forum.cncdrive.com

lots of people have asked how i did this. so heres my code to see.
also has optional probing after tool change controlled on or off with var#1
lots of time went into writing it originally.
it can be seen working on my machine here https://www.youtube.com/watch?v=v4qEWMI5zeM&t=191s

Code: Select all

 
//Duzzit-atc


exec.Setvar(1, 100);//stops manual change macroloop blocking the output for eject

int Currenttool = 0;

int Chuckopenport = 3;
int Chuckopenpin = 3;
int toollockcheckport = 5;
int toollockcheckpin = 13;
int headdownport = 3;
int headdownpin = 6;
int checkcolletopenport = 5;
int checkcolletopenpin = 12;
int atcslidefwdport = 5;
int atcslidefwdpin = 17;
int dustshoeport = 3;
int dustshoepin = 5;

double xclear= -106; /// x clearance of toolholder before lift up
double yclear= 0;   /// y clearance of toolholder before lift up
double zraise=-5;
double SafeZ = -1;
double Ztoolrelease = -92;      //-92
double Ztoolpickup = -92.5;      //-92.5
int tpx=0;
int tpy=0;

double[] ToolX = new double[11];
double[] ToolY = new double[11];
ToolX[0] = 0; // Tool0 X position
ToolY[0] = 0; // Tool0 Y position

//Tool positions definition

ToolX[1] = 6; // Tool1 X position
ToolY[1] = -1393; // Tool1 Y position
ToolX[2] = 6; // Tool2 X position
ToolY[2] = -1273; // Tool2 Y position
ToolX[3] = 6; // Tool3 X position
ToolY[3] = -1153; // Tool3 Y position
ToolX[4] = 6; // Tool4 X position
ToolY[4] = -1033; // Tool4 Y position
ToolX[5] = 6; // Tool5 X position
ToolY[5] = -913; // Tool5 Y position
ToolX[6] = 6; // Tool6 X position
ToolY[6] = -793; // Tool6 Y position
ToolX[7] = 6; // Tool7 X position
ToolY[7] = -673; // Tool7 Y position
ToolX[8] = 6; // Tool8 X position
ToolY[8] = -553; // Tool8 Y position
ToolX[9] = 6; // Tool9 X position
ToolY[9] = -433; // Tool9 Y position
ToolX[10] = 6; // Tool10 X position
ToolY[10] = -313; // Tool10 Y position

int Newtool = exec.Getnewtool();


// ***set tool field number***

int Boxnumber = 195;// fieldnumber for tools 1-20 (field 196)
if (Newtool >20)
{
Boxnumber = 921-21;// fieldnumber for tools 21-96. minus 21 so tool increment is correct
}

// ***end of set tool field number***





exec.AddStatusmessage("new tool is   "+Newtool);
//int Currenttool = exec.Getcurrenttool(); //// use readkey?



string writelasttool="0";
 string read11=exec.Readkey("lasttool","lasttool",writelasttool);
double write11 = Convert.ToDouble(read11);
//int Currenttool = (int)write11;
double toolast=Convert.ToDouble(AS3.Getfield(897));
 Currenttool =(int)toolast; //       exec.Getcurrenttool();
//exec.AddStatusmessage("currenttool is   "+Currenttool);

if(Currenttool == 0)
{
double val = exec.Question("What tool number is in spindle?");
//double val2 = exec.Question("CONFIRM What tool number is in spindle?");
MessageBox.Show("Tool in spindle is "+val +"Press STOP if incorrect");
MessageBox.Show("Ensure return pocket is empty for tool "+val);
Currenttool = (int)val;


}

if(Newtool == -1) // If new tool number is -1 means a missing T code, so we need to stop here...
{
exec.AddStatusmessage("new tool number missing");
exec.Wait(10);
MessageBox.Show("Tool change abort: missing T number");
exec.Wait(100);
exec.AddStatusmessage("new tool number missing or out of range");
exec.Wait(10);
exec.StopWithDeccel();
return;
}

if(Newtool <1 || Newtool >96) // Tool number is out of range, so we need to stop here...
{
MessageBox.Show("Tool change abort: tool number out of range.");
exec.Wait(100);
exec.AddStatusmessage("new tool out of range");
exec.Wait(10);
exec.StopWithDeccel();
return;
}

if(Newtool == Currenttool) // Same tool was selected, so do nothing, stop here...
return;

if(!exec.GetLED(56)||!exec.GetLED(57)||!exec.GetLED(58)) // If machine was not homed then it is unsafe to move in machine coordinates, stop here...
{
  MessageBox.Show("The machine was not yet homed, do homeing before executing a tool change!");
  exec.Stop();
  return;
}

while(exec.IsMoving()){}

// Get current XY machine coordinates to return to this position at the end of the macro

double Xoriginalpos = exec.GetXmachpos();
double Yoriginalpos = exec.GetYmachpos();

