Tool Changes

Add the following lines to your .hal file

 loadusr -W hal_manualtoolchange
 net tool-change iocontrol.0.tool-change => hal_manualtoolchange.change
 net tool-changed iocontrol.0.tool-changed <= hal_manualtoolchange.changed
 net tool-number iocontrol.0.tool-prep-number => hal_manualtoolchange.number
 net tool-prepare-loopback iocontrol.0.tool-prepare => iocontrol.0.tool-prepared

Program a line similar to this to use:

 M6T1

At the end of the .ngc file program this to remove the tool

 M6T0

Axis "remembers" what tool is loaded. So a M6Tn of the same number will not prompt for another tool change. The "T" number must be different. If you want to pull out the tool and put it back put a M6T0 between...

Caution: There may be some screen focus issues with features that have pop-ups such as (MSG,...) and manual tool changes. The main screen features such as the e-stop button will not be available while the pop-up is active. You must complete the pop-up prompt to return the screen focus to the main screen. Other screen interactions may exist. (2008/06/20 KW)