Take great care when setting tool changer parameters. Incorrect settings can cause unexpected behaviour and may damage the tool changer.

If you are unsure about your setup, use Feed Rate Override to slow the machine during setup.

Introduction

The linear tool changer logic allows different tool changer configurations to be set up easily.

Each tool can be positioned independently, allowing tools to be arranged in single or multiple rows.

Setup Process

The Linear Tool Changer settings window contains all parameters required for configuration.

Assigning the Number of Slots

• The system supports up to 30 tool slots
• By default, 4 slots are displayed
• Use the arrows next to Number of slots to increase or decrease the number

Tool Change Feed Rate

• This defines the feed rate used to slide tools in and out of holders.

• Uses the unit system set in F1 General Settings

• The slide distance is defined by the Tool Change Offset

• All other movements use rapid speed

Tool Holder Z Clearance

• This defines the Z position after dropping off a tool and before moving to the next slot.

• Defined in machine coordinates
• Movement between slots is at rapid speed
• The system may travel across other tool holders

Pick and Place Z Position

• Defines the Z height used when picking up or placing a tool.

• Used in pick-and-place tool changers
• Defined in machine coordinates
• Z-axis moves at rapid speed when moving to or from this position

Tool Clearance Offset

• Defines where the spindle moves to begin the tool change process.

• Uses relative X and Y coordinates (added to slot position)
• Can be positive or negative to control approach direction
• Uses the unit system set in F1 General Settings

• After reaching this position, the spindle moves rapidly to the Tool Change Offset position.

• This offset is only used at the start of the tool change before dropping off the tool.

Tool Change Offset

Defines where the spindle begins sliding into or out of a tool slot.

• Uses relative X and Y coordinates
• Uses the unit system set in F1 General Settings
• Slide movement uses the Tool Change Feed Rate

Notes:

• Sliding tool changers typically use one axis (X or Y)
• If both X and Y are used, the tool will enter at an angle
• For pick-and-place systems, this must be set to X0, Y0

Defining Tool Positions

Each tool slot position is defined by its centre using: Slot #: X, Y coordinates

• Coordinates are in machine coordinates
• Use the unit system set in F1 General Settings
• Tools can be placed anywhere on the machine table
• Multiple rows can be configured for pick-and-place systems

Coordinate Calculations

Tool positions are calculated as follows:

• Tool Clearance Offset (X, Y) = Slot Position (X, Y) + Tool Clearance Offset (X, Y)
• Tool Change Offset (X, Y) = Slot Position (X, Y) + Tool Change Offset (X, Y)

Examples

Example 1:

• Tool 1 in Slot 1, Tool 2 in Slot 4
• Command: T2 M06

Process:

• Moves to clearance offset
• Moves to change offset
• Slides tool out at feed rate
• Moves to new slot
• Loads tool
• Returns to original position

Example: 2

• Tool 1 in Slot 1, Tool 2 in Slot 3

Similar process with different coordinates based on slot positions and offsets.

Example 3 (Pick and Place):

• Tool 1 in Slot 1, Tool 2 in Slot 7

Process:

• Moves directly to slot
• Drops tool vertically
• Moves to new slot
• Picks up tool
• Returns to machining position

Example 4: 

• Tool clearance offset and tool change offset are the same

Process skips intermediate move and directly performs tool change motion.

TroubleShooting

If the tool changer starts but stops during the slide-in process:

• Check that the Tool Change Feed Rate is set
• A value of 0 will prevent the slide-in and slide-out movement