// Stop spindle if running and Move Z up

exec.Stopspin();
exec.Code("G00 G53 Z"+ SafeZ); // Move Z up
while(exec.IsMoving()){}


string content1=AS3.Getfield(20401);
string content2=AS3.Getfield(20402);
string content3=AS3.Getfield(20403);
string content4=AS3.Getfield(20404);
string content5=AS3.Getfield(20405);
string content6=AS3.Getfield(20406);
string content7=AS3.Getfield(20407);
string content8=AS3.Getfield(20408);
string content9=AS3.Getfield(20409);
string content10=AS3.Getfield(20410);
//                  100
double th1 = Convert.ToDouble(content1);
double th2 = Convert.ToDouble(content2);
double th3 = Convert.ToDouble(content3);
double th4 = Convert.ToDouble(content4);
double th5 = Convert.ToDouble(content5);
double th6 = Convert.ToDouble(content6);
double th7 = Convert.ToDouble(content7);
double th8 = Convert.ToDouble(content8);
double th9 = Convert.ToDouble(content9);
double th10 = Convert.ToDouble(content10);

//  dust shoe up
exec.Setoutpin(dustshoeport,dustshoepin);
exec.Wait(10);

// check if tool is in rack *****Put back code*****
int returnfound=0;
//for (int i = 1; i <= 11; i++)

int check1 = (int) th1;
//exec.AddStatusmessage("check1 is"  +check1);
if (Currenttool == check1)
   {
//exec.AddStatusmessage("old Tool matches pocket 1" );
tpx=1;tpy=1;returnfound=1;
   }

int check2 = (int) th2;
//exec.AddStatusmessage("check2 is"  +check2);
if (Currenttool == check2)
   {
//exec.AddStatusmessage("old Tool matches pocket 2 " );
tpx=2;tpy=2;returnfound=1;
   }

int check3 = (int) th3;
//exec.AddStatusmessage("check3 is"  +check3);
if (Currenttool == check3)
   {
//exec.AddStatusmessage("old Tool matches pocket 3" );
tpx=3;tpy=3;returnfound=1;
   }

int check4 = (int) th4;
//exec.AddStatusmessage("check4 is"  +check4);
if (Currenttool == check4)
   {
//exec.AddStatusmessage("old Tool matches pocket 4" );
tpx=4;tpy=4;returnfound=1;
   }

int check5 = (int) th5;
//exec.AddStatusmessage("check5 is"  +check5);
if (Currenttool == check5)
   {
//exec.AddStatusmessage("old Tool matches pocket 5" );
tpx=5;tpy=5;returnfound=1;
   }

int check6 = (int) th6;
//exec.AddStatusmessage("check6 is"  +check6);
if (Currenttool == check6)
   {
//exec.AddStatusmessage("old Tool matches pocket 6" );
tpx=6;tpy=6;returnfound=1;
   }
int check7 = (int) th7;
//exec.AddStatusmessage("check7 is"  +check7);
if (Currenttool == check7)
   {
//exec.AddStatusmessage("old Tool matches pocket 7" );
tpx=7;tpy=7;returnfound=1;
   }
int check8 = (int) th8;
//exec.AddStatusmessage("check8 is"  +check8);
if (Currenttool == check8)
   {
//exec.AddStatusmessage("old Tool matches pocket 8" );
tpx=8;tpy=8;returnfound=1;
   }
int check9 = (int) th9;
//exec.AddStatusmessage("check9 is"  +check9);
if (Currenttool == check9)
   {
//exec.AddStatusmessage("old Tool matches pocket 9" );
tpx=9;tpy=9;returnfound=1;
   }
int check10 = (int) th10;
//exec.AddStatusmessage("check10 is"  +check10);
if (Currenttool == check10)
   {
//exec.AddStatusmessage("old Tool matches pocket 10" );
tpx=10;tpy=10;returnfound=1;
   }
if (returnfound == 0)
   {
exec.AddStatusmessage("Return pocket not matched" );
//tpx=10;tpy=10;
MessageBox.Show("Tool change abort- pocket not found.");
exec.Setvar(0, 100);//stops manual change macroloop blocking the output for eject
exec.Stop();
  return;
   }

