Help with auto tool changer

Hello,
Im looking for some help and advice on how to incorporate my ATC.
Below is a diagram from the machine manual, plus a video of the tool changing sequence on an identical machine that I found on YouTube.

I'm new to LinuxCNC so I don't have experience on what to use for what.
I've found topics where a Carousel script is used, and others where Classic Ladder is used. I don't know much about any of those yet, but I'd appreciate advice on where to start and how you would do it.

Later I'd also like to have tool touch-off as in the YouTube-video. So the solution I chose can be integrated with that as well later on.


SW = switch
P = proximity sensor
EV = pneumatic solenoid valve
M1 is a stepper motor

hi
lots of switches to be controlled
so What is your hardware
you need to get every switch to the control Linuxcnc
do you got a Mesa Board on the mashine 7i76?
then it is no problem to connect via a simple Remap M6
you just right a ngc Gcode file that got the logic and makes the moves

pl7i92 wrote: hi
lots of switches to be controlled
so What is your hardware
you need to get every switch to the control Linuxcnc
do you got a Mesa Board on the mashine 7i76?
then it is no problem to connect via a simple Remap M6
you just right a ngc Gcode file that got the logic and makes the moves

Yes I have the 7i92 plus 7i76.

pl7i92 wrote: hi
lots of switches to be controlled
so What is your hardware
you need to get every switch to the control Linuxcnc
do you got a Mesa Board on the mashine 7i76?
then it is no problem to connect via a simple Remap M6
you just right a ngc Gcode file that got the logic and makes the moves

And that is basically what the Carousel script does?
So I can use that script as a template?

Yes the carousell makes this things
from the image it is not clear as it is a real carousell that is driven by M1
as you got a real mashine can you provide a side view to the toolsystem
also there is a graycode like switch system to encode the position of the carousell
but you got a pneumatic system as well behind to insert the tool
you might be forced to go you own way IT is offen as in your system better to go for a simple IF...Then ngc
linuxcnc.org/docs/html/man/man9/carousel.9.html

The only moving parts are the arm and its hand.

Solenoid valve EV3 to EV6 control the arm moving up/down and the hand in/out pneumatically. Proximity sensors P1-P2 tell when the arm is up/down. Switch SW12-SW13 tell the positions in/out for the hand/hook.

EV1 releases the tool holder from the spindle hydraulically. Not sure what EV2 does yet.

"Utensili" 1-6 show the position of the tool slots. Each slot has got a switch to indicate if the is a tool present, SW6-SW11.

SW1-SW5 tell the position of the tool slots when the arm is rotating.

P3 tells if there is a tool in the spindle.

A couple of photos attached. In the photos the arm is in the up position , and the arm in the in position