13. ATC Management
When the CNC has an ATC System the Control Software can help the phase of Tools Setup through a dedicated user panel, the ATC Management.
The ATC Management panel is available and enabled in “Functions –> ATC Management” menu only if following requirements are satified:
- The CNC has the tool change macro (tool_change.ngc) and “Tool Change Type” parameter is set to Macro.
- The “Enable Slot Id” parameter is checked.
- If you are using the default tool change macro from Control Software installation the macro should be well configurated
through related “Parameters Library” dialog in Protected sheet (see related documentations for parameters values):
In the Tool Setup Commands panel there are six action buttons:
- Clear Selected Slot
- Clear All Slots
- Manual Release
- Open/Close Cart
- Pick & Place Tool
- Preset Tools
13.1 Set Loaded Tool Macro
Default skeleton Macro sample:
; ; RosettaCNC (c) 2016-2020 ; ; Name : atcm_set_loaded_tool ; Sub UID : 1 ; Version : 1 ; Description : set loaded tool action ; Note : use M99 as macro exit call ; : TAKE CARE: following is only a skeleton macro sample ; ; Inputs: ; ; Parameter Description ; ========= =========== ; #<atcm.tool_id> tool id to set as loaded in the spindle ; O1 ; !!! REMOVE BELOW SKELETON MACRO SAMPLE & PLACE YOUR ACTION CODE HERE !!! ; notices PLC about spindle loaded tool id M61 Q#<atcm.tool_id> ; shows HUD (Heads-Up Display) message for a while M109 P"ATCM - Set Loaded Tool in the Spindle: #<atcm.tool_id>..." Q4 G4 P2 M99
13.2 Manual Release Macro
Default skeleton Macro sample:
; ; RosettaCNC (c) 2016-2020 ; ; Name : atcm_manual_release ; Sub UID : 1 ; Version : 1 ; Description : manual release action ; Note : use M99 as macro exit call ; : TAKE CARE: following is only a skeleton macro sample ; O1 ; !!! REMOVE BELOW SKELETON MACRO SAMPLE & PLACE YOUR ACTION CODE HERE !!! ; notices PLC about spindle with none tool loaded because was released M61 Q0 ; shows HUD (Heads-Up Display) message for a while M109 P"ATCM - Manual Release..." Q4 G4 P2 M99
13.3 Open/Close Cart Macro
Default skeleton Macro sample:
; ; RosettaCNC (c) 2016-2020 ; ; Name : atcm_open_close_cart ; Sub UID : 1 ; Version : 1 ; Description : open/close action ; Note : use M99 as macro exit call ; : TAKE CARE: following is only a skeleton macro sample ; O1 ; !!! REMOVE BELOW SKELETON MACRO SAMPLE & PLACE YOUR ACTION CODE HERE !!! ; shows HUD (Heads-Up Display) message for a while M109 P"ATCM - Open/Close Cart..." Q4 G4 P2 M99
13.4 Pick & Place Tool Macro
The Pick/Place action can be used to:
- Pick: pick a tool from the selected slot.
- Place: place the loaded tool in the related slot.
- Place & Pick: place the loaded tool in the related slot and Pick the loaded tool from the selected slot.
The action button is enabled if:
- Connection with CNC is active.
- CNC is in IDLE state.
- One slot is checked and none tool is loaded (Pick action).
- One slot is checked and is the same assigned to loaded tool (Place action).
- None slot is checked and the loaded tool has an assigned slot (Place action).
The Pick/Place action can be executed clicking Pick/Place button or pressing F9 key.
The Pick/Place action call the external macro atc_pick_place.ngc which implements required G-code program.
