Thanks rhtuttle! That helped a lot!
I decided to modify the code in case I need to run programs with more than 6 tools so that I can manually change any tool over 6. Debugging was kind of a pain because I had to force I/O every time it was looking for something to be in a certain state. Once I figured that out I was able to debug the program all the way thru, with less than 6 tools and more than 6.
Here's the updated and debugged code. Hopefully it works, I'll find out in a while after I finish putting my machine back together.
----------Variables----------
local inst = mc.mcGetInstance()
local DrawBarOut = mc.OSIG_OUTPUT2 -------- Release drawbar ------
local BlowOut = mc.OSIG_OUTPUT3 -------- Tool blow ------
local UmbrellaIn = mc.OSIG_OUTPUT5 -------- Swing Umbralla In ------
local UmbrellaOutSensor = mc.ISIG_Input20 -------- Umbralla Out Sensor ------
local UmbrellaInSensor = mc.ISIG_Input21 -------- Umbralla In Sensor ------
local numtools = 6
local ToolCPositions = {}
ToolCPositions[1] = 0.0
ToolCPositions[2] = 60.
ToolCPositions[3] = 120.
ToolCPositions[4] = 180.
ToolCPositions[5] = 240.
ToolCPositions[6] = 300.
function m6()
local GCode = ""
GCode = GCode .. string.format("M9\n") --Coolant Off
GCode = GCode .. string.format("M5\n") --Stop Spindle
GCode = GCode .. string.format("G04 P500\n")
GCode = GCode .. "G00 G90 G53 Z-2.0\n" --Z=Tool change position
mc.mcCntlGcodeExecuteWait(inst, GCode)
------ compare current and next tools ------
local SelectedTool = mc.mcToolGetSelected(inst)
local CurrentTool = mc.mcToolGetCurrent(inst)
if (SelectedTool == CurrentTool) then
mc.mcCntlSetLastError(inst, "Next tool = Current tool")
do return end
end
if (SelectedTool <= 0) then
mc.mcCntlEStop(inst)
mc.mcCntlSetLastError(inst, "ERROR: Tool number out of range!")
do return end
else
end
------ Get current machine state ------
local CurFeed = mc.mcCntlGetPoundVar(inst, 2134)
local CurFeedMode = mc.mcCntlGetPoundVar(inst, 4001)
local CurAbsMode = mc.mcCntlGetPoundVar(inst, 4003)
if (SelectedTool > numtools) then
mc.mcCntlSetLastError(inst, "Change to tool " .. tostring(selectedTool) .. " and press start to continue") --Message at beginning of tool change
mc.mcCntlToolChangeManual(inst, true) --This will pause the tool change here and wait for a press of cycle start to continue
------ Reset state ------
mc.mcCntlSetPoundVar(inst, 2134, CurFeed)
mc.mcCntlSetPoundVar(inst, 4001, CurFeedMode)
mc.mcCntlSetPoundVar(inst, 4003, CurAbsMode)
------ Set new tool ------
mc.mcToolSetCurrent (inst, SelectedTool)
mc.mcCntlSetLastError(inst, string.format("Tool change complete - Tool: %.0f", SelectedTool))
mc.mcCntlGcodeExecuteWait(inst, "G43 H"..SelectedTool)
do return end
else
end
------ Get Position data for current tool ------
Num1 = CurrentTool
CPos1 = ToolCPositions[CurrentTool]
------ Get position data for next tool ------
Num2 = SelectedTool
CPos2 = ToolCPositions[SelectedTool]
------ Move to tool change position ------
GCode = ""
GCode = GCode .. "G00 G90 G53 Z-2.0\n" --Z=Tool change position
GCode = GCode .. string.format("G00 G90 G53 C%.4f\n", CPos1) --Current tool Umbrella position
mc.mcCntlGcodeExecuteWait(inst, GCode)
--Swing umbrella to get tool in spindle
hsig1 = mc.mcSignalGetHandle(inst, UmbrellaIn)
mc.mcSignalSetState(hsig1, 1)
--Verify Umbrella is In
mc.mcSignalSetState(hsig,0) --Make sure hsig is off
GCode = ""
GCode = GCode .. "G04 P2000\n"
mc.mcCntlGcodeExecuteWait(inst, GCode)
hSig, rc = mc.mcSignalGetHandle(inst, UmbrellaInSensor)
hReg, rc = mc.mcSignalGetState(hSig)
if (hReg == 0) then
mc.mcCntlEStop(inst)
mc.mcCntlSetLastError(inst, "ERROR: Umbrella Not In Position!")
