Communicating Tormach tool number to robot

[denningt]

I am wanting to connect a Fanuc Robot to the tormach 1100 cnc. I have the I/o board that can pass 4 digital outputs for simple status communication, but I want to pass the tool number to the robot. Any ideas on how to do this without just counting pulses on the I/o? (that seems clunky and prone to errors). Your help is appreciated.

Similar Threads:

• Newbie- Loosing tool number when selecting tool. SC9
• Need Help!- Tool Nose Compensation & Tool Position Number in VTL CNC lathes
• Locking the tool pockets to a tool number

[PCW_MESA]

I am wanting to connect a Fanuc Robot to the tormach 1100 cnc. I have the I/o board that can pass 4 digital outputs for simple status communication, but I want to pass the tool number to the robot. Any ideas on how to do this without just counting pulses on the I/o? (that seems clunky and prone to errors). Your help is appreciated.

Does the robot controller have network capability? using LinuxCNCs remap capability and a python script that sends the tool number to the robot might be the cleanest way in that case

[denningt]

yes the robot has network capability. Is the Linuxcnc remap capability documented in the source code? or is that something that needs to be installed?

[PCW_MESA]

LinuxCNCs remap function is documented in normal LinuxCNC docs, not sure if its included in path-pilot
Even without remap, I think this is possible by just calling an external subroutine (but that requires gcode mods)

[petenc]

I am wanting to connect a Fanuc Robot to the tormach 1100 cnc. I have the I/o board that can pass 4 digital outputs for simple status communication, but I want to pass the tool number to the robot. Any ideas on how to do this without just counting pulses on the I/o? (that seems clunky and prone to errors). Your help is appreciated.

Hey I apologize I missed your message. I really like PCW_MESA's idea and would like to learn more about Linuxcnc in this regard. If I had to do this today, I would run a python script in the background of Pathpilot and wait for a tool change and then send the change to the robot. I work in automation and I will talk to the controls guys tomorrow to understand a little more about the fanuc side of things. We always have 200id's flowing through the shop and I will probably use that as a reference when speaking to them.

Pete

[Steve Seebold]

I am wanting to connect a Fanuc Robot to the tormach 1100 cnc. I have the I/o board that can pass 4 digital outputs for simple status communication, but I want to pass the tool number to the robot. Any ideas on how to do this without just counting pulses on the I/o? (that seems clunky and prone to errors). Your help is appreciated.

You’re talking “WAY” over “MY” head.

[PCW_MESA]

Hey I apologize I missed your message. I really like PCW_MESA's idea and would like to learn more about Linuxcnc in this regard. If I had to do this today, I would run a python script in the background of Pathpilot and wait for a tool change and then send the change to the robot. I work in automation and I will talk to the controls guys tomorrow to understand a little more about the fanuc side of things. We always have 200id's flowing through the shop and I will probably use that as a reference when speaking to them.

Pete

If its not an issue to modify the Gcode you can just call an external script (say bash or python)
by using a "user defined M-code"

M Codes

[footpetaljones]

I would imagine you have Modbus on the robot, correct? You could modify the HAL file to enable mb2hal and send the iocontrol.0.tool-number signal to a register.

[petenc]

If its not an issue to modify the Gcode you can just call an external script (say bash or python)
by using a "user defined M-code"

M Codes

I really like this solution and it seems straightforward. Being a robot application, I just worry about e-stops and restarts and where the program leaves off. My mind goes to a constant feedback approach just so the robot always knows. Not knowing the application, or the type of operator running the machine, it may not be a concern.

Pete

Pete

[jwatte]

Yeah, if I could get an additional M-code automatically run whenever the program stops (M30, estop, end of file) then that would be perfect!
(I e, an additional M-code, not having to edit existing files, for the obvious reasons.)