The inputs of macro are:
#<atc.pick_place.mode> ; contains the pick/place mode: 0 = pick, 1 = place ; in case of a place mode ; #<atc.pick_place.tool_id>=3 ; contains pick/place tool ID to pick #<atc.pick.place_slot_id>=1 ; contains pick/place slot ID to pick ; in case of a pick mode #<atc.pick_place.tool_id>=3 ; contains pick/place tool ID to place #<atc.pick.palce.slot_id>=1 ; contains pick/place slot ID to place
Default skeleton Macro sample:
; ; RosettaCNC (c) 2016-2020 ; ; Name : atcm_pick_place_tool ; Sub UID : 1 ; Version : 1 ; Description : pick/place tool action ; Note : use M99 as macro exit call ; : TAKE CARE: following is only a skeleton macro sample ; ; Inputs: ; ; Parameter Description ; ========= =========== ; #<atcm.pick_place.mode> pick & place mode: ; #<pick_place.mode_pick> = pick tool action ; #<pick_place.mode_place> = place tool action ; #<pick_place.mode_place_pick> = place/pick tool action ; #<atcm.pick.slot_id> slot id to pick ; #<atcm.pick.slot_id> tool id to pick ; #<atcm.place.tool_id> slot id to place ; #<atcm.place.slot_id> tool id to place ; O1 ; !!! REMOVE BELOW SKELETON MACRO SAMPLE & PLACE YOUR ACTION CODE HERE !!! ; checks if request a pick action IF [#<atcm.pick_place.mode> EQ #<pick_place.mode_pick>] THEN01 ; shows pick action parameters M109 P"<B>ATCM - Pick/Place</B><BR><BR>Mode = Pick Tool<BR>Slot ID = #<atcm.pick.slot_id><BR>Tool ID = #<atcm.pick.slot_id>" Q2 M99 END01 ; checks if request a place action IF [#<atcm.pick_place.mode> EQ #<pick_place.mode_place>] THEN01 ; shows place action parameters M109 P"<B>ATCM - Pick/Place</B><BR><BR>Mode = Place Tool<BR>Slot ID = #<atcm.place.tool_id><BR>Tool ID = #<atcm.place.slot_id>" Q2 M99 END01 ; checks if request a pick/place action IF [#<atcm.pick_place.mode> EQ #<pick_place.mode_place_pick>] THEN01 ; shows pick/place action parameters M109 P"<B>ATCM - Pick/Place</B><BR><BR>Mode = Pick/Place Tool<BR>Place: Slot ID = #<atcm.place.tool_id>, Tool ID = #<atcm.place.slot_id><BR>Pick: Slot ID = #<atcm.pick.slot_id>, Tool ID = #<atcm.pick.slot_id>" Q2 M99 END01 ; notices wrong pick/place mode M109 P"<B>ATC Pick/Place</B><BR><BR>Mode = #<atcm.pick_place.mode><BR><BR><B>Unsupported Mode</B>" Q2 M99
13.5 Preset Tools Macro
Default skeleton Macro sample:
; ; RosettaCNC (c) 2016-2020 ; ; Name : atcm_preset_tools ; Sub UID : 1 ; Version : 1 ; Description : preset tools action ; Note : use M99 as macro exit call ; : TAKE CARE: following is only a skeleton macro sample ; ; Inputs: ; ; Parameter Description ; ========= =========== ; #<atcm.preset_tools.count> number of selected tools to preset ; #<atcm.preset_tools.slot_id[n]> array with slot id of selected tool to preset ([n] = 1..#<atcm.preset_tools.count>) ; #<atcm.preset_tools.tool_id[n]> array with tool id of selected tool to preset ([n] = 1..#<atcm.preset_tools.count>) ; #<atcm.preset_tools.loaded.slot_id> slot id of loaded tool to preset (0 = no loaded tool in the spindle) ; #<atcm.preset_tools.loaded.tool_id> tool id of loaded tool to preset (0 = no loaded tool in the spindle) ; O1 ; !!! REMOVE BELOW SKELETON MACRO SAMPLE & PLACE YOUR ACTION CODE HERE !!! M109 P"ATCM - Preset of Tools" Q4 ; checks if there is a loaded tool in the spindle IF [#<atcm.preset_tools.loaded.tool_id> NE 0] THEN01 #<_slot_> = #<atcm.preset_tools.loaded.slot_id> #<_tool_> = #<atcm.preset_tools.loaded.tool_id> ; shows loaded tool to preset info M109 P"<B>ATCM - Preset Loaded Tool</B><BR><BR>Slot ID = #<_slot_><BR>ToolID = #<_tool_>" Q2 ; place here code for preset loaded tool ; Xxx END01 ; parses tools to do a preset and shows related infos #<_i_> = 1 WHILE [#<_i_> LE #<atcm.preset_tools.count>] DO01 #<_slot_> = #<atcm.preset_tools.slot_id[#<_i_>]> #<_tool_> = #<atcm.preset_tools.tool_id[#<_i_>]> ; checks if selected tool is not the loaded tool already presetted IF [#<_tool_> NE #<atcm.preset_tools.loaded.tool_id>] THEN02 ; shows tool to preset info M109 P"<B>ATCM - Preset Selected Tool</B><BR><BR>Slot ID = #<_slot_><BR>ToolID = #<_tool_>" Q2 ; place here code for preset tool ; Xxx END02 #<_i_> = [#<_i_> + 1] END01 M99