_CONE_GRIP_PULSE&quot;

; inform PLC that requested tool has been picked
        M61 Q#&lt;tc.requested.tool_id&gt;

; move Z to safe position
        G53 G01 Z#&lt;tc.atc.safe.z&gt; F#&lt;tc.feed&gt;

; move XY to clamp zone slot of requested tool just now loaded
        CALL P&quot;TC_MOVE_XY_TO_CLAMP_ZONE_SLOT&quot; M1

END10

( new loaded tool measuring and compensation )

; enable tool length compensation if enabled
        IF [#&lt;tc.enable_tool_length_compensation&gt; EQ 1] THEN G43 H#&lt;tc.requested.tool_id&gt;
        
    END10

; close magazine
    CALL P&quot;TC_MAGAZINE_CLOSE&quot;

ENDSUB

;   TOOL CHANGE CONE GRIP PULSE
;
SUB &quot;TC_CONE_GRIP_PULSE&quot;

; check if required cone grip pulse
    IF [#&lt;tc.atc.cone.grip.output&gt; GT 0] THEN10
        G04 P#&lt;tc.atc.cone.grip.output.time&gt;
        M62 P#&lt;tc.atc.cone.grip.output&gt;
        G04 P#&lt;tc.atc.cone.grip.output.time&gt;
        M63 P#&lt;tc.atc.cone.grip.output&gt;
    END10

ENDSUB

;   TOOL CHANGE BEARING/CONE CLEANING BLOW
;
;   Arguments
;       E0  #8      Enabled state: OFF
;       E1  #8      Enabled state: ON
;
SUB &quot;TC_BEARING_CONE_CLEANING_BLOW&quot;

; evaluate enabled state
    IF [#8 EQ 0] THEN10

; check if required cone clearing blow and put it OFF
        IF [#&lt;tc.atc.cone.cleaning.blow.output&gt; GT 0] THEN11
            M63 P#&lt;tc.atc.cone.cleaning.blow.output&gt;
        END11
        
        ; check if required bearing cleaning blow and put it OFF
        IF [#&lt;tc.atc.bearing.cleaning.blow.output&gt; GT 0] THEN11
            M63 P#&lt;tc.atc.bearing.cleaning.blow.output&gt;
        END11
    
    ELSE10

; check if required cone clearing blow and put it ON
        IF [#&lt;tc.atc.cone.cleaning.blow.output&gt; GT 0] THEN11
            M62 P#&lt;tc.atc.cone.cleaning.blow.output&gt;
        END11

; check if required bearing cleaning blow and put it ON
        IF [#&lt;tc.atc.bearing.cleaning.blow.output&gt; GT 0] THEN11
            M62 P#&lt;tc.atc.bearing.cleaning.blow.output&gt;
        END11
    
    END10

ENDSUB

;   TOOL CHANGE WAIT AND CHECK SPINDLE S1/S2 FOR S1 LOW &amp; S2 HIGH 
;
SUB &quot;TC_WAIT_AND_CHECK_SPINDLE_S1_S2_FOR_LH&quot;

; check if required spindle S1/S2 management
    IF [[#&lt;tc.atc.spindle.s1&gt; GT 0] AND [#&lt;tc.atc.spindle.s2&gt; GT 0]] THEN10
        ; wait and check for spindle S1/S2 management
        M66 P#&lt;tc.atc.spindle.s1&gt; L#&lt;wait_input.low&gt; Q#&lt;tc.atc.unlock.timeout&gt;
        IF [#5722 EQ #&lt;wait_input.failure&gt;] THEN M109 P&quot;&lt;B&gt;TOOL T#&lt;tc.loaded.tool_id&gt; PLACE ERROR&lt;/B&gt;&lt;BR&gt;&lt;BR&gt;Spindle S1 is HIGH&lt;BR&gt;&quot; Q1
        M66 P#&lt;tc.atc.spindle.s2&gt; L#&lt;wait_input.high&gt; Q#&lt;tc.atc.unlock.timeout&gt;
        IF [#5722 EQ #&lt;wait_input.failure&gt;] THEN M109 P&quot;&lt;B&gt;TOOL T#&lt;tc.loaded.tool_id&gt; PLACE ERROR&lt;/B&gt;&lt;BR&gt;&lt;BR&gt;Spindle S2 is LOW&lt;BR&gt;&quot; Q1
    END10

ENDSUB

;   TOOL CHANGE WAIT AND CHECK SPINDLE S1/S2 FOR S1 HIGH &amp; S2 LOW
;
SUB &quot;TC_WAIT_AND_CHECK_SPINDLE_S1_S2_FOR_HL&quot;