///****add else do something like tool 0 etc*********
//                        200


//drop old tool section { }


if (Currenttool!=0) //&& (AS3.GetLED(132)))   // // No need to drop down tool if current tool number is zero
{
  // Move to old tool position on XY plane


double ToolXmove =0;
double ToolYmove =0;   
 ToolXmove =ToolX[tpx] + xclear; ToolYmove = ToolY[tpy] + yclear;    // calculate slide out clear position
  exec.Code("G00 G53 X" + ToolXmove + " Y" + ToolYmove);       //  move to slide out position
  while(exec.IsMoving()){}


//*******ensure spindle is not still running- vfd run relay check****

while(AS3.GetLED(130))      // check spindle stopped: relay on vfd
{

exec.Wait(300);
if(exec.Ismacrostopped())
   { 
exec.Setvar(0, 100);//stops manual change macroloop blocking the output for eject
  MessageBox.Show("Tool change was interrupted by no signal at spindle stop");

exec.StopWithDeccel();
return;

   }
}
//end of spindle stopped check


//atcfwd
exec.Setoutpin(atcslidefwdport,atcslidefwdpin);
exec.Wait(100);
// end of atcfwd

//HEAD down
exec.Setoutpin(headdownport,headdownpin);
exec.Wait(100);
// end of head down

  // Drop current tool
 
  exec.Code("G00 G53 Z"+ Ztoolrelease);          // Move Z axis down to tool holder position
  while(exec.IsMoving()){}

exec.Code("G1 f5000 G53 X" + ToolX[tpx] + " Y" + ToolY[tpy]);    // move into holder slowly


  exec.Setoutpin(Chuckopenport, Chuckopenpin);          // Open the chuck with pneumatic valve
  exec.Wait(10);
while(!AS3.GetLED(131))      // check Collet has opened
{
Thread.Sleep(1);
if(exec.Ismacrostopped())
   {
exec.Clroutpin(Chuckopenport, Chuckopenpin);
exec.Wait(10);
  exec.Clroutpin(atcslidefwdport,atcslidefwdpin);   // atc slide back
exec.Wait(10);
 
exec.StopWithDeccel();
exec.Setvar(0, 100);//stops manual change macroloop blocking the output for eject
MessageBox.Show("Tool change was interrupted at collet open!");

return;
   }
}
while(AS3.GetLED(132))      // check tool has released
{
Thread.Sleep(1);
if(exec.Ismacrostopped())
   {
exec.Clroutpin(Chuckopenport, Chuckopenpin);
exec.Wait(10);
  exec.Clroutpin(atcslidefwdport,atcslidefwdpin);
exec.Wait(10);
exec.StopWithDeccel();
exec.Setvar(0, 100);//stops manual change macroloop blocking the output for eject
  MessageBox.Show("Tool not released");

return;
   }
}


exec.Setcurrenttool(0); //Set the current tool as 0 =empty
exec.Wait(100);

//***head up***
               //    ***change to wait for tool released signal***   re write key here***   
  exec.Code("G00 G53 Z"+ SafeZ); // Move Z up
  while(exec.IsMoving()){}
}

// write tool holder content to profile

 content1=AS3.Getfield(20401);      
exec.Writekey("tp1","holder1",content1);

 content2=AS3.Getfield(20402);      
exec.Writekey("tp2","holder2",content2);

 content3=AS3.Getfield(20403);      
exec.Writekey("tp3","holder3",content3);

 content4=AS3.Getfield(20404);      
exec.Writekey("tp4","holder4",content4);

 content5=AS3.Getfield(20405);      
exec.Writekey("tp5","holder5",content5);

 content6=AS3.Getfield(20406);      
exec.Writekey("tp6","holder6",content6);

 content7=AS3.Getfield(20407);      
exec.Writekey("tp7","holder7",content7);

 content8=AS3.Getfield(20408);      
exec.Writekey("tp8","holder8",content8);

 content9=AS3.Getfield(20409);      
exec.Writekey("tp9","holder9",content9);

 content10=AS3.Getfield(20410);      
exec.Writekey("tp10","holder10",content10);


