89 lines
2.3 KiB
Plaintext
89 lines
2.3 KiB
Plaintext
; This demonstrates doing an M6 remapped to a named oword sub
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;
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; to activate, incantate as follows in the INI file:
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;
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; [RS274NGC]
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; # remap M6 to a named oword subroutine.
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; M6_COMMAND=o<m6demo>call
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;
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; parameter #1: the current tool-in-spindle
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; parameter #2: the tool number requested in the last T (prepare) command
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; parameter #3: pocket of new tool
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;
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;
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;
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O<m6demo> sub
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;
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(DEBUG, executing M6 O-word sub, tool-in-spindle=#1 prepared=#2 pocket=#3)
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;
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M66 P2 L0
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;(debug, digital-input-02=#5399)
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#<tool_change_with_spindle_on> = 0
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#<tool_change_quill_up> = 0
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#<tool_change_at_g30> = 0
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; number of seconds to wait for 'tool-changed' equivalent
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#<timeout> = 9999
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;
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O<m6demo_spindle_off> if [#<tool_change_with_spindle_on> EQ 0]
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M5
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O<m6demo_spindle_off> endif
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O<m6demo_quill_up> if [#<tool_change_quill_up> NE 0]
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G0 G53 Z0
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O<m6demo_quill_up> endif
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O<m6demo_tc_at_g30> if [#<tool_change_at_g30> NE 0]
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G30
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O<m6demo_tc_at_g30> endif
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; set analog output pin #2 to signal the pocket number
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; iocontrol.tool-number becomes motion.analog-out-02
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M68 E2 Q[#2]
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;(DEBUG, set current tool number on motion.analog-out-02: #2)
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;
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; assert the equivalent of the iocontrol.tool-change pin
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; which is now motion.digital-out-01
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M64 P1
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;(DEBUG, motion.digital-out-01 set high, waiting for motion.digital-in-01)
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; wait for the equivalent of the iocontrol.tool-changed pin to go high
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; we use motion.digital-in-01
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;
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M66 P1 L3 Q#<timeout>
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;
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; if we waited too long, fail change and abort.
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;
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O<m6demo_timeout> if [#5399 EQ -1]
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(DEBUG, timeout waiting for digital-in-01 to become true - failing change )
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O<m6demo> return [-1]
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O<m6demo_timeout> endif
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; retract iocontrol.tool-change equivalent
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;(DEBUG, deasserting motion.digital-out-01)
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M65 P1
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;
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; test fail-change line from gladevcp
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M66 P2 L0
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; (debug, digital-input-02=#5399)
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O<m6demo_change_fail> if [#5399 EQ 1]
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(DEBUG, returning -1 to fail change)
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O<m6demo> return [-1]
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O<m6demo_change_fail> else
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(debug, change ok, returning +1 to commit change)
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; a positive return value commits the tool change
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O<m6demo> return [1]
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O<m6demo_change_fail> endif
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;
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; return a positive value commit the change.
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; a negative return value will fail the change and
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; abort the interpreter with a message like
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; "M6 failed (<return value>)"
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;
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O<m6demo> endsub
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m2
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