; check if required spindle S1/S2 management
    IF [[#&lt;tc.atc.spindle.s1&gt; GT 0] AND [#&lt;tc.atc.spindle.s2&gt; GT 0]] THEN10
        ; wait and check for spindle S1/S2 management
        M66 P#&lt;tc.atc.spindle.s1&gt; L#&lt;wait_input.high&gt; Q#&lt;tc.atc.unlock.timeout&gt;
        IF [#5722 EQ #&lt;wait_input.failure&gt;] THEN M109 P&quot;&lt;B&gt;TOOL T#&lt;tc.loaded.tool_id&gt; PICK ERROR&lt;/B&gt;&lt;BR&gt;&lt;BR&gt;Spindle S1 is LOW&lt;BR&gt;&quot; Q1
        M66 P#&lt;tc.atc.spindle.s2&gt; L#&lt;wait_input.low&gt; Q#&lt;tc.atc.unlock.timeout&gt;
        IF [#5722 EQ #&lt;wait_input.failure&gt;] THEN M109 P&quot;&lt;B&gt;TOOL T#&lt;tc.loaded.tool_id&gt; PICK ERROR&lt;/B&gt;&lt;BR&gt;&lt;BR&gt;Spindle S2 is HIGH&lt;BR&gt;&quot; Q1
    END10

ENDSUB

;   TOOL CHANGE MOVE XY TO CLAMP ZONE SLOT FOR LOADED OR SELECTED TOOL
;
;   Arguments
;       M0  #13     Required position: for the loaded tool
;       M1  #13     Required position: for the requested tool
;
SUB &quot;TC_MOVE_XY_TO_CLAMP_ZONE_SLOT&quot;

; evaluate required position
    IF [#13 EQ 0] THEN10
    
        ; move XY to outer of tool place position depending by slot axis orientation
        IF [#&lt;tc.atc.slot.axis.orientation&gt; EQ 0] THEN11
            G53 G00 Y[#&lt;tc.atc.slots[#&lt;tc.loaded.slot_id&gt;].y&gt; - #&lt;tc.atc.clamp_movement&gt;]
            G53 G00 X#&lt;tc.atc.slots[#&lt;tc.loaded.slot_id&gt;].x&gt;
        ELSE11
            G53 G00 X[#&lt;tc.atc.slots[#&lt;tc.loaded.slot_id&gt;].x&gt; - #&lt;tc.atc.clamp_movement&gt;]
            G53 G00 Y#&lt;tc.atc.slots[#&lt;tc.loaded.slot_id&gt;].y&gt;
        END11
    
    ELSE10

; move XY to outer of tool place position depending by slot axis orientation
        IF [#&lt;tc.atc.slot.axis.orientation&gt; EQ 0] THEN11
            G53 G00 Y[#&lt;tc.atc.slots[#&lt;tc.requested.slot_id&gt;].y&gt; - #&lt;tc.atc.clamp_movement&gt;]
            G53 G00 X#&lt;tc.atc.slots[#&lt;tc.requested.slot_id&gt;].x&gt;
        ELSE11
            G53 G00 X[#&lt;tc.atc.slots[#&lt;tc.requested.slot_id&gt;].x&gt; - #&lt;tc.atc.clamp_movement&gt;]
            G53 G00 Y#&lt;tc.atc.slots[#&lt;tc.requested.slot_id&gt;].y&gt;
        END11
    
    END10

ENDSUB

;   TOOL CHANGE MOVE TO SAFE Z CLAMP ZONE TOOL-SETTER
;
SUB &quot;TC_MOVE_TO_SAFE_Z_CLAMP_ZONE_TOOLSETTER&quot;

; move Z to safe position
    G53 G00 Z#&lt;tc.tls.safe_position.z&gt;

; move XY to outer of tool-setter position depending by slot axis orientation
    IF [#&lt;tc.atc.slot.axis.orientation&gt; EQ 0] THEN11
        G53 G00 Y[#&lt;tc.tls.top_center_position.y&gt; - #&lt;tc.atc.clamp_movement&gt;]
        G53 G00 X#&lt;tc.tls.top_center_position.x&gt;
    ELSE11
        G53 G00 X[#&lt;tc.tls.top_center_position.x&gt; - #&lt;tc.atc.clamp_movement&gt;]
        G53 G00 Y#&lt;tc.tls.top_center_position.y&gt;
    END11

ENDSUB

;   TOOL CHANGE TOUCH PROBE EXTERNAL REQUEST
;
SUB &quot;TC_TOUCH_PROBE_EXTERNAL_REQUEST&quot;

; disable tool length compensation to avoid software limits error
    G49

; move to safe Z clamp zone tool-setter
    CALL P&quot;TC_MOVE_TO_SAFE_Z_CLAMP_ZONE_TOOLSETTER&quot;

; open magazine
    CALL P&quot;TC_MAGAZINE_OPEN&quot;