//***** calculate new tool position***********
// Move to new tool position on XY plane


int matchnew=0;
if (Newtool == check1)
   {
exec.AddStatusmessage("new Tool matches pocket 1" );
tpx=1;tpy=1;matchnew=1;
   }
if (Newtool == check2)
   {
exec.AddStatusmessage("new Tool matches pocket 2" );
tpx=2;tpy=2;matchnew=1;
   }
if (Newtool == check3)
   {
exec.AddStatusmessage("new Tool matches pocket 3" );
tpx=3;tpy=3;matchnew=1;
   }
if (Newtool == check4)
   {
exec.AddStatusmessage("new Tool matches pocket 4" );
tpx=4;tpy=4;matchnew=1;
   }
if (Newtool == check5)
   {
exec.AddStatusmessage("new Tool matches pocket 5" );
tpx=5;tpy=5;matchnew=1;
   }
if (Newtool == check6)
   {
exec.AddStatusmessage("new Tool matches pocket 6" );
tpx=6;tpy=6;matchnew=1;
   }
if (Newtool == check7)
   {
exec.AddStatusmessage("new Tool matches pocket 7" );
tpx=7;tpy=7;matchnew=1;
   }
if (Newtool == check8)
   {
exec.AddStatusmessage("new Tool matches pocket 8" );
tpx=8;tpy=8;matchnew=1;
   }
if (Newtool == check9)
   {
exec.AddStatusmessage("new Tool matches pocket 9" );
tpx=9;tpy=9;matchnew=1;
   }
if (Newtool == check10)
   {
exec.AddStatusmessage("new Tool matches pocket 10" );
tpx=10;tpy=10;matchnew=1;
   }
if (matchnew == 0)
   {
exec.AddStatusmessage("Requested tool not in tool rack" );

exec.StopWithDeccel();
exec.Setvar(0, 100);//stops manual change macroloop blocking the output for eject
exec.Clroutpin(atcslidefwdport,atcslidefwdpin);
exec.Wait(10);
MessageBox.Show("Tool change abort- new tool not found.");

  return;
   }




exec.Code("G00 G53 X" + ToolX[tpx] + " Y" + ToolY[tpy]);
while(exec.IsMoving()){}
// Pick new tool




exec.Code("G00 G53 Z"+ Ztoolpickup); // Move Z axis down to tool holder position
while(exec.IsMoving()){}
exec.Clroutpin(Chuckopenport, Chuckopenpin); // Close the chuck with pneumatic valve
exec.Wait(10); // Wait one 1000msec
while(AS3.GetLED(131))      // check Collet has closed
{
exec.Wait(100);
if(exec.Ismacrostopped())
   {
exec.Setvar(0, 100);//stops manual change macroloop blocking the output for eject
  exec.StopWithDeccel();
  MessageBox.Show("Tool change was interrupted by user!at collet closed");

return;
   }
}


// security checks done 

double ToolXmov =0; /// note different spelling
double ToolYmov =0;
ToolXmov =ToolX[tpx] + xclear; ToolYmov = ToolY[tpy] + yclear;    // calculate slide out clear position
  exec.Code("G0  G53 X" + ToolXmov + " Y" + ToolYmov);       //  move to slide out position
 
//atcback
exec.Clroutpin(atcslidefwdport,atcslidefwdpin);
exec.Wait(100);
// end of backfwd
while(exec.IsMoving()){}

exec.Code("G00 G53 Z"+ SafeZ); // Move Z up
while(exec.IsMoving()){}
exec.Wait(100);

while(AS3.GetLED(132))      // check tool has locked
{
exec.Wait(1000);
if (AS3.GetLED(132))
      {
exec.AddStatusmessage("Tool not locked or missing ?" );
      }
if(exec.Ismacrostopped())
   {
  exec.Setvar(0, 100);//stops manual change macroloop blocking the output for eject
  MessageBox.Show("Tool not locked or no tool!");
exec.StopWithDeccel();
break;
   }
}

// Move back to start point

//exec.Code("G00 G53 X" + Xoriginalpos + " Y" + Yoriginalpos);
//while(exec.IsMoving()){}

// Measure new tool will go here....


