97
« on: June 30, 2023, 02:15:22 AM »
made some changes, marked with TPS
'------------------------------------------------------------------------------ NINO_version_0
' CS-Lab s.c. - Auto toolchanger for lathe (rotary type of ATC)
' (C) 2011
' v1.2 - 2011-11-05
'------------------------------------------------------------------------------
'------------------------------------------------------------------------------
' CONFIG
'------------------------------------------------------------------------------
Const OpenSensDelay = 800 ' Time Delay [ms] after ATC unlock
Const TimeLock = 1000 ' ATC locking time delay
Const TOOLCOUNT = 6 ' max Tool #
' Actual ATC position inputs (CSMIO-IP inputs)
Const InT1 = 0
Const InT2 = 1
Const InT3 = 2
Const InT4 = 3
Const InT5 = 4
Const InT6 = 5
' Const InT7 =
' Const InT8 =
' ATC sensors inputs
Const InOpenSensor = 6 ' ATC unlocked (rotating)
Const InCloseSensor = 7 ' ATC locked - safe
' digital outputs for ATC control (CSMIO outputs)
Const OutRun = 0 ' unlock and rotate
Const OutLock = 1 ' stop rotation and lock at current position
'------------------------------------------------------------------------------
' program variables - don't modify
'------------------------------------------------------------------------------
Dim ToolNew, ToolOld, ToolSlot As Integer
Dim ToolRdy As Boolean
Dim ATC_CloseRetry
Dim InToolSens(TOOLCOUNT)
'------------------------------------------------------------------------------
' MACRO START
'------------------------------------------------------------------------------
If(GetOEMLed(800)) Then
Message("System jest w trybie ESTOP - WYMIANA PRZERWANA")
Sleep(150)
WaitForMove
End
End If
SetUserLED(1001, 1) ' User LED - toolchange in progress
InToolSens(0) = InT1
InToolSens(1) = InT2
InToolSens(2) = InT3
InToolSens(3) = InT4
InToolSens(4) = InT5
InToolSens(5) = InT6
'TPS InToolSens(6) = InT7
'TPS InToolSens(7) = InT8
' Get actual tool # and new tool #
ToolOld = GetCurrentTool()
ToolNew = GetSelectedTool()
' little trick for double slots ATC
If(ToolNew >= 10) Then
ToolSlot = ToolNew - 10
Else
ToolSlot = ToolNew
End If
If(ToolOld >= 10) Then
ToolOld = ToolOld - 10
End If
' The same position - no need to move
If (ToolSlot = ToolOld) Then
SetCurrentTool( ToolNew )
Message("ATC is on position "& ToolSlot & " and new tool is " & ToolNew)
WaitForMove
SetUserLED(1001, 0)
End
End If
If (ToolSlot > TOOLCOUNT) Then
SetCurrentTool( ToolOld )
SetUserLED(1001, 0)
DoOEMButton(1003)
DoOEMButton(1002)
Sleep(150)
Message("There is no tool T" & ToolNew & " in ATC")
Sleep(150)
End
End If
' T0 is a fake tool, no need to change
If (ToolSlot = 0) Then
ToolNew = 0
SetCurrentTool( ToolNew )
Message("Za³adowano narzêdzie nr: " & ToolNew)
WaitForMove
SetUserLED(1001, 0)
End
End If
' unlock and rotate ATC
RunATC
Sleep( OpenSensDelay )
' check ATC open sensor
If (Not GetCsmioIn(InOpenSensor)) Then
LockATC
SetCurrentTool( 0 )
SetUserLED(1001, 0)
DoOEMButton(1021)
DoOEMButton(1002)
Sleep(150)
Message("ATC locked - toolchange failed.")
Sleep(150)
End
End If
' wait to ATC will be on the desired position
ToolRdy = false
While(Not ToolRdy)
If(GetCsmioIn((InToolSens(ToolSlot - 1)))) Then
ToolRdy = true
End If
Wend
' stop rotation and lock ATC
LockATC
ATC_CloseRetry = 0
' Check lock sensor, retry lock if needed
While(Not GetCsmioIn(InCloseSensor) And ATC_CloseRetry < 4)
LockATC
ATC_CloseRetry = ATC_CloseRetry + 1
Wend
' double check for succesful ATC lock
If (Not GetCsmioIn(InCloseSensor)) Then
SetCurrentTool( 0 )
SetUserLED(1001, 0)
DoOEMButton(1021)
DoOEMButton(1002)
Sleep(150)
Message("ATC lock alert. Check ATC.")
Sleep(150)
End
End If
SetCurrentTool( ToolNew )
Message("Succesful loaded tool T" & ToolNew)
Sleep(150)
WaitForMove
SetUserLED(1001, 0)
End
' -----------------------------------------------------------------------------
Public Function GetCsmioIn (n As Integer) As Boolean
Dim reg As Integer
If(n < 16) Then
reg = 100
Else
reg = 101
n = n - 16
End If
If(GetInBit(reg, n)) Then
GetCsmioIn = true
Else
GetCsmioIn = false
End If
Exit Function
End Function
' -----------------------------------------------------------------------------
Sub RunATC ()
Call SetCsmioOut(OutLock, false)
Sleep(150)
Call SetCsmioOut(OutRun, true)
Sleep(150)
End Sub
' -----------------------------------------------------------------------------
Sub LockATC ()
Call SetCsmioOut(OutRun, false)
Sleep(150)
Call SetCsmioOut(OutLock, true)
Sleep(TimeLock)
Call SetCsmioOut(OutLock, false)
Sleep(150)
End Sub
' -----------------------------------------------------------------------------
Public Sub SetCsmioOut (ByVal n As Integer, ByVal state As Boolean)
If(state) Then
SetOutBit(100, n)
Else
ResetOutBit(100, n)
End If
End Sub
' -----------------------------------------------------------------------------
Sub WaitForMove ()
While IsMoving()
Sleep(15)
Wend
End Sub
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