; call touch probe procedure
    CALL P&quot;TC_TOUCH_PROBE&quot;

; move to safe Z clamp zone tool-setter
    CALL P&quot;TC_MOVE_TO_SAFE_Z_CLAMP_ZONE_TOOLSETTER&quot;

; close magazine
    CALL P&quot;TC_MAGAZINE_CLOSE&quot;

ENDSUB

;   TOOL CHANGE TOUCH PROBE
;
SUB &quot;TC_TOUCH_PROBE&quot;

; check mode type
    IF [[#&lt;tc.type&gt; EQ 10] OR [#&lt;tc.type&gt; EQ 11]] THEN10
        ; move to safe Z clamp zone tool-setter
        CALL P&quot;TC_MOVE_TO_SAFE_Z_CLAMP_ZONE_TOOLSETTER&quot;
    ELSE10
        ; move to safe Z zone tool-setter
        G53 G01 Z#&lt;tc.tls.safe_position.z&gt; F#&lt;tc.feed&gt;
    END10

; move XY to probe positions
    G53 G00 X#&lt;tc.tls.top_center_position.x&gt; Y#&lt;tc.tls.top_center_position.y&gt;

; check if required cleaning probe pulse
    IF [#&lt;tc.tls.probe.cleaning.output&gt; GT 0] THEN11
        M62 P#&lt;tc.tls.probe.cleaning.output&gt;
        G04 P#&lt;tc.tls.probe.cleaning.output.time&gt;
        M63 P#&lt;tc.tls.probe.cleaning.output&gt;
    END11

; move z to probe approaching position
    G53 G38.3 Z#&lt;tc.tls.approaching_position.z&gt; X#&lt;tc.tls.top_center_position.x&gt; Y#&lt;tc.tls.top_center_position.y&gt; F#&lt;tc.tls.approaching_feed&gt;

; check if sensor was found already tripped before to start approach movements to probe
    IF [#5700 EQ -2] THEN CALL P&quot;TC_EXIT&quot; E2

; check if sensor was tripped during approach movements to probe
    IF [#5700 EQ 1] THEN CALL P&quot;TC_EXIT&quot; E3

; call tc touch probe managemnt
    CALL P&quot;TC_TOUCH_PROBE_MAIN&quot; A#&lt;tc.tls.top_center_position.z&gt; B#&lt;tc.tls.1st_capture_feed&gt; C#&lt;tc.tls.up_movement_after_1st_touch&gt; D#&lt;tc.tls.minimum_tool_lenght_accepted&gt; E#&lt;tc.tls.2nd_capture_feed&gt;

; calc and set new tool length (offset Z)
    #&lt;_offset.z_&gt;=[#5713 - #&lt;tc.tls.top_center_position.z&gt;]
    G10 L1 P#&lt;tc.requested.tool_id&gt; V#&lt;tc.requested.slot_id&gt; X0 Y0 Z#&lt;_offset.z_&gt;

; show calculated tool length
    IF [#&lt;tc.enable_hud&gt; EQ 1] THEN M109 P&quot;Tool T#&lt;tc.requested.tool_id&gt; measured length = #&lt;_offset.z_&gt;mm&quot; Q4

ENDSUB

; TOOL CHANGE TOUCH PROBE MAIN
;
; Inputs:
;
;   Ee  #8          Exit code
;   Aa  #1          Sensor top/center position Z (MCS)
;   Bb  #2          Z feed to 1st probe input capture (SLOW)
;   Cc  #3          Z up movement after 1st touch capture (REL)
;   Dd  #7          Minimum tool lenght accepted
;   Ee  #8          Z feed to 2nd probe input capture (VERY SLOW)
;
SUB &quot;TC_TOUCH_PROBE_MAIN&quot;

; disable the feed rate override controls
    ;
    ; NOTE
    ; ====
    ; During debug movements, for safety, you can disable this code and use feed rate OVR
    M50 P0

; measure of tool : 1st touch
    IF [#&lt;tc.enable_hud&gt; EQ 1] THEN M109 P&quot;Tool Measuring: Approach for 1st touch...&quot; Q4
    G53 G38.3 Z[#&lt;_args.a&gt;+#&lt;_args.d&gt;] F#&lt;_args.b&gt;

; check if sensor was found already tripped before to start 1st touch movements
    IF [#5700 EQ -2] THEN10
        ; restore the feed rate override controls
        M50 P#&lt;saved.5136&gt;

; move to safe Z clamp zone tool-setter and notice error
        CALL P&quot;TC_MOVE_TO_SAFE_Z_CLAMP_ZONE_TOOLSETTER&quot;
        CALL P&quot;TC_EXIT&quot; E4
    END10