//********probing************

int headnumber = 1;     //hsd

int head1downport = 3;
int head1downpin = 6;
int head2downport = 3;
int head2downpin = 7;
// Probing settings//
double Zmin = -200;
double Zmin2 = -3;
double Feedrate = 1000;
double Feedrate2 = 30;
double SafeZ2 = -50;
double retractheight = 10;
double retractheight2 = 1.5;
//int Boxnumber = 195;// fieldnumber for tools 1-20 (field 196)



double probeyes = exec.Getvar (1);


double ToolXchgpos = -200; // Toolchange X position
double ToolYchgpos = -1550; // Toolchange Y position  // HSD
double probeheight = -170.71;// hsd // use m312 to get exact position of probe with no tool
double probeX = 4;          // HSD
double probeY = -1586;

//M31 probing macro
if (probeyes <1)
               { // probe if #1=0 *********************


if(!exec.GetLED(56)||!exec.GetLED(57)||!exec.GetLED(58)) // If machine was not homed then it is unsafe to move in machine coordinates, stop here...
{
  MessageBox.Show("MACHINE NOT HOMED, home the machine before tool change!");
  exec.Stop();
  return;
}

while(exec.IsMoving()){}
exec.Wait(200);
if(exec.GetLED(37)) // if probe signal is on - probe stuck! stop here...
{
  MessageBox.Show("The probe signal isnt ready-check probe!");
exec.Setvar(0, 100);//stops manual change macroloop blocking the output for eject
  exec.Stop();
  return;
}

//HEAD DOWN
exec.Setoutpin(headdownport,headdownpin);

double Zoriginalpos = exec.GetZmachpos(); // Get the current Z machine coordinates

exec.Setvar(5063,0);



exec.Code("G00 G53 X" + probeX +" Y" + probeY + "Z-5");//  // Move to the probe sensor position in XY
while(exec.IsMoving()){}

//********switch to incremental *********
exec.Code("G91");

exec.Code("G31 Z" + Zmin + "F" + Feedrate); // Move to the probe sensor position in z
while(exec.IsMoving()){}

exec.Wait(100);
Console.Beep();


if(!exec.GetLED(244)) // if didnt hit probe  stop here...
{
  MessageBox.Show("The probe didnt hit!");
  exec.Stop();
  return;
}



double probed1 = exec.Getvar(5063); // Get the current Z  coordinates//*****using vars

//exec.AddStatusmessage("probe at   "+ probed1);
exec.Code("G90");
exec.Code("G01 f200  Z" + probed1 );
while(exec.IsMoving()){}
exec.Wait(100);
Console.Beep();



double Zoriginalposprobed = exec.GetZmachpos(); // Get the current Z machine coordinates

double Zoriginalposprobed2 = exec.GetZmachpos(); // Get the current Z machine coordinates



double probedpos= Zoriginalposprobed - Zoriginalpos;
double probedpos2= Zoriginalposprobed2 - Zoriginalpos;// *****using vars


//exec.AddStatusmessage("Tool length old method1  "+ probedpos);




exec.Code("G91");

//double backoff = exec.GetZmachpos() + retractheight2;

//exec.Code("G00 G53 Z" + backoff); // Move few mm?? above probe plate
exec.Code("G00  Z"+ retractheight2 ); // Move 2 mm?? above probe plate
 while(exec.IsMoving()){}
 exec.Wait(100);

exec.Setvar(5063,0);
//Console.Beep();

if(exec.GetLED(37)) // if probe signal is on- probe stuck! stop here...
{
  MessageBox.Show("The probe signal isnt ready-check probe!");
exec.Setvar(0, 100);//stops manual change macroloop blocking the output for eject
  exec.Stop();
  return;
}


exec.Code("G31 Z" + Zmin2 + "F" + Feedrate2); // slow probe
while(exec.IsMoving()){}

exec.Wait(100);
Console.Beep();

if(!exec.GetLED(244)) // if didnt hit probe  stop here...
{
  MessageBox.Show("The probe didnt hit!");
exec.Setvar(0, 100);//stops manual change macroloop blocking the output for eject
  exec.Stop();
  return;
}




double probed2 = exec.Getvar(5063); // Get the current Z  coordinates//*****using vars

//exec.AddStatusmessage("probed position   "+ probed2);
exec.Code("G90");
exec.Code("G01 f200  Z" + probed2 );
while(exec.IsMoving()){}
exec.Wait(100);
Console.Beep();
//Zoriginalposprobed2= exec.GetZmachpos(); // Get the current Z machine coordinates

//********switch to absolute *********
exec.Code("G90");


if(!exec.Ismacrostopped()) // If tool change was not interrupted with a stop only then validate
     {

 Zoriginalposprobed = exec.GetZmachpos(); // Get the current Z machine coordinates
double goodprobed = exec.Getvar(5060); // ****using vars
//exec.AddStatusmessage("probe good?    "+ goodprobed);


 probedpos= Zoriginalposprobed - Zoriginalpos;
exec.Wait(100);
//probedpos2= Zoriginalposprobed2 - Zoriginalpos;//*****using vars




double tooloffset=  Zoriginalposprobed - probeheight;


exec.AddStatusmessage("Tool length now  "+ tooloffset);


 exec.Code("G00 G53  Z-5");// // Move z to -5 from home switch
 while(exec.IsMoving()){}
 exec.Wait(100);
exec.Code("G00 G53  x-200");// // Move x to -5 from home switch
 while(exec.IsMoving()){}
 exec.Wait(100);





