M6 - MDI Command remapped to - toolchang2.ngc

o<toolchange2> sub
(M108 P#<_current_tool>  Q#<_selected_tool> )
;assign the tool numbers held in parameters to the pocket numbers
#1 = #5190
#2 = #5191
#3 = #5192
#4 = #5193
#5 = #5194
#6 = #5195
#7 = #5196
#8 = #5197
#9 = #5198
#10 = #5199
#11 = #5200
#12 = #5201
;assign the variables passed by M6 to some parameters
#100 = #<_selected_tool>
#110 = #<_current_tool>
(#120 = #<selected_pocket>)

O10 if [#100 EQ #110] ; checks if tool in the spindle is same as requested
 o<toolchange> endsub [1]
M2
O10 endif

#<next_pocket> = 0 ; assigns 0 to the next pocket for a later check if the tool is found in the basket
#<loaded_pocket> = 0 ; assigns 0 to the next pocket for a later check if the tool is found in the basket and loaded

#15 = 12 ;assign test parameter the number of pockets in the carousel

O100 do
 	O110 if [#[5189 + #15] EQ #100] ; checks all pockets to see if it contains tool number requested as the new tool
		#<next_pocket> = #15 ; if tool is found in pocket, assigns the next pocket
	O110 endif
   
	O115 if [#[5189 + #15] EQ #110] ; checks if the pocket is loaded in spindle
		#<loaded_pocket> = #15

	O115 endif
   #15= [#15 - 1]
O100 while [#15 GT 0]

;now we know which pocket the next tool is sitting in 
;and we know inwhich pocket the current tool is
;we need to know if we need to put a tool away
;or if there is no tool in the spindle


O180 IF [#110 GT 0] ; checks if there is a valid tool in the spindle
    	O190 if [#<loaded_pocket> EQ 0] ;If there is a tool in the spindle, checks if it is an pocket
                ; Go for manual Tool removal
        	G53 G0 Z0     ;raise spindle
                G53 G0 X0 Y0  ;move to door
                M125          ; remove tool
	O190 endif
    	O195 if [#<loaded_pocket> GT 0] ;If there is a tool in the spindle, checks if it is an pocket
                ; Go for atc Tool removal
                G0 G53 Z0	; raise spindle
                M110            ; draw bar loose
                M112            ; lower basket
                M116            ; raise pockets	
	O195 endif
O180 ENDIF

O200 IF [#100 GT 0]  ; selected tool is not tool0
    	O210 if [#<next_pocket> EQ 0] ;if new tool is not in a pocket
                ; Go for manual Tool load
        	M113		; Raise basket
                G53 G0 Z0       ; Raise spindle
                G53 G0 X0 Y0	; move to door
                M110            ; draw bar loose
                M126            ; manual tool load
        O210 endif
   
    	O215 if [#<next_pocket> GT 0] ;If new tool is in a pocket
                ; Go for atc Tool Load
        	G0 G53 Z0       ; raise sindle
                M110            ; draw bar loose
                M112            ; Lower basket		
                M131 P#<next_pocket>         ; load pocket
                M114            ; air blast
                S150 M3		; rotate spindle
                M113		; raise basket
                M115            ; stop air blast
                M111		; clamp tool
                M5		; stop spindle
       	O215 endif
    
O200 Else
        ;new tool is 0 raise basket and clamp drawbar  
        M113 ;raise basket
	M111 ;clamp drawbar
O200 ENDIF


M61 Q#100

o<toolchang2> endsub [1]

M2