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Extend M6 remap to allow return to orig. position #2706

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Extend M6 remap to allow return to orig. position #2706

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153 changes: 111 additions & 42 deletions docs/src/gui/qtdragon.adoc
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Original file line number Diff line number Diff line change
@@ -1,5 +1,6 @@
:lang: en
:toc:
:toclevels: 3

[[cha:qtdragon-gui]]
= QtDragon GUI(((QtDragon)))
Expand Down Expand Up @@ -830,10 +831,11 @@ Sequence after pressing the probe button: +
. probe wall twice (rough and fine),
. move diagonally to the other wall as set by EDGE WIDTH and XY CLEARANCE,
. probe wall twice,
. raise probe up by Z CLEARANCE + EXTRA DEPTH 9returns to starting height),
. raise probe up by Z CLEARANCE + EXTRA DEPTH (returns to starting height),
. rapid back to starting corner (now calculated using the probed walls),
. if auto zero button is enabled, set X and Y of the current user system to zero.

[[sub:touch-plate]]
== Touch plate

.QtDragon - Touch Plate
Expand All @@ -857,53 +859,109 @@ The machine will probe down twice and the current user offset (G5X) will be zero

== Auto Tool Measurement

=== Overview

QtDragon can be setup to do integrated auto tool measurement using the Versa Probe widget and remap code.
To use this feature, you will need to do some additional settings and you may want to use the offered HAL pin to get values in your own ngc remap procedure.

[IMPORTANT]
Before starting the first test, do not forget to enter the probe height and probe velocities on the versa probe settings page.
This feature assumes the use of two probes in concert:

Tool Measurement in QtDragon is done with the following steps:
. A tool switch sensor, fixed somewhere on the machine (sometimes called a tool-setter), and
. A spindle probe that is installed temporarily at the beginning of the job (sometimes called an xyz probe or a Renishaw probe).

* Touch off your workpiece in X and Y.
* Measure the height of your block from the base, where your tool switch is located, to the upper face of the block (including chuck etc.).
* In the Versa probe tab, enter the measured value for block height.
* Make sure the use tool measurement button in the Vesa probe tab is enabled.
* Go to auto mode and start your program.
These techniques are useful for machines that do not have repeatable tool holders and do not have automatic tool changing devices. (For machines with repeatable tool holders, see the section on <<sub:touch-plate,measuring tool length>>. For machines with automatic tool changing devices, consult work done under the linuxcnc repository at configs/sim/axis/remap/rack-toolchange)

[NOTE]
When fist setting up auto tool measurement, please use caution until you confirm tool change and probe locations - it is easy to break a tool/probe.
Abort will be honoured while the probe is in motion.
To use this feature, you will need to do some additional settings and you may want to use the offered HAL pins to get values in your own ngc remap procedure. Those settings are covered later in the section.

How to use these technique are covered first, then how to set them up are covered.

=== Workflow Overview

A detailed workflow walkthrough follows this overview.

[IMPORTANT]
Setup steps include: +
+
Entering the probe velocities on the versa probe settings page. +
Enabling "Use Tool Measurement" on the Versa Probe tab. +
Enabling "Use Tool Sensor" under Settings. +
+
When fist setting up auto tool measurement, please use caution until you confirm tool change and probe locations - it is easy to break a tool/probe. Abort will be honoured while the probe is in motion.

Tool Measurement in QtDragon is organized into the following steps which will be explained in more detail in the following section:

. Zero the probe tool by measuring the tool setter with the spindle probe installed
. Touch off your workpiece in X and Y.
. Measure the height of your block from the base, where your tool switch is located, to the upper face of the block (including chuck etc.).
. In the Versa probe tab, enter the measured value for block height.
. Go to auto mode and start your program.

.Auto tool measurement
image::images/sketch_auto_tool_measurement.png[align="left"]

With the first given tool change the tool will be measured and the offset will be set automatically to fit the block height.
The advantage of this way is, that you do not need a reference tool.

[NOTE]
Your program must contain a tool change at the beginning. The tool will be measured, even it has been used before, so there is no danger if the block height has changed. There are several videos on you tube that demonstrate the technique using GMOCCAPY. The GMOCCAPY screen pioneered the technique.

