Changing gears (on a mill)? "gearchange"? Examples

Hi!

I'm converting a MAHO 700-C from a (broken) Philips 432 to EMC. Basic things are working, but now I'm stuck with changing gears.

I could turn the motors to switch gears and check for positions by my modbus-interface. But I can't figure out how to integrate that. I found thar there is a "gearchange" command in HAL, but I couldn't find an example.

Could someone point me in the right direction?

Thanks,
Nick

Thanks John!

I had found both links before, but they didn't help me that much.
I'm completely new to EMC and the MAHO is my first project*) with EMC. So call me a noob!
I wounldn't have problems switching the gears in classic ladder I think, but I have no clue at all how to connect the pieces.
I'd like to have something that selects the right gear depending on the requested RPM.
I'd need to know how I can hook into a function something like "SetRPM" and send / receive coils / inputs to CL and control the RPM (sloooooow for changing gears).

My brain works in examples and not in man-pages.


*)
Designed my own expandable ModBus-interface that could have hundreds of INs and OUTs (but I only have 32 of each), built an isolation amplifier for the servos and the spindle amp, optocouplers for the glass-scales. The aim was, to keep the original cabling of the Philips including all connectors and the relais-chain. I wanted a plug & play solution.
I'm using a 5i20 and a 7i33 (a second one will be used for the 4th and 5th axis later on).

Nick