All Komo Tool Changers 4/30/2024 And Newer

Dump valve needs to mapped to an enable relay, if it's not on all of this will get very buggy

Outputs

All outputs should be named clearly and exempted from Disable, Estop and Reset. tool change recovery should be done through the I/O page by the operator.

#1 "Retract carousel  output"       Interlocked with #2  (The solenoids are mechanically interlocked, one must turn off before the other will fire)

#2 "Extend Carousel output"      Interlocked with #1  (The solenoids are mechanically interlocked, one must turn off before the other will fire)

#3 "Spindle Move To Cutting Zone output"     Interlocked with #4  (The solenoids are mechanically interlocked, one must turn off before the other will fire)

#4 "Spindle Move To Tool Changer Zone output"     Interlocked with #3  (The solenoids are mechanically interlocked, one must turn off before the other will fire)

#5 "Spindle Move To Pocket output"    This what makes KOMO's tricky, It fires down when turned on and retracts up when turned off, it is stronger than #4 and can push it out of the way.

Inputs

#6 "Spindle At Cut Input"      This only high when the spindle is at cutting height (This is the feedback for 3 turning on)

#7 "Spindle At Pocket Input"     This only high when the spindle is at Pocket height (This is the feedback for 3 tuning off and 5 and 4 turning on)

#8 "Spindle At Clearance Input"      This only high when the spindle is at Clearance height (This is the feedback for 3 and 5 turning off and 4 turning on)

#9 "Carousel Extended Input"      This only high when the Carousel is extended to tool change position (This is the feedback for 1 turning off and 2 turning on)

#10 "Carousel Retracted Input"      This only high when the Carousel is retracted to clearance position (This is the feedback for 2 turning off and 1 turning on)

Here is another Pic showing the air cylinder a bit better.

The Steps needed for for a normal tool change are as follows. (this is presuming 6 and 10 are high)

Stage 1, Open Dust hood, 

Stage 2, Prep spindle down to pocket set 5 high wait on no inputs (7 won't go high unless 4 is set to high along with 5)

Stage 3, Raise spindle to pocket  set 3 to low and 4 to high,(5 should still be High from stage 2)  Wait on 7 to go high.

Stage 4, Spin carousel axis to the empty pocket

Stage 5, Extend carousel set 1 to low and 2 to high,  Wait on 9 to go high.

Stage 6, Open Drawbar

Stage 7, Raise spindle to clearance set 5 to low (4 should still be High from stage 3)  Wait on 8 to go high.

Stage 8, Spin carousel axis to the new tool pocket

Stage 9, Lower spindle to pocket  set 5 to high, (4 should still be High from stage 3)  Wait on 7 to go high.

Stage 10, Close Drawbar

Stage 11, Retract carousel set 2 to low and 1 to high,  Wait on 10 to go high.

Stage 12, Lower spindle to Cut set 4 to low and 3 to high,  Wait on 6 to go high.

Stage 13, Lower Dust hood

This is how things are currently mapped at CTP

This is what enables stage 2

Here is where each function is mapped in the current tool changer options

Dust hood and drawbar are setup as normal.

Drill Bank Config

Since Komo's have their drill banks fixed directly to the back plate and put the spindle on air we have to handle the drill bank differently.

We used a PMC and inverted the logic a bit.

What this is doing is using a sim output mapped to "Drill Bank 1 Engaged" which is monitored by this PMC, when the drill bank is "engaged" we pick the spindle all the way up allowing the drill bank to plunge safely. When "engaged" turns off we send the spindle back down with one shots so as to not to override the tool changer commands.

picking it up just waits on a one second settle time, sending it down waits on #6 "Spindle At Cut Input"

The PMC Files are attached to this manual

Here is a subroutine we used to pick up the drills before activating a new combination of drills. the GC adapter inserts the call for this in the right spots.

O2000  
;Sends all drills up
M221 D500 ( Data:"33-41") 
M99
%