The sequence of events (using the default files in the default setting):

. Rapid move in Z to position defined in the INI's [TOOL_CHANGE] Z
. Rapid move in X and Y to number defined in INI's [TOOL_CHANGE] X and Y
. Perform normal M6 tool change: ie, stop spindle, send message to user to change the tool
. Rapid move in X and Y to position defined in the INI's [VERSA_TOOLSETTER] X and Y
. Rapid move down in Z to position defined in the INI's [VERSA_TOOLSETTER] Z
. Probe down in Z to maximum defined in the INI's [VERSA_TOOLSETTER] MAXPROBE
. Changes the offset of the current work coordinate system to match the difference between the previous tool and the currently measured tool
. Return Z to position defined in the INI's [TOOL_CHANGE] Z

The INI setting [RETURN_OPTION] can elicit additional behavior after the return to the [TOOL_CHANGE] Z position:

* If INI's [RETURN_OPTION] = 1: (or if it is undefined), no further action. This is the default behavior of the GMOCCAPY M6 remap procedure
* If INI's [RETURN_OPTION] = 2: Continue with a Rapid Move to the X and Y position defined in INI's [TOOL_CHANGE] X and Y settings. This is the default behavior of the AXIS gui's M6 remap procedure.
* If INI's [RETURN_OPTION] = 3: Rapid Move to the original X and Y position at the moment the tool-change started, then Rapid Move down to the now offset Z position at the moment the tool-change started. This effectively moves the tool head back to the position just prior to the tool change. This is new behavior exclusive to QtDragon as of 4th quarter 2023.

[NOTE]
The [TOOL_CHANGE] Z position should be high enough so the tool will not hit the tool probe when moving to the [VERSA_TOOLSETTER] X and Y position. +
MAXPROBE distance needs to be high enough for the tool to touch the probe. +
The RETURN_OPTION = 3 behavior returns to the Work Coordinate system's coordinates, so if using this option, it is vital to have set a work coordinate system before beginning.

=== Detailed Workflow Example

==== One Time Setup

The following setups need only be done once as long as they remain in effect:

. Under Probe Tool Screens: Insure reasonable values for "Rapid" and "Search," these are the speeds at which the probing will be performed and are in machine units per minute. +
. Under Probe Tool Screens: insure that "Tool Measure" is enabled (this is a button that must be highlighted)
. Under Settings: insure that "Use Tool Sensor" is enabled (this is a tick-box that must be checked)
. In the Tool Table: setup a tool for the spindle probe and insure that its Z offset is set to zero.

[NOTE]
Your program must contain a tool change at the beginning.
The tool will be measured, even it has been used before, so there is no danger if the block height has changed.
There are several videos on you tube that demonstrate the technique using GMOCCAPY.
The GMOCCAPY screen pioneered the technique.
It is possible to use a non-zer tool length for the tool probe, but this requires extra steps and is easy to make mistakes. The following procedure assumes a zero tool probe length.

==== Procedure before starting a program

The following setup is done before beginning a program that has M6 tool change commands inside it.

The sequence of events (using the default files):
. Physically load the spindle probe into the spindle.
. Logically load the spindle probe into the spindle with the M61 Qx command where x is the number in the tool table for the spindle probe (there is a button inside the tool table tab that can also be used)
. Position to the Toolsetter: Use the button under the Probe Screens for "Go To Toolsetter" to position the spindle above the Toolsetter.
. Toolsetter Measure: Use the button under the Probe Screens for "Probe Tool Setter Z Height." Note that this will set and display on the Probe Settings screen the "Probe HT" value in ABS coordinates
. Jog to your workpiece.
. Workpiece Measure: Use the button under the Probe Screens for "Probe Z Height of Material:" this will set and display on the Probe Settings screen the "Block Ht" value in ABS coordinates. (Typically, this will now also be the zero Z for your Work Coordinate System)
. Set Work Coordinate System (ie, G54, or other): Use the Probe Tool and whatever probe screen or other method is appropriate to set the X, Y, and Z coordinate system needed for your job.
. If your program begins with a TnM6 command before spinning the spindle, you may leave the spindle probe installed. You may also issue a TnM6 command to change out the spindle probe, and if the program issues the same one, it will skip the tool change.