; check if sensor was not found during 1st touch movements
    IF [#5700 NE 1] THEN10
        ; restore the feed rate override controls
        M50 P#&lt;saved.5136&gt;

; move to safe Z clamp zone tool-setter and notice error
        CALL P&quot;TC_MOVE_TO_SAFE_Z_CLAMP_ZONE_TOOLSETTER&quot;
        CALL P&quot;TC_EXIT&quot; E5
    END10

; measure of tool : 2nd touch
    IF [#&lt;tc.enable_hud&gt; EQ 1] THEN M109 P&quot;Tool Measuring: Approach for 2nd touch...&quot; Q4

G53 G00 Z[#5713+#&lt;_args.c&gt;]
    G53 G38.3 Z[#&lt;_args.a&gt;+#&lt;_args.d&gt;] F#&lt;_args.e&gt;

; check if sensor was found already tripped before to start 2nd touch movements
    IF [#5700 EQ -2] THEN10
        ; restore the feed rate override controls
        M50 P#&lt;saved.5136&gt;

; move to safe Z clamp zone tool-setter and notice error
        CALL P&quot;TC_MOVE_TO_SAFE_Z_CLAMP_ZONE_TOOLSETTER&quot;
        CALL P&quot;TC_EXIT&quot; E6
    END10

; check if sensor was not found during 2nd touch movements
    IF [#5700 NE 1] THEN10
        ; restore the feed rate override controls
        M50 P#&lt;saved.5136&gt;

; move to safe Z clamp zone tool-setter and notice error
        CALL P&quot;TC_MOVE_TO_SAFE_Z_CLAMP_ZONE_TOOLSETTER&quot;
        CALL P&quot;TC_EXIT&quot; E7
    END10

; restore the feed rate override controls
    M50 P#&lt;saved.5136&gt;

ENDSUB

;   TOOL CHANGE TOOLHOLDER LOAD (ATC)
;
SUB &quot;TC_TOOLHOLDER_LOAD&quot;

; turn OFF tool unlock output and wait 1s
    M63 P#&lt;tc.atc.unlock.output&gt;
    G04 P1.0

; check if required unlock output feedback
    IF [#&lt;tc.atc.unlock.input&gt; GT 0] THEN10
        ; wait and check for tool unlock input signal with timeout
        M66 P#&lt;tc.atc.unlock.input&gt; L#&lt;wait_input.high&gt; Q#&lt;tc.atc.unlock.timeout&gt;
        IF [#5722 EQ #&lt;wait_input.failure&gt;] THEN M109 P&quot;&lt;B&gt;TOOL T#&lt;tc.requested.tool_id&gt; PICK ERROR&lt;/B&gt;&lt;BR&gt;&lt;BR&gt;Collet Unlock Input is LOW&lt;BR&gt;&quot; Q1
    END10

; wait and check spindle S1/S2 for S1 HIGH &amp; S2 LOW
    CALL P&quot;TC_WAIT_AND_CHECK_SPINDLE_S1_S2_FOR_HL&quot;

M99

;   TOOL CHANGE TOOLHOLDER UNLOAD (ATC)
;
SUB &quot;TC_TOOLHOLDER_UNLOAD&quot;

; turn ON tool unlock output and wait 1s
    M62 P#&lt;tc.atc.unlock.output&gt;
    G04 P1.0

; check if required unlock output feedback
    IF [#&lt;tc.atc.unlock.input&gt; GT 0] THEN10
        ; wait and check for tool unlock input signal with timeout
        M66 P#&lt;tc.atc.unlock.input&gt; L#&lt;wait_input.low&gt; Q#&lt;tc.atc.unlock.timeout&gt;
        IF [#5722 EQ #&lt;wait_input.failure&gt;] THEN11
            ; turn OFF tool unlock output
            M63 P#&lt;tc.atc.unlock.output&gt;
            ; notice error and stop
            M109 P&quot;&lt;B&gt;TOOL T#&lt;tc.requested.tool_id&gt; PLACE ERROR&lt;/B&gt;&lt;BR&gt;&lt;BR&gt;Collet Unlock Input is HIGH&lt;BR&gt;&quot; Q1
        END11
    END10

; wait and check spindle S1/S2 for S1 LOW &amp; S2 HIGH
    CALL P&quot;TC_WAIT_AND_CHECK_SPINDLE_S1_S2_FOR_LH&quot;

ENDSUB

;   TOOL CHANGE MAGAZINE UPDATE STATE
;
;   #&lt;tc.atc.magazine_state&gt;
;   0 = undefined
;   1 = open
;   2 = closed
;
SUB &quot;TC_MAGAZINE_UPDATE_STATE&quot;

