Automatic tool change – ATC tutorial with PlanetCNC software and controller

This tutorial will guide you through ATC hardware equipment installation, software settings configuration and final use of ATC with PlanetCNC software and PlanetCNC motion controller.
We will start by installing ATC hardware equipment on our machine and later on continue with software settings configuration.

In the beginning we will determine how we want to machine our workpiece, and base our settings configuration on it.

But first we will describe and clarify Tool Change feature settings.

ATC HARDWARE EQUIPMENT

ATC stands for Automatic Tool Change. For successful implementation of ATC procedure into your machining process special hardware equipment is required.

This equipment typically consists of pneumatic tool changer, tool holders and tool table. We know many different approaches and concepts, from simple low-cost to expensive professional solutions.

First check that every piece of equipment is working as it should.

Equipment used for purposes of this tutorial is simple and not very complex, however, it fully serves its purpose.

Pneumatic tool-changer and tool-holders:

Tool Table:

Two solenoid pneumatic valves:

ATC SOFTWARE SETTINGS

Settings referring to Tool Change and Tool Change ATC are located at File/Settings/Tool Table/Tool Change and Tool Change ATC.

No setting referring to ATC is standalone. Meaning, any of these three settings are co- dependent on each other at some point.
For example in Tool Table we set everything about tool specification, but their use is enabled in Tool Change settings. To control the ATC equipment
you need to assign output pins, and you do that in Tool Change ATC settings.

Tool Table settings

Tool table is where all tools are at “rest ”. How many tools is in tool table is up to each user. We will use three tools.
Because each tool is different in its shape and form, you can say that is unique. Therefore we must fill in each tools “personal data” and save it in the tool list.
This is done in General tab.

Every tool has it “resting” place over the tool table. So we have to save each tools position coordinates.
We will obtain them by jogging machine over populated tools, and then write down the coordinates of each tool. It is necessary that you execute Homing procedure,
because all tool position coordinates use absolute values and you can’t really afford any lost steps. This is done in Tool Change tab.

Tool Change settings

In Position settings group, we can define position coordinates of tool change, Tool offset measurement and Tool change procedure machine “behavior”.

Tool change ATC software settings

Since ATC if fully automated procedure, controller must control some external device (solenoid pneumatic valves on our example) via output pins from Output connector.
We assign pins for Lock and Blow actions here. What kind of move sequences machine makes when it changes tools from tool table is also set here.

STEP BY STEP ATC IMPLEMENTATION:

Note: Hardware equipment and installment procedure is unique for each users equipment and machine.

Step 1: Installing ATC hardware equipment on our CNC machine

Our tool Table should be mounted somewhere safe and remote so that it doesn’t block machines movement and unnecessarily reduces machines working area.

Step 2: Writing down position coordinates

When we populate our tool table with tools, we can jog our machine to tool table and start fine tuning positions of machine, so that we can get precise position coordinates of each tool in tool table.

Step 3: Settings configuration

1.) Tool Table settings

1.1.)General Tab

Each tool used, must be specified in a tool list with name and number.
To add tool in tool table list we click Add button. When tool number and name are assigned we click Update.
We repeat this for every tool.

All other parameters are really not that important for this tutorial.

1.2.) Tool change tab

Here we insert tool position coordinates that we have obtained earlier in Step 2. After we insert tool XYZ position coordinates, we must click Update button.
We repeat this for all three tools.

3.) Tool change settings

These settings were explained in previous tutorial, you can read it >here link<.

4.) Tool change ATC settings

4.1) Lock and blow pin assignment

Here we assign output pins that will control ATC equipment for locking and unlocking tool. We use solenoid pneumatic valves on our ATC.
Lock:
Lock output pin will activate/deactivate pneumatic tool-holder. In this example we will select Output pin 2.
Delay value is amount of seconds that machine waits after Lock output is activated.
Hold leaves Lock output activated when machine changes between two tools.

Blow:
Blow output pin will activate/deactivate blowing of tool-holder between tool changes.
This is used to avoid any impurities attaching on tool-holder and to assist removing tool-holder from its socket.
In this example we will select Output pin 3.

Delay value is amount of seconds that machine waits after Blow output is activated.
Hold leaves Blow output activated when machine changes between two tools.

Safe Height value is height to/from which machine ascends/descends when its in tool change procedure.
Speed at which machine descends/ascends to lock or unlock tool is defined with Speed value.

4.2.) Move configuration

Move Unloaded :
We can set sequence of moves when machine doesn’t have any tool loaded in the tool-holder.
First coordinate column represents first move and second column represents second move. These are offset coordinates.

Example:

This coordinate setup will do the following:

When machine unlocks tool, it ascends for 20mm in Z+ and then moves 30mm in X+ direction. Then continues at default traverse rate.

Move Loaded :
We can set sequence of moves when machine does have tool loaded in the tool-holder.
First coordinate column represents first move and second column represents second move. These are offset coordinates.

Example: