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- o<change> sub
- (debug, in change tool_in_spindle=#<tool_in_spindle> current_pocket=#<current_pocket>)
- (debug, selected_tool=#<selected_tool> selected_pocket=#<selected_pocket>)
- ;otherwise after the M6 this information is gone!
- #<tool> = #<selected_tool>
- #<pocket> = #<selected_pocket>
- ; we must execute this only in the milltask interpreter
- ; or preview will break, so test for '#<_task>' which is 1 for
- ; the milltask interpreter and 0 in the UI's
- O100 if [#<_task> EQ 0]
- (debug, Task ist Null)
- O100 return [999]
- O100 endif
- ;first go up
- G53 G0 Z[#<_ini[CHANGE_POSITION]Z>]
- ; then move to change position
- G53 G0 X[#<_ini[CHANGE_POSITION]X>] Y[#<_ini[CHANGE_POSITION]Y>]
- ; cancel tool offset
- G49
- ; using the code being remapped here means 'use builtin behaviour'
- M6
- O200 if [#<_hal[gmoccapy.toolmeasurement]> EQ 0]
- O200 return [3] ; indicate no tool measurement
- O200 endif
- G53 G0 X[#<_ini[TOOLSENSOR]X>] Y[#<_ini[TOOLSENSOR]Y>]
- G53 G0 Z[#<_ini[TOOLSENSOR]Z>]
- O300 if [#<_hal[gmoccapy.searchvel]> LE 0]
- O300 return [-1] ; indicate searchvel <= 0
- O300 endif
- O400 if [#<_hal[gmoccapy.probevel]> LE 0]
- O400 return [-2] ; indicate probevel <= 0
- O400 endif
- F #<_hal[gmoccapy.searchvel]>
- G91
- o<connectclipmsg> call
- G38.2 Z #<_ini[TOOLSENSOR]MAXPROBE>
- G0 Z2
- ; This is commented out only for sim.
- F #<_hal[gmoccapy.probevel]>
- G38.2 Z-4
- O500 if [#5070 EQ 0]
- G90
- O500 return [-3] ; indicate probe contact failure to epilog
- O500 endif
- G90
- G53 G0 Z[#<_ini[CHANGE_POSITION]Z>]
- #<touch_result> = #5063
- #<probeheight> = #<_hal[gmoccapy.probeheight]>
- #<blockheight> = #<_hal[gmoccapy.blockheight]>
- (DEBUG, #<touch_result> #<probeheight> #<blockheight>)
- G10 L1 P#<tool> Z[#<touch_result> - #<_hal[gmoccapy.probeheight]> + #<_hal[gmoccapy.blockheight]>]
- G43
- ;G10 L1 P#<tool> Z#<touch_result>
- ;G10 L2 P0 Z[#<workpieceheight> + #<probeheight> + #<touch_result>]
- o<disconnectclipmsg> call
- ; signal success be returning a value > 0:
- o<change> endsub [1]
- M2
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