* Rapid move in Z to position defined in the INI's [TOOL_CHANGE] Z
* Rapid move in X and Y to number defined in INI's [TOOL_CHANGE] X and Y
* Request tool change
* Rapid move in X and Y to position defined in the INI's [VERSA_TOOLSETTER] X and Y
* Rapid move down in Z to position defined in the INI's [VERSA_TOOLSETTER] Z
* Probe down in Z to maximum defined in the INI's [VERSA_TOOLSETTER] MAXPROBE
* Return Z to position defined in the INI's [TOOL_CHANGE] Z
[CAUTION]
Take care not to leave the spindle probe in the spindle if a program may start the spindle.

Once those steps are complete, a program with multiple TnM6 toolchanges can be started and will operate with automatic pauses for manual tool change followed by automated tool measurement.

[NOTE]
The [TOOL_CHANGE] Z position should be high enough so the tool will not hit the tool probe
when moving to the [VERSA_TOOLSETTER] X and Y position.
MAXPROBE distance needs to be high enough for the tool to touch the probe.

=== Work Piece Height Probing
RETURN_OPTION 3 uses whatever Work Coordinate system was effect when tool change was called to return the tool-tip to the same Work Coordinate where it was before. Because remapping has adjusted the Work Coordinate system by the offset between the previous and the current tool, the tool tip will end up at the same point in space as the tip of the previous tool was when the tool change was called.

=== Work Piece Height Probing in QtDragon_hd

.QtDragon_hd - Work piece Height probing
image::images/qtdragon_hd_workpiece_probe.png["QtDragon_hd height probing"]
Expand Down Expand Up @@ -1013,24 +1071,34 @@ The position of the tool sensor and the start position of the probing movement.
All values are absolute (G53) coordinates, except MAXPROBE, which is expressed in relative movement. +
All values are in machine native units. +
X,Y,Z set the tool setter probe location. +
auto probe action sequence (this could be changed with a modified ngc remap file): +

* go to TOOLCHANGE Z position
* go to TOOLCHANGE XY position.
* wait for manual tool change acknowledgement
* go to VERSA_TOOLSETTER XY position
* go to VERSA_TOOLSETTER Z position
* fast probe
* slow probe
* go to TOOLCHANGE Z position
Auto probe action sequence (this could be changed with a modified ngc remap file): +

. rapid move to CHANGE_POSITION Z position
. rapid move to CHANGE_POSITION XY position.
. wait for manual tool change acknowledgement
. rapid move to VERSA_TOOLSETTER XY position
. rapid move to VERSA_TOOLSETTER Z position
. fast probe
. slow probe
. rapid move to TOOLCHANGE Z position

Additionally, if [RETURN_OPTION] is set, there may be additional moves.

[RETURN_OPTION] = 1: (or if it is undefined), no further action. (This is the GMOCCAPY gui M6 default remap code method)

[RETURN_OPTION] = 2: Continue with a Rapid Move to TOOL_CHANGE X and Y (This is the AXIS gui M6 default remap code)

[RETURN_OPTION] = 3: Rapid Move to the original X and Y position at the moment the tool-change started, then Rapid Move down to the newly offset Z position. (This effectively moves the tool head back to the position just prior to the tool change, and is a feature of the QtDragon gui M6 default remap code)

Z_MAX_CLEAR is the Z position to go to before moving to the tool setter when using the 'Travel to Toolsetter button'. +
'Travel to Toolsetter' Action sequence: +

* go to VERSA_TOOLSETTER Z_MAX_CLEAR Z position
* go to VERSA_TOOLSETTER XY position
* go to VERSA_TOOLSETTER Z position.
. rapid move to VERSA_TOOLSETTER Z_MAX_CLEAR Z position
. rapid move to VERSA_TOOLSETTER XY position
. rapid move to VERSA_TOOLSETTER Z position.

Example settings:
[source,{ini}]
----
[VERSA_TOOLSETTER]
Expand All @@ -1039,6 +1107,7 @@ Y = 10
Z = -20
Z_MAX_CLEAR = -2
MAXPROBE = -20
RETURN_OPTION = 3
----

==== The Change Position Section
Expand Down