; set magazine state to UNDEFINED
    #&lt;tc.atc.magazine_state&gt;=0

; evaluate magazine type
    IF [#&lt;tc.atc.magazine.type&gt; EQ 1] THEN10

IF [[#&lt;tc.atc.magazine.input.open&gt; GT 0] AND [#&lt;tc.atc.magazine.input.closed&gt; GT 0]] THEN11

M66 P#&lt;tc.atc.magazine.input.open&gt; L#&lt;wait_input.immediate&gt;
            IF [#5722 EQ #&lt;wait_input.failure&gt;] THEN M109 P&quot;Error in magazine input recovering states&quot; Q1
            #&lt;_open_&gt;=#5720
            M66 P#&lt;tc.atc.magazine.input.closed&gt; L#&lt;wait_input.immediate&gt;
            IF [#5722 EQ #&lt;wait_input.failure&gt;] THEN M109 P&quot;Error in magazine input recovering states&quot; Q1
            #&lt;_closed_&gt;=#5720
            IF [[#&lt;_open_&gt; EQ 1] AND [#&lt;_closed_&gt; EQ 0]] THEN #&lt;tc.atc.magazine_state&gt;=1
            IF [[#&lt;_open_&gt; EQ 0] AND [#&lt;_closed_&gt; EQ 1]] THEN #&lt;tc.atc.magazine_state&gt;=2

END11

END10

ENDSUB

;   TOOL CHANGE MAGAZINE OPEN
;
SUB &quot;TC_MAGAZINE_OPEN&quot;

; get magazine state
    CALL P&quot;TC_MAGAZINE_UPDATE_STATE&quot;

; evaluate magazine type
    IF [#&lt;tc.atc.magazine.type&gt; EQ 1] THEN10

; if magazine is already OPEN nothing to do
        IF [#&lt;tc.atc.magazine_state&gt; EQ 1] THEN11
            M99
        END11

; open magazine
        IF [#&lt;tc.enable_hud&gt; EQ 1] THEN M109 P&quot;Opening Magazine&quot; Q4
        #&lt;tc.atc.magazine_state&gt;=0
        M63 P#&lt;tc.atc.magazine.output.close&gt;
        M62 P#&lt;tc.atc.magazine.output.open&gt;
        IF [#&lt;tc.atc.magazine.input.open&gt; GT 0] THEN11
            M66 P#&lt;tc.atc.magazine.input.open&gt; L#&lt;wait_input.high&gt; Q#&lt;tc.atc.magazine.input.timeout&gt;
            M63 P#&lt;tc.atc.magazine.output.open&gt;
            IF [#5722 EQ #&lt;wait_input.failure&gt;] THEN M109 P&quot;Magazine not reached open state&lt;BR&gt;in the specified time&quot; Q1
        ELSE11
            G4 P#&lt;tc.atc.magazine.output.time&gt;
            M63 P#&lt;tc.atc.magazine.output.open&gt;
        END11
        IF [#&lt;tc.atc.magazine.input.closed&gt; GT 0] THEN11
            M66 P#&lt;tc.atc.magazine.input.closed&gt; L#&lt;wait_input.immediate&gt;
            IF [#5722 EQ #&lt;wait_input.failure&gt;] THEN M109 P&quot;Error in magazine input recovering states&quot; Q1
            IF [#5720 EQ 1] THEN M109 P&quot;Magazine in wrong state&lt;BR&gt;&lt;BR&gt;Opened/Closed inputs are HIGH&quot; Q1
        END11
        #&lt;tc.atc.magazine_state&gt;=1
        IF [#&lt;tc.enable_hud&gt; EQ 1] THEN M109 P&quot;&quot; Q4

END10

ENDSUB

;   TOOL CHANGE MAGAZINE CLOSE
;
SUB &quot;TC_MAGAZINE_CLOSE&quot;

; check if magazine close is bypassed
    IF [#&lt;tc.do_not_close_magazine&gt; EQ 1] THEN M99

; get magazine state
    CALL P&quot;TC_MAGAZINE_UPDATE_STATE&quot;

; evaluate magazine type
    IF [#&lt;tc.atc.magazine.type&gt; EQ 1] THEN10

; if magazine is already CLOSED nothing to do
        IF [#&lt;tc.atc.magazine_state&gt; EQ 2] THEN11
            M99
        END11

