ATC on grblHAL? Anyone cracked the code yet?

[massiveradiation]

Hello,
Has anyone had any success implementing grblHAL with an ATC setup? I have a proper ATC router which requires two solenoids, one for tool holder release and one for seating. The spindle also has two PNP sensors built in for tool holder seated and tool holder missing. I'd also like to have a solenoid blow off the tool setter. So, I'd need three additional outputs for relays to pop the solenoids and two inputs for tool holder in/out safety checking.
The hard part is the programming! I'm not a coder. I see that the good folks at RapidCNC have done this for their custom ATC, but no one seems to have the golden ticket for a pneumatic ATC spindle.
I'd be happy to pay someone to develop this and then it could be offered up to the public. Or, if someone knows where I can find grblHAL firmware for ATC, I'm all ears!
Thank you,
Tyler

[karoria]

Hi @massiveradiation
There are 2 ways to implement ATC in grblHAL:

1. Traditional method using plugin code specific to your application for which wiki is already in place.
2. Using "tc.macro" file and enabling expressions and flow control in compile time option. This method is very simple and requires no coding knowledge. All you need to do is write a macro file just like a gcode program and with some expressions. For details please go through the discussion here

Once you go through the discussion, I hope you will be able to do it yourself. However there might be practical issues for which you can post here.

You can also read this wiki page about Expressions and Flow Control in grblHAL.

[massiveradiation]

I'm excited to dig in! Thanks Ravi.

…

On Sat, Aug 31, 2024, 11:46 Ravi Karoria ***@***.***> wrote: Hi @massiveradiation <https://github.com/massiveradiation> There are 2 ways to implement ATC in grblHAL: 1. Traditional method using plugin code specific to your application for which wiki is already in place. 2. Using "tc.macro" file and enabling expressions and flow control in compile time option. This method is very simple and requires no coding knowledge. All you need to do is write a macro file just like a gcode program and with some expressions. For details please go through the discussiin here <#309> Once you go through the discussion, I hope you will be able to do it yourself. However there might be practical issues for which you can post here. — Reply to this email directly, view it on GitHub <#577 (comment)>, or unsubscribe <https://github.com/notifications/unsubscribe-auth/AGUKYUXBQP3PCBHXQTMHRL3ZUHQOFAVCNFSM6AAAAABNN4EJLWVHI2DSMVQWIX3LMV43URDJONRXK43TNFXW4Q3PNVWWK3TUHMYTANJQG43DMMI> . You are receiving this because you were mentioned.Message ID: ***@***.***>

[karoria]

Yes and forgot to mention that there are commands to trigger outputs or wait for inputs which you can use inside tc.macro by which you can operate tool clamp/declamp, air blast to remove chips, etc.

[terjeio]

These M codes works in a normal program file also.

There is a difference though, when reading an input with M66 the result from the last execution is available in parameter 5399 - and this can then be used for macro flow control.

[massiveradiation]

Hey folks,
After doing some initial reading on this, I think there is a parameter that I forgot to throw into the mix regarding my requirements. I want to use bCNC as the gcode sender software as I need Z height mapping/autoleveling and I love the way this is setup in bCNC. So, the question is, can this be done on the grblHAL side? Also, does anyone know if bCNC will recognize and know what do do with ATC gcode?
M61Q: Sets the current tool
T0 or M6T0: Moves to the change position and waits
M6T<not 0>: Moves to the change location and does nothing else
M06: Executes a tool change sequence
etc.

Any guidance is appreciated! Particularly in terms of sample code, macros, instructions, etc.

[terjeio]

Also, does anyone know if bCNC will recognize and know what do do with ATC gcode?

As long as bCNC passes M61, M6 and T commands to the controller without triggering any special action in the sender it should work. A different matter is when the inbuilt grblHAL tool change functionality is used, that requires the controller to recognize and handle the new Tool state.

T0 or M6T0: Moves to the change position and waits

Currently, changing from a tool > 0 to 0 does not call the tool change code - it just flags "no tool" in the spindle.
With an ATC it should drop the tool in the tool rack and return somewhere (original position) with no tool in the spindle? Or whatever the a tool change macro is set up to do?
A T command by itself just informs the controller which tool the next M6 command should pick up. It can be used to preposition a tool carousel or whatever else is relevant since the ts.macro will be called if present.

