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Author Topic: Sharing my 6 Tool Turret M6 Macro  (Read 218 times)

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Sharing my 6 Tool Turret M6 Macro
« on: July 06, 2020, 03:35:10 AM »
Sharing this for helping others and for feedback.

Neutron lathe is retrofit with Pokeys57cnc.
6 Tools on rotation with movement/change in one direction and locking in the other.
6 Sensors on the back with a magnet to sense when the tool goes past the locking point.
An induction sensor to ensure the turret has moved fully into lock.
24V brushed DC motor with IBT_2 driver. One pin for direction one for enable. Can set motor speed with PWM on enable.

Code: [Select]
inst = mc.mcGetInstance()
-- Grabs register value in string format
function GetRegister_Str(regname)
--inst = mc.mcGetInstance()     
local hreg = mc.mcRegGetHandle(inst, string.format("iRegs0/%s", regname))     
return mc.mcRegGetValueString(hreg)
end
-- Grabs register value in number format
function GetRegister_Num(regname)
--inst = mc.mcGetInstance()     
local hreg = mc.mcRegGetHandle(inst, string.format("iRegs0/%s", regname))     
hreg = tonumber(hreg)
return mc.mcRegGetValueString(hreg)
end
--Writes to a register
function WriteRegister(regname, regvalue)     
--inst = mc.mcGetInstance()     
local hreg = mc.mcRegGetHandle(inst, string.format("iRegs0/%s", regname))
mc.mcRegSetValueString(hreg, tostring(regvalue))
end
--Writes to a POKEYS register
function WritePokeysReg(regname, regvalue)     
--inst = mc.mcGetInstance()     
local hreg = mc.mcRegGetHandle(inst, string.format("PoKeys_42110/%s", regname))
mc.mcRegSetValueString(hreg, tostring(regvalue))
return
end
--Grabs the state of a signal
function GetSignal(signame)
--inst = mc.mcGetInstance()
local hsig = mc.mcSignalGetHandle(inst, signame)
return mc.mcSignalGetState(hsig)
end
--Writes to a signal
function WriteSignal(signame, setval)
--inst = mc.mcGetInstance()
local hsig = mc.mcSignalGetHandle(inst, signame)
mc.mcSignalSetState(hsig, setval)
return
end

function m6()
local nTools = 6
local turretMove = false
local turretLock = false
local selectedTool = mc.mcToolGetSelected(inst)
selectedTool = math.tointeger(selectedTool)
local currentTool = mc.mcToolGetCurrent(inst)
currentTool = math.tointeger(currentTool)
local toolReached = 0

--map an array of tool turret position signals to tool numbers
local Tools = {
        [1] = mc.ISIG_INPUT1,
        [2] = mc.ISIG_INPUT2,
        [3] = mc.ISIG_INPUT3,
        [4] = mc.ISIG_INPUT4,
        [5] = mc.ISIG_INPUT5,
        [6] = mc.ISIG_INPUT6}

local toolSig={}; --empty array for storing signal values

--if selected tool is invalid msg and exit
if (selectedTool>nTools) or (selectedTool<1) then
mc.mcCntlSetLastError(inst, "Invalid Tool! Must be 1-6")
do return end
end
--if tool is the same exit tool change
if selectedTool == currentTool then
mc.mcCntlSetLastError(inst, "Tools are the same no change needed!")
do return end
end
--Check if turret is locked if not msg and exit
turretLock = GetSignal(mc.ISIG_INPUT0)
--turretLock = mc.mcSignalGetState(ISIG0_hand)
if turretLock == 1 then
mc.mcCntlSetLastError(inst, "Turret may not be locking properly or lock sensor may be misaligned")
do return end
end
--Remove this line if you would not like the Z axis to move
--mc.mcCntlGcodeExecuteWait(inst, "g90 g53 g0 z0");--Move the Z axis to 400 out of the way

----Go forward until tool sensor input matches selectedTool----
WriteSignal(mc.OSIG_OUTPUT0, 1) --Set direction to move turret
--mc.mcSignalSetState(OSIG0_hand, 1)
WritePokeysReg("PWM 20 duty", 0.77)-- Set motor output PWM level ie turn motor on
turretMove = true
while (turretMove == true) do
--Grab all the states of the turret sensors
for i=1,nTools,1 do
toolSig[i] = GetSignal(Tools[i])
end
--Check if the turret sensor we want has triggered
--if so turn off motor
if toolSig[selectedTool] == 0 then
WritePokeysReg("PWM 20 duty", 0)-- Set motor OFF
turretMove = false
end
end
----lock turret in place and check locked----
WriteSignal(mc.OSIG_OUTPUT0, 0)--Set direction to lock turret
--mc.mcSignalSetState(OSIG0_hand, 0) --Set direction to lock turret
WritePokeysReg("PWM 20 duty", 0.77)-- Set motor output PWM level ie turn motor on
turretMove = true
while (turretMove == true) do
turretLock = GetSignal(mc.ISIG_INPUT0) --get lock signal
--if turret is locked and we stopped on the selected tool then all good
if (turretLock == 0) then
WritePokeysReg("PWM 20 duty", 0)-- Set motor OFF
turretMove = false
mc.mcToolSetCurrent(inst, selectedTool) --set current tool
mc.mcCntlSetLastError(inst, "Auto Tool Change Complete")
do return end
--elseif (turretLock == 0) and (toolSig[selectedTool] == 1) then
-- WritePokeysReg("PWM 20 duty", 0)-- Set motor OFF
-- turretMove = false
-- mc.mcCntlSetLastError(inst, "Tool locking error check correct tool check lock sensor")
-- do return end
--end
end
do return end
end
if (mc.mcInEditor() == 1) then
 m6()
end

IMG-20200706-172659" border="0 IMG-20200706-172708" border="0
Re: Sharing my 6 Tool Turret M6 Macro
« Reply #1 on: July 06, 2020, 03:07:42 PM »
did you test ,what happened if some reason tool change stop while tool change cycle?
for example if you press stop
or tool not locked well
or in case previues tool not relese well
you must consider this in any place on m function  ,because stop only stop movment not stop activate output and not stop the m function