; close magazine
        IF [#&lt;tc.enable_hud&gt; EQ 1] THEN M109 P&quot;Closing Magazine&quot; Q4
        #&lt;tc.atc.magazine_state&gt;=0
        M63 P#&lt;tc.atc.magazine.output.open&gt;
        M62 P#&lt;tc.atc.magazine.output.close&gt;
        IF [#&lt;tc.atc.magazine.input.closed&gt; GT 0] THEN11
            M66 P#&lt;tc.atc.magazine.input.closed&gt; L#&lt;wait_input.high&gt; Q#&lt;tc.atc.magazine.input.timeout&gt;
            M63 P#&lt;tc.atc.magazine.output.close&gt;
            IF [#5722 EQ #&lt;wait_input.failure&gt;] THEN M109 P&quot;Magazine not reached closed state&lt;BR&gt;in the specified time&quot; Q1
        ELSE11
            G4 P#&lt;tc.atc.magazine.output.time&gt;
            M63 P#&lt;tc.atc.magazine.output.close&gt;
        END11
        IF [#&lt;tc.atc.magazine.input.open&gt; GT 0] THEN11
            M66 P#&lt;tc.atc.magazine.input.open&gt; L#&lt;wait_input.immediate&gt;
            IF [#5722 EQ #&lt;wait_input.failure&gt;] THEN M109 P&quot;Error in magazine input recovering states&quot; Q1
            IF [#5720 EQ 1] THEN M109 P&quot;Magazine in wrong state&lt;BR&gt;&lt;BR&gt;Opened/Closed inputs are HIGH&quot; Q1
        END11
        #&lt;tc.atc.magazine_state&gt;=2
        IF [#&lt;tc.enable_hud&gt; EQ 1] THEN M109 P&quot;&quot; Q4

END10

ENDSUB

; TOOL CHANGE TOGGLE CONE LOAD/UNLOAD
;
SUB &quot;TC_TOGGLE_CONE_LOAD_UNLOAD&quot;

; turn ON tool unlock output and wait 1s
    M62 P#&lt;tc.atc.unlock.output&gt;
    G04 P1.0

; wait cone load/unload input goes low
    IF [#&lt;tc.atc.cone.load.unload.input&gt; GT 0] THEN11
        M66 P#&lt;tc.atc.cone.load.unload.input&gt; L#&lt;wait_input.low&gt;
        IF [#5722 EQ #&lt;wait_input.failure&gt;] THEN M109 P&quot;Unable to get cone load/unload input state&quot; Q1
    ELSE11
        G04 P#&lt;tc.atc.cone.load.unload.time&gt;
    END11

; turn OFF tool unlock output
    M63 P#&lt;tc.atc.unlock.output&gt;

; check if required cone grip pulse
    IF [#&lt;tc.atc.cone.grip.output&gt; GT 0] THEN11
        G04 P#&lt;tc.atc.cone.grip.output.time&gt;
        M62 P#&lt;tc.atc.cone.grip.output&gt;
        G04 P#&lt;tc.atc.cone.grip.output.time&gt;
        M63 P#&lt;tc.atc.cone.grip.output&gt;
    END11

ENDSUB

; TOOL CHANGE INITIALIZATION
;
SUB &quot;TC_INIT&quot;
    ; if true enable all hud messages
    #&lt;tc.enable_hud&gt; = 0

