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; manual toolchange with automatic tool length probe
o<manual_change> sub
(we change feed, metric/in and potentially G90)
(so record current modal state)
(M73 is not useful here because it reverts G43 on return too)
#<metric> = #<_metric>
#<absolute> = #<_absolute>
#<feed> = #<_feed>
G21 (TLO and toolchange position is in mm as per ini)
G90 (absolute)
; move to toolchange position: z, then xy
g53 g0 Z #<_ini[change_position]z>
g53 g0 X #<_ini[change_position]x> Y #<_ini[change_position]y>
; indicate tool number to be loaded
M68 E #<_ini[pins]toolno> Q #<_selected_tool>
; enable table
M64 P #<_ini[pins]enable>
; signal user to change tool
M64 P #<_ini[pins]change>
; and wait for acknowledgement
M66 P #<_ini[pins]changed> L1 Q#<_ini[dwell]ack_secs>
M65 P #<_ini[pins]change> ; drop change pin
;see if we timed out
O100 if [#5399 EQ -1]
M65 P #<_ini[pins]enable> ; disable table
O<restore> call [#<metric>] [#<absolute>] [#<feed>]
O100 return [-1] ; indicate timeout failure to epilog
O100 endif
O200 if [#<_selected_tool> EQ 0] ; an unload.
M65 P #<_ini[pins]enable> ; disable table
O<restore> call [#<metric>] [#<absolute>] [#<feed>]
O200 return [1] ; indicate success
O200 endif
; tool changed - move to toolensor
g53 g0 X #<_ini[toolsensor]x> Y #<_ini[toolsensor]y>
g53 g0 Z #<_ini[toolsensor]z>
; probe tool length
M64 P #<_ini[pins]probing> ; turn on probing led
F #<_ini[toolsensor]probefeed>
G91 (relative mode)
G38.3 Z #<_ini[toolsensor]maxprobe>
; 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
O300 if [[#<_task> GT 0] and [#5070 EQ 0]]
O<restore> call [#<metric>] [#<absolute>] [#<feed>]
O300 return [-2] ; indicate probe contact failure to epilog
O300 endif
; see wether this was the reference tool:
M66 P #<_ini[pins]reftool> L0
O400 if [#5399 EQ 1]
#1000=#5063 (save reference tool length)
M68 E #<_ini[pins]reflen> Q #1000
(print,reference length is #1000)
O400 else
g43.1 z[#5063-#1000] (set new tool offset)
M68 E #<_ini[pins]currlen> Q [#5063-#1000]
(print,new length is #5063)
O400 endif
M65 P #<_ini[pins]probing> ; drop probing led
M65 P #<_ini[pins]enable> ; disable table
G90 (absolute)
; move back to toolchange position: z, then xy
g53 g0 Z #<_ini[change_position]z>
g53 g0 X #<_ini[change_position]x> Y #<_ini[change_position]y>
; restore g20/21, g90/g91, feed
O<restore> call [#<metric>] [#<absolute>] [#<feed>]
; succeed by returning a positive value
o<manual_change> endsub [1]
m2
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