do return end
end
------ Unclamp tool ------
hsig = mc.mcSignalGetHandle(inst, DrawBarOut)
mc.mcSignalSetState(hsig, 1)
GCode = ""
GCode = GCode .. "G04 P2000\n"
mc.mcCntlGcodeExecuteWait(inst, GCode)
--Move to tool change Clearance position
GCode = ""
GCode = GCode .. "G00 G90 G53 Z0\n" --Z=Tool change clearance position
mc.mcCntlGcodeExecuteWait(inst, GCode)
--Swing umbrella to standby position
hsig1 = mc.mcSignalGetHandle(inst, UmbrellaIn)
mc.mcSignalSetState(hsig1, 0)
--Verify Umbrella is Out
mc.mcSignalSetState(hsig,0) --Make sure hsig is off
GCode = ""
GCode = GCode .. "G04 P2000\n"
mc.mcCntlGcodeExecuteWait(inst, GCode)
hSig, rc = mc.mcSignalGetHandle(inst, UmbrellaOutSensor)
hReg, rc = mc.mcSignalGetState(hSig)
if (hReg == 0) then
mc.mcCntlEStop(inst)
mc.mcCntlSetLastError(inst, "ERROR: Umbrella Not In Position!")
do return end
end
--turn on tool blowoff nozzles
hsig1 = mc.mcSignalGetHandle(inst, BlowOut)
mc.mcSignalSetState(hsig1, 1)
--Rotate Umbrella to next tool
GCode = ""
GCode = GCode .. string.format("G00 G90 G53 C%.4f", CPos2)
mc.mcCntlGcodeExecuteWait(inst, GCode)
--turn off tool blowoff nozzles
local hsig1 = mc.mcSignalGetHandle(inst, BlowOut)
mc.mcSignalSetState(hsig1, 0)
--swing umbrella to tool change position
hsig1 = mc.mcSignalGetHandle(inst, UmbrellaIn)
mc.mcSignalSetState(hsig1, 1)
--Verify Umbrella is In
mc.mcSignalSetState(hsig,0) --Make sure hsig is off
GCode = ""
GCode = GCode .. "G04 P2000\n"
mc.mcCntlGcodeExecuteWait(inst, GCode)
hSig, rc = mc.mcSignalGetHandle(inst, UmbrellaInSensor)
hReg, rc = mc.mcSignalGetState(hSig)
if (hReg == 0) then
mc.mcCntlEStop(inst)
mc.mcCntlSetLastError(inst, "ERROR: Umbrella Not In Position!")
do return end
end
--lower Z to tool change position
GCode = ""
GCode = GCode .. "G00 G90 G53 Z-2.0\n" --Z=tool change position
mc.mcCntlGcodeExecuteWait(inst, GCode)
--Clamp tool
local hsig = mc.mcSignalGetHandle(inst, DrawBarOut)
mc.mcSignalSetState(hsig, 0)
GCode = ""
GCode = GCode .. "G04 P1000\n"
mc.mcCntlGcodeExecuteWait(inst, GCode)
--Swing umbrella to standby position
hsig1 = mc.mcSignalGetHandle(inst, UmbrellaIn)
mc.mcSignalSetState(hsig1, 0)
--Verify Umbrella is Out
mc.mcSignalSetState(hsig,0) --Make sure hsig is off
GCode = ""
GCode = GCode .. "G04 P2000\n"
mc.mcCntlGcodeExecuteWait(inst, GCode)
hSig, rc = mc.mcSignalGetHandle(inst, UmbrellaOutSensor)
hReg, rc = mc.mcSignalGetState(hSig)
if (hReg == 0) then
mc.mcCntlEStop(inst)
mc.mcCntlSetLastError(inst, "ERROR: Umbrella Not In Position!")
do return end
end
------ Reset state ------
mc.mcCntlSetPoundVar(inst, 2134, CurFeed)
mc.mcCntlSetPoundVar(inst, 4001, CurFeedMode)
mc.mcCntlSetPoundVar(inst, 4003, CurAbsMode)
------ Set new tool ------
mc.mcToolSetCurrent (inst, SelectedTool)
mc.mcCntlSetLastError(inst, string.format("Tool change complete - Tool: %.0f", SelectedTool))
mc.mcCntlGcodeExecuteWait(inst, "G43 H"..SelectedTool)
end
if (mc.mcInEditor() == 1) then
m6()
end
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