; check if there are compulsory protected parameters undefined

; tool change generic parameters
    IF [#6000 EQ #0] THEN CALL P&quot;TC_EXIT&quot; E1 A6000
    IF [#6001 EQ #0] THEN CALL P&quot;TC_EXIT&quot; E1 A6001
    IF [#6009 EQ #0] THEN CALL P&quot;TC_EXIT&quot; E1 A6009
    IF [#6016 EQ #0] THEN CALL P&quot;TC_EXIT&quot; E1 A6016
    ; manual tool change parameters
    IF [#6002 EQ #0] THEN CALL P&quot;TC_EXIT&quot; E1 A6002
    IF [#6003 EQ #0] THEN CALL P&quot;TC_EXIT&quot; E1 A6003
    IF [#6004 EQ #0] THEN CALL P&quot;TC_EXIT&quot; E1 A6004
    ; tls (tool length presetter) parameters
    IF [#6005 EQ #0] THEN CALL P&quot;TC_EXIT&quot; E1 A6005
    IF [#6006 EQ #0] THEN CALL P&quot;TC_EXIT&quot; E1 A6006
    IF [#6007 EQ #0] THEN CALL P&quot;TC_EXIT&quot; E1 A6007
    IF [#6008 EQ #0] THEN CALL P&quot;TC_EXIT&quot; E1 A6008
    IF [#6010 EQ #0] THEN CALL P&quot;TC_EXIT&quot; E1 A6010
    IF [#6011 EQ #0] THEN CALL P&quot;TC_EXIT&quot; E1 A6011
    IF [#6012 EQ #0] THEN CALL P&quot;TC_EXIT&quot; E1 A6012
    IF [#6013 EQ #0] THEN CALL P&quot;TC_EXIT&quot; E1 A6013
    IF [#6014 EQ #0] THEN CALL P&quot;TC_EXIT&quot; E1 A6014
    IF [#6015 EQ #0] THEN CALL P&quot;TC_EXIT&quot; E1 A6015
    IF [#6017 EQ #0] THEN CALL P&quot;TC_EXIT&quot; E1 A6017
    IF [#6018 EQ #0] THEN CALL P&quot;TC_EXIT&quot; E1 A6018
    ; atc parameters
    IF [#6020 EQ #0] THEN CALL P&quot;TC_EXIT&quot; E1 A6020
    IF [#6021 EQ #0] THEN CALL P&quot;TC_EXIT&quot; E1 A6021
    IF [#6022 EQ #0] THEN CALL P&quot;TC_EXIT&quot; E1 A6022
    IF [#6023 EQ #0] THEN CALL P&quot;TC_EXIT&quot; E1 A6023
    IF [#6024 EQ #0] THEN CALL P&quot;TC_EXIT&quot; E1 A6024
    IF [#6025 EQ #0] THEN CALL P&quot;TC_EXIT&quot; E1 A6025
    IF [#6026 EQ #0] THEN CALL P&quot;TC_EXIT&quot; E1 A6026
    IF [#6036 EQ #0] THEN CALL P&quot;TC_EXIT&quot; E1 A6036
    IF [#6037 EQ #0] THEN CALL P&quot;TC_EXIT&quot; E1 A6037
    IF [#6038 EQ #0] THEN CALL P&quot;TC_EXIT&quot; E1 A6038
    IF [#6039 EQ #0] THEN CALL P&quot;TC_EXIT&quot; E1 A6039
    IF [#6040 EQ #0] THEN CALL P&quot;TC_EXIT&quot; E1 A6040
    IF [#6041 EQ #0] THEN CALL P&quot;TC_EXIT&quot; E1 A6041
    IF [#6042 EQ #0] THEN CALL P&quot;TC_EXIT&quot; E1 A6042
    IF [#6043 EQ #0] THEN CALL P&quot;TC_EXIT&quot; E1 A6043
    IF [#6044 EQ #0] THEN CALL P&quot;TC_EXIT&quot; E1 A6044
    IF [#6045 EQ #0] THEN CALL P&quot;TC_EXIT&quot; E1 A6045
    IF [#6046 EQ #0] THEN CALL P&quot;TC_EXIT&quot; E1 A6046
    IF [#6047 EQ #0] THEN CALL P&quot;TC_EXIT&quot; E1 A6047
    IF [#6048 EQ #0] THEN CALL P&quot;TC_EXIT&quot; E1 A6048
    IF [#6050 EQ #0] THEN CALL P&quot;TC_EXIT&quot; E1 A6050
    IF [#6051 EQ #0] THEN CALL P&quot;TC_EXIT&quot; E1 A6051
    IF [#6052 EQ #0] THEN CALL P&quot;TC_EXIT&quot; E1 A6052
    IF [#6053 EQ #0] THEN CALL P&quot;TC_EXIT&quot; E1 A6053
    IF [#6054 EQ #0] THEN CALL P&quot;TC_EXIT&quot; E1 A6054
    IF [#6055 EQ #0] THEN CALL P&quot;TC_EXIT&quot; E1 A6055
    IF [#6056 EQ #0] THEN CALL P&quot;TC_EXIT&quot; E1 A6056
    IF [#6057 EQ #0] THEN CALL P&quot;TC_EXIT&quot; E1 A6057
    IF [#6058 EQ #0] THEN CALL P&quot;TC_EXIT&quot; E1 A6058
    IF [#6059 EQ #0] THEN CALL P&quot;TC_EXIT&quot; E1 A6059
    IF [#6060 EQ #0] THEN CALL P&quot;TC_EXIT&quot; E1 A6060

; define tool change generic parameters
    #&lt;tc.type&gt;=#6000
    #&lt;tc.features&gt;=#6001
    #&lt;tc.feed&gt;=#6009
    #&lt;tc.enable_tool_length_compensation&gt;=#6016

; define manual tool change parameters
    #&lt;tc.mtc.change_position.x&gt;=#6002
    #&lt;tc.mtc.change_position.y&gt;=#6003
    #&lt;tc.mtc.change_position.z&gt;=#6004

; define tls (tool length presetter) parameters
    #&lt;tc.tls.safe_position.z&gt;=#6005
    #&lt;tc.tls.top_center_position.x&gt;=#6006
    #&lt;tc.tls.top_center_position.y&gt;=#6007
    #&lt;tc.tls.top_center_position.z&gt;=#6008
    #&lt;tc.tls.approaching_position.z&gt;=#6010
    #&lt;tc.tls.approaching_feed&gt;=#6011
    #&lt;tc.tls.1st_capture_feed&gt;=#6012
    #&lt;tc.tls.2nd_capture_feed&gt;=#6013
    #&lt;tc.tls.up_movement_after_1st_touch&gt;=#6014
    #&lt;tc.tls.minimum_tool_lenght_accepted&gt;=#6015
    #&lt;tc.tls.probe.cleaning.output&gt;=#6017
    #&lt;tc.tls.probe.cleaning.output.time&gt;=#6018

