o sub M5 ; need to shut off spindle or gears grind ; check for zero rpm M66 P10 L3 Q5 ; wait 5 sec zero speed = true o101 if [#5399 LT 0] (abort, failed zero speed) o101 endif ; check for low air pressure before any gear change attempt M66 P1 L3 Q5 ; wait 5 sec for air-pressure = true o102 if [#5399 LT 0] (abort, failed low air pressure) o102 endif o100 IF [# LE 200] ; set speed less/equal to xxx shift to low gear ; shot pin M64 P10 ; release = on M66 P9 L4 Q5 ; wait 5 for shot pin sensor = false o103 if [#5399 LT 0] (abort, failed to release shot pin) o103 endif ; shift to low gear M64 P8 ; low gear solenoid = on M66 P7 L3 Q5 ; wait 5 for low gear sensor = true M66 P8 L4 Q5 ; wait 5 for high gear sensor = false o104 if [#5399 LT 0] (abort, failed to change low gear) o104 endif o100 ENDIF o200 IF [# GT 200] ; set speed is greater than xxx shift to high gear ; shot pin M64 P10 ; release = on M66 P9 L4 Q5 ; wait 5 for shot pin sensor = false o105 if [#5399 LT 0] (abort, failed to release shot pin) o105 endif ; shift to high gear M64 P9 ; high gear solenoid = on M66 P8 L3 Q5 ; wait 5 for high gear sensor = true M66 P7 L4 Q5 ; wait 5 for low gear sensor = false o106 if [#5399 LT 0] (abort, failed to change high gear) o106 endif o200 ENDIF ; shot pin M65 P10 ; release = off M66 P9 L3 Q5 ; wait 5 for shot pin sensor = true o107 if [#5399 LT 0] (abort, failed to release shot pin) o107 endif o endsub [1] M2