// **** Set tool table ****


int fieldtoset= (Boxnumber + Newtool);// different field numbers now with extra tools added in this version

AS3.Setfield(tooloffset, fieldtoset);
exec.Wait(100);
AS3.Validatefield(fieldtoset);
//exec.AddStatusmessage("field # "+ fieldtoset);


exec.Callbutton(168);// apply all settings
 exec.Wait(100);
exec.Callbutton(167);// save all settings
 exec.Wait(100);


AS3.Setfield(tooloffset, 169);//set tooloffset z

exec.Wait(200);
AS3.Validatefield(169); // this updates all settings with new z offset.

exec.Wait(100);
while(exec.IsMoving()){}

      

if(!exec.Ismacrostopped()) // If tool change was not interrupted with a stop only then validate new tool number
{
exec.Code("G0 G43 H"+ Newtool); // Load new tool offset
exec.Wait(100);
  exec.Setcurrenttool(Newtool); //Set the current tool -> the new tool
exec.Wait(100);
 // MessageBox.Show("Tool change done.");
exec.AddStatusmessage("Tool PROBED OK   Tool # "+ Newtool);

}
else
{
 exec.StopWithDeccel();
exec.Setvar(0, 100);//stops manual change macroloop blocking the output for eject
 MessageBox.Show("Tool change was interrupted by user!");
}
     }

      

               } //end of no probe loop *****************

else


//exec.Code("G0 G43 H"+Newtool); // Load new tool offset

exec.Wait(200);
while(exec.IsMoving()){}
if(!exec.Ismacrostopped()) // If tool change was not interrupted with a stop only then validate new tool number
{
  exec.Setcurrenttool(Newtool); //Set the current tool -> the new tool
exec.Wait(100);
exec.Code("G0 G43 H"+(Newtool));

//save current tool key to profile//

int lastool = exec.Getcurrenttool();
 writelasttool = Convert.ToString(lastool);
exec.Writekey("lasttool","lasttool",writelasttool);
//exec.AddStatusmessage("profile last tool updated  to  T: "+writelasttool);
exec.Setvar(0,100 );
 // MessageBox.Show("Tool change done.");
}
else
{
  exec.StopWithDeccel();
exec.Setvar(0,100 );
  MessageBox.Show("Tool change was interrupted by user!");
}




Thank you!

Following with interest. Thank-you!

Hi,
I am new on this forum, i have been using mach 3 for a few years with no real problems, however I am
switching to uccnc. I have to set up an atc and I am at the macro stage.
A couple of questions if you dont mind, in your macro what is the "head down" on port 3, pin 6.
also when the spindle ejects and grabs the toolholder, there is a few mm of vertical movement, do you allow for this
or is there a certain amount of flex in the nylon claw, so as not to be pulling or pushing on z slide.

Many thanks.

head down is because i have multiple heads. on air slides. this drops the correct one.
there should be no pressure placed on the clips.

Thank you for that. Watching a few changing tools, there seems to be movement in the rack. Dropping the tool
and moving up at the right time will take the load off
the clip. Grabbing the tool before it moves out of the clip seems like it would be pulling clip up a bit.
Probably of no real consequence. You have yours well sorted.

How are you implemented.Inhibit the overshoot if the frequency is not 0 and the sensor on the rod will prohibit the inverter from turning on.

I saved your macro, tried to run auto change and got a lot of questions. How should he work for auto change?

I tried to find out the reason for the macro not working on the author's youtube channel. Author's recommendation: Add text fields to a set of screens? For instrument numbers.
They are necessary because they are read to check which tool is in which pocket.
I added everything, but the result is in the photo. Where to look for the reason is a big mystery.

if last tool was zero- then it cannot find a return pocket.
enter a tool number you have already entered into a pocket number eg 1. (shown in your pictures is in pocket1) it will look for pocket used to return tool1 and unload there.
after that tool 1 will be in use and all good from then on.
i have updated this to allow spindle empty to tool zero but only for my rotary tool carousel code on another machine. i will add this to my linear code soon which will be used for my new range of machines for sale. i do some weird non programmer stuff when i write my macros- to do what i think i need at the time