; define atc parameters
    #&lt;tc.atc.magazine.type&gt;=#6020
    #&lt;tc.atc.magazine.input.open&gt;=#6021
    #&lt;tc.atc.magazine.input.closed&gt;=#6022
    #&lt;tc.atc.magazine.input.timeout&gt;=#6023
    #&lt;tc.atc.magazine.output.time&gt;=#6024
    #&lt;tc.atc.magazine.output.open&gt;=#6025
    #&lt;tc.atc.magazine.output.close&gt;=#6026

#&lt;tc.atc.safe.z&gt;=#6050
    #&lt;tc.atc.unlock.input&gt;=#6051
    #&lt;tc.atc.unlock.output&gt;=#6052
    #&lt;tc.atc.unlock.timeout&gt;=#6053
    #&lt;tc.atc.clamp_movement&gt;=#6054
    #&lt;tc.atc.pick_distance.z&gt;=#6055
    #&lt;tc.atc.enable_tool_setter&gt;=#6056
    #&lt;tc.atc.spindle.s1&gt;=#6057
    #&lt;tc.atc.spindle.s2&gt;=#6058
    #&lt;tc.atc.slot.axis.orientation&gt;=#6059

#&lt;tc.atc.fast.unload.tool.holder.distance&gt;=#6036
    #&lt;tc.atc.slow.unload.tool.holder.distance&gt;=#6037
    #&lt;tc.atc.slow.unload.tool.holder.feed&gt;=#6038
    #&lt;tc.atc.fast.load.tool.holder.distance&gt;=#6039
    #&lt;tc.atc.medium.load.tool.holder.distance&gt;=#6040
    #&lt;tc.atc.medium.load.tool.holder.feed&gt;=#6041
    #&lt;tc.atc.final.load.tool.holder.feed&gt;=#6042
    #&lt;tc.atc.cone.load.unload.time&gt;=#6043
    #&lt;tc.atc.cone.load.unload.input&gt;=#6044
    #&lt;tc.atc.cone.cleaning.blow.output&gt;=#6045
    #&lt;tc.atc.bearing.cleaning.blow.output&gt;=#6046
    #&lt;tc.atc.cone.grip.output&gt;=#6047
    #&lt;tc.atc.cone.grip.output.time&gt;=#6048

; check slots number and get slots positions parameters address
    #&lt;tc.atc.slots&gt;=#6060
    IF [#&lt;tc.atc.slots&gt; LT 0] THEN CALL P&quot;TC_EXIT&quot; E8 A6060
    IF [[#6049 EQ #0] OR [#6049 EQ 0]] THEN10
        IF [#&lt;tc.atc.slots&gt; GT 13] THEN CALL P&quot;TC_EXIT&quot; E8 A6060
        #&lt;tc.atc.slot.address&gt;=6061
    ELSE10
        #&lt;tc.atc.slot.address&gt;=#6049
        IF [[#&lt;tc.atc.slot.address&gt; + [#&lt;tc.atc.slots&gt; * 3] GE 7000] THEN CALL P&quot;TC_EXIT&quot; E8 A6049
    END10

; recover atc slots positions (MCS)
    #&lt;_i_&gt;=1
    #&lt;_j_&gt;=#&lt;tc.atc.slot.address&gt;
    WHILE [#&lt;_i_&gt; LE #&lt;tc.atc.slots&gt;] DO10
        IF [##&lt;_j_&gt; EQ #0] THEN CALL P&quot;TC_EXIT&quot; E1 A#&lt;_j_&gt;
        #&lt;tc.atc.slots[#&lt;_i_&gt;].x&gt;=##&lt;_j_&gt;
        #&lt;_j_&gt;=[#&lt;_j_&gt; + 1]
        IF [##&lt;_j_&gt; EQ #0] THEN CALL P&quot;TC_EXIT&quot; E1 A#&lt;_j_&gt;
        #&lt;tc.atc.slots[#&lt;_i_&gt;].y&gt;=##&lt;_j_&gt;
        #&lt;_j_&gt;=[#&lt;_j_&gt; + 1]
        IF [##&lt;_j_&gt; EQ #0] THEN CALL P&quot;TC_EXIT&quot; E1 A#&lt;_j_&gt;
        #&lt;tc.atc.slots[#&lt;_i_&gt;].z&gt;=##&lt;_j_&gt;
        #&lt;_j_&gt;=[#&lt;_j_&gt; + 1]
        #&lt;_i_&gt;=[#&lt;_i_&gt; + 1]
    END10

ENDSUB

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