M6T<not 0>: Moves to the change location and does nothing else

This can be done by a tc.macro, just end it with a M0 command. A cycle start command will continue running the program.

This is a link to a commercial implementation of ATC macros for grblHAL which contains some useful information and links to a set of tool change macros.

[massiveradiation]

Here is a link to bCNC github discussion around M6. After reading it, it seems like the capability is in place. https://github.com/vlachoudis/bCNC/issues/107

[terjeio]

After reading it, it seems like the capability is in place.

That link is about the sender trapping T and M6 commands and sending a tool change command sequence in their place to the controller. If this cannot be switched off then an ATC has to be handled by the sender (in a sender specific macro?), not by the controller.

[karoria]

Here is video of my ATC mill with rotary axis running grblHAL.
https://youtu.be/IZoj1mqmCWU?si=nuoyFeowB3bck2d0

[massiveradiation]

Impressive! Bravo!

…

On Sat, Aug 31, 2024, 13:50 Ravi Karoria ***@***.***> wrote: Here is video of my ATC mill with rotary axis running grblHAL. https://youtu.be/IZoj1mqmCWU?si=nuoyFeowB3bck2d0 — Reply to this email directly, view it on GitHub <#577 (comment)>, or unsubscribe <https://github.com/notifications/unsubscribe-auth/AGUKYUXU3M7PEAQGDDR7Z6DZUH657AVCNFSM6AAAAABNN4EJLWVHI2DSMVQWIX3LMV43URDJONRXK43TNFXW4Q3PNVWWK3TUHMYTANJQHAYTMNY> . You are receiving this because you were mentioned.Message ID: ***@***.***>

[massiveradiation]

Hey Ravi, Is there a particular grblHAL board you recommend? I'm looking at Phil's board as it seems to have the most I/O: https://www.tindie.com/products/philba/grblhal-bob-unkit-for-teensy-41-t41u5xbb/ Thoughts?

…

On Thu, Sep 5, 2024 at 9:23 AM Terje Io ***@***.***> wrote: These M codes works in a normal program file also. There is a difference though, when reading an input with M66 the result from the last execution is available in parameter 5399 <https://github.com/grblHAL/core/wiki/Expressions-and-flow-control#numbered-parameters> - and this can then be used for macro flow control. — Reply to this email directly, view it on GitHub <#577 (reply in thread)>, or unsubscribe <https://github.com/notifications/unsubscribe-auth/AGUKYUUQPDWLOJZ3L6I3KSDZVBLNLAVCNFSM6AAAAABNN4EJLWVHI2DSMVQWIX3LMV43URDJONRXK43TNFXW4Q3PNVWWK3TUHMYTANJVG43TMOA> . You are receiving this because you were mentioned.Message ID: ***@***.***>

[karoria]

Hey Ravi,

Is there a particular grblHAL board you recommend? I'm looking at Phil's

board as it seems to have the most I/O:

https://www.tindie.com/products/philba/grblhal-bob-unkit-for-teensy-41-t41u5xbb/

Thoughts?

On Thu, Sep 5, 2024 at 9:23 AM Terje Io @.***> wrote:

These M codes works in a normal program file also.

There is a difference though, when reading an input with M66 the result

from the last execution is available in parameter 5399

https://github.com/grblHAL/core/wiki/Expressions-and-flow-control#numbered-parameters

• and this can then be used for macro flow control.

—

Reply to this email directly, view it on GitHub

#577 (reply in thread),

or unsubscribe

https://github.com/notifications/unsubscribe-auth/AGUKYUUQPDWLOJZ3L6I3KSDZVBLNLAVCNFSM6AAAAABNN4EJLWVHI2DSMVQWIX3LMV43URDJONRXK43TNFXW4Q3PNVWWK3TUHMYTANJVG43TMOA

.

You are receiving this because you were mentioned.Message ID:

@.***>

Yes. I use my customized board. But phils boards are best as they are very well designed. One factor to consider is, whether you want to send gcode via ethernet cable or usb cable? Phil's boards have both options available. Be sure to check that the sender you want to use supports sending via ethernet, if you choose so. USB is default supported by most senders.