The RapidChange ATC uses the Spindle to Unscrew the current tool in the spindle and screw on the new tool.
It requires a spindle with speed control and the ability to move in both the Clockwise and Counter Clockwise direction.
This tool changer logic supports tool tray magazines with and without the dust cover and laser.
Multiple Tool tray Magazines without a cover and IR sensors can be mounted on the table allowing up to 30 tool slots.

Wiring the RapidChange ATC to MASSO

Selecting the tool changer

In the Tool Changer window select Rapid Tool Changer and double-click for settings.

Setting up the tool changer

• Number of Slots: This is the number of slots in your tool changer. MASSO supports up to 30 tool slot positions.  
• Cover open delay(ms): This is the time that MASSSO wait for the dust cover to open. If you have a shade built into your dust cover to detect when the cover is open this timer is the timeout before you receive an alarm
• Spindle start Position: The Z machine coordinate height that the Spindle moves to before starting the spindle and plunging into the tool slot to unload or load a tool. 
• Unload RPM: Spindle speed used when unloading a tool
• Load RPM: Spindle speed used when loading a tool
• Z engage position: The engagement machine coordinate height of the collet nut typically 0.5mm below the level of the a collet nut sitting in the magazine.  
• Engague Feedrate: The feedrate that the spindle enters the magazine when unloading and loading a tool
• Collet clearance offset: The Z height machine coordinate  that the spindle travels between tool slots.
• Retorque count: The number of additional times the collet nut will plunge into the magazine when loading a tool. If left at 0 the spindle will pick up the collet nut and move to the Auto tool zero to measure it. RapidChange recommend a Retorque count of 1 be used. 
• Tool check-1 Z position: Z height machine coordinate used to confirm that the collet nut has been dropped off when unloading a tool and the height used to confirm the collet nut has been picked yo when loading a tool. 
• Tool check-2 Z position: Z height machine coordinate used to confirm that the collet nut is correctly screwed onto the spindle 
• Safe X & Y position: X Y machine coordinate  used to move the spindle away from the tool changer before the cover is closed. Typically the Auto tool zero coordinates are used for this location
• Slot1 to Slot 30: The X & Y machine coordinate  of the magazine slot

Tool Changer Inputs and Outputs

Syntax used in this document for Tool Changer inputs and outputs

• "Tool Changer - Output 1" means Tool Change - 1 and it is an output
• "Tool Changer - Input 1" means Tool Changer -1 and it is an Input
• Note: Any tool changer input or output can be assigned to any Input or Output on MASSO. The tool changer number does not refer to an actual input or output port.
   

INPUTS

• Tool Changer - Input 1 - From IR beam detector. High - beam broken and Low - beam unobstructed.

OUTPUTS

• Tool Changer - Output 1 -  Dust cover raise and lower. High - Raise cover and Low- lower cover 

Tool Changer logic

Tool change request

• M6 command
• Check which tool is in the spindle and if it is the same do not change tool otherwise continue
• Check that the tool is assigned to a tool slot and if not give alarm message

Unload tool

•  Tool Changer 1 output changes to High to open the Dust cover
• Wait for "Cover open delay(ms)" for the “Tool Changer - input 1” to go Low and if it remains High give a Dust cover alarm
• Move the Z axis to Z home position
• Move to specified tool slot X Y position
• Move the Z axis to “Spindle start position” height 
• Start the “Spindle CCW” at the “Unload RPM” speed
• MASSO waits for spindle spin up time
• The Z axis moves to  “Z engage depth” at the  “Engage Feedrate”
• The Z axis moves to the “Tool check-1 Z position" height” at rapid speed
• “Spindle stop”
• Check “Tool Changer- input 1“ is Low if so continue. If not give tool alarm and stop (Tool did not unload)

Loading tool

• Move the Z axis to “Collet clearance offset” height
• Move to the new Tool slot X Y coordinate
• Move the Z axis to “Spindle start position” height 
• Start the “Spindle CW” at the “Load RPM” speed
• MASSO waits for spindle spin up time
   
• The Z axis moves to  “Z engage depth” at the  “Engage Feedrate”
• The Z axis moves to the “Tool check-1 Z position" height at Rapid speed
• Check “Tool Changer - input 1“ is High if so continue. If not give tool alarm and stop spindle  (Tool did not load)
• The Z axis moves to the “Tool check-2 Z position" height at rapid speed
• Check “Tool Changer - input 1“ is Low if so continue. If not give tool alarm and stop spindle (The nut is cross threaded)
• Repeat the last 5 steps for the “Retorque count” number of times after moving to the “Spindle start position” height
   
• Spindle Stop
• MASSO waits for spindle spin down time
• Move the Z axis to Z home position
• Move to the “Safe X & Y position“ 
• Close tool changer dust cover Tool Changer output “Tool Changer - output 1” changes to Low 
• Tool change complete.

Recovery from a failed tool change

In the event of an alarm while performing a tool change it is important to take note of the tool number on the MASSO screen that indicates which tool it believes is in the spindle.
 

The easiest way to recover is to complete the tool change manually

• Go to the F4 screen and double tap the tool number that you just installed to open the tool edit screen
• Press the Auto tool Zero button to measure the new tool.
  Note: you will receive a warning  you that there is a different tool in the spindle
  Press the “Proceed” button to measure the tool and after the tool is measured the current tool number will update to the new tool
• Use Jump to Line to resume machining.
  Note: When using Jump to line take note of the tool number it shows  in the restart information. If you go back too many lines it will want to reload the previous tool. 
  Do not set the line with the tool change command as the restart line as MASSO recreates the conditions before the tool change line, (eg. load the previous tool), and then it will restart and execute the tool change command.
  If it shows the previous tool will be loaded then increase the restart line number one or two lines ahead so that it starts from when the new tool is in the spindle.