NAME

       hal_manualtoolchange - HAL userspace component to enable manual tool changes.

SYNOPSIS

       loadusr hal_manualtoolchange

DESCRIPTION

       hal_manualtoolchange  is  a  LinuxCNC  userspace component that allows users with machines
       lacking automatic tool changers to make manual tool changes.  In use when a M6 tool change
       is  encountered,  the  motion  component will stop the spindle and pause the program.  The
       hal_manualtoolchange component will then  receive  a  signal  from  the  motion  component
       causing  it  to  display a tool change window prompting the user which tool number to load
       based on the last T- number programmed.  The dialog will stay active until the  "continue"
       button  is pressed.  When the "continue" button is pressed, hal_manualtoolchange will then
       signal the motion component that the tool change is complete thus allowing motion to  turn
       the spindle back on and resume program execution.

       Additionally,  The hal_manualtoolchange component includes a hal pin for a button that can
       be connected to a physical button to complete the tool change and remove the window prompt
       (hal_manualtoolchange.change_button).

       hal_manualtoolchange  can be used even when AXIS is not used as the GUI. This component is
       most useful if you have presettable tools and you use the tool table.

PINS

       hal_manualtoolchange.number s32 in
              Receives last programmed T- number.

       hal_manualtoolchange.change bit in
              Receives signal to do tool change.

       hal_manualtoolchange.changed bit out
              Signifies that the tool change is complete.

       hal_manualtoolchange.change_button bit in
              Pin to allow an external switch to signify that the tool change is complete.

USAGE

       Normal usage is to load the component in your HAL file and net the appropriate  pins  from
       the  motion  and  io components.  The following lines are typical in a HAL file when using
       the hal_manualtoolchange userspace component.

       loadusr -W hal_manualtoolchange
              This will  load  the  hal_manualtoolchange  userspace  component  waiting  for  the
              component to be ready before continuing.

       net tool-change iocontrol.0.tool-change => hal_manualtoolchange.change
              When  an M6 code is run, motion sets  iocontrol.0.tool-change  to high indicating a
              tool change.  This pin should  be  netted  to   hal_manualtoolchange.change.   This
              causes  the  Tool  change dialog to be displayed on screen and wait for the user to
              either click the continue button on the dialog or  press  an  externally  connected
              button.

       net tool-changed iocontrol.0.tool-changed <= hal_manualtoolchange.changed
              When  the  Tool  change  dialog's  continue  button  is  pressed,  it  will set the
              hal_manualtoolchange.changed  pin  to  high,  this  should   be   netted   to   the
              iocontrol.0.tool-changed  pin,  indicating  to  the motion controller that the tool
              change has been completed and  can  continue  with  the  execution  of  the  G-code
              program.

       net tool-number iocontrol.0.tool-prep-number => hal_manualtoolchange.number
              When a T- command is executed in a G-code program, the tool number will held in the
              iocontrol.0.tool-prep-number.      This     pin     should     be     netted     to
              hal_manualtoolchange.number.   The  value of this pin, the tool number is displayed
              in the Tool change dialog to let the user know which tool should be loaded.

       net tool-prepare-loopback iocontrol.0.tool-prepare => iocontrol.0.tool-prepared
              The  iocontrol.0.tool-prepare   pin  will  go  true  when  a  Tn  tool  prepare  is
              requested.   Since there is not automated tool changer this pin should be netted to
              iocontrol.0.tool-prepared  to indocate that the tool has been prepared.

       If you wish to use an external button to signal the  hal_manualtoolchange  component  that
       the tool change is complete simply bring the button into HAL (via a parport input pin or a
       hostmot2    gpio    input    or    similar),    and    wire    it    directly    to    the
       hal_manualtoolchange.change_button  pin.  For Example:

       net tool-changed-btn hal_manualtoolchange.change_button <= parport.0.pin-15-in

SEE ALSO

       motion(1) iocontrol(1) halcmd(1)