Code:
o<toolchange> sub
O999 IF [#<_task> GT 0]
o<toolchange> RETURN
; only unload the tool if there is a tool in the spindle
; This assumes that the carousel is already aligned correctly.
; It is important to unload the tool before shutting down the machine.
o900 IF [#<tool_in_spindle> EQ 0]
(MSG, Dual orient)
M19 R180 P1
M19 R0 P1
o900 ENDIF
(MSG, orienting)
;M3 S1 ;slow down spindle before orient
;G4 P3 ;dwell
M19 R0 ;align the spindle
M66 P6 L3 Q15 ; Check if spindel is oriented?
o102 if [#5399 EQ -1]
(abort, Spindel not oriented 000)
o102 endif
M64 P1 ;lock carousel
(MSG, waiting for lock 22)
;G4 P5
M66 P1 L3 Q5 ;wait for locked=true
o115 if [#5399 EQ -1]
(Abort, failed to lock carousel 00)
o115 endif
o100 IF [#<tool_in_spindle> GT 0] ;If there is a tool in the spindle then unload
(MSG, MovingToLowerTC-Pos 01)
G53 G0 Z-112.357
(MSG, Checking MagPos 02)
M66 P5 L0 ; Check if mag pos is empty?
o103 if [#5399 EQ 0]
(abort, Tool in Magazine! 03)
o103 endif
(MSG, Moving arm 04)
M64 P2 ; move arm in
(MSG, Waiting for arm 05)
M66 P2 L3 Q5 ; wait for arm-in = true
o104 if [#5399 EQ -1]
(abort, failed to move arm in 06)
o104 endif
G4 P1
(MSG, Starting pump 07)
M64 P3 ;Start Pump "release tool"
G4 P1.5
(MSG, Spindle air on 08)
M64 P5 ;Spindle air on
(MSG, Wating for toolrelease signal 09)
M66 P3 L3 Q2 ; wait for tool-released = true
o105 if [#5399 EQ -1]
(abort, failed to release tool 10)
o105 endif
(MSG, Air off 12)
M65 P5 ;Turn off Spindle Air
o100 ENDIF
(MSG, Moving up 13)
G53 G0 Z7
o200 IF [#<selected_tool> GT 0]
(MSG, Unlock car 14)
M65 P1 ; unlock carousel
(MSG, Wait for unlock 15)
M66 P1 L4 Q2 ; wait for unlock "LOW signal"
o106 if [#5399 EQ -1]
(abort, failed to unlock carousel 16)
o106 endif
(MSG, starting car 17)
M68 E0 Q#<selected_pocket> ; Start "hal file" set the carousel to move to the right pocket
M64 P0 ; start carousel
G4 P2
(MSG, waiting for car 18)
M66 P0 L3 Q20 ; wait for carousel finished
o107 if [#5399 EQ -1]
(abort, failed to align carousel 19)
o107 endif
(MSG, stopping car 20)
M65 P0 ;stop carousel
(MSG, locking car 21)
M64 P1 ;lock carousel
(MSG, waiting for lock 22)
;G4 P5
M66 P1 L3 Q5 ;wait for locked=true
o108 if [#5399 EQ -1]
(Abort, failed to lock carousel 23)
o108 endif
(MSG, move arm in if not already 24)
M64 P2 ; move arm in (might already be in)
(MSG, waiting for arm 25)
M66 P2 L3 Q5 ; wait for arm-in = true
o109 if [#5399 EQ -1]
(abort, failed to move arm in 26)
o109 endif
M64 P3 ;OpenDrawbar
M66 P3 L3 Q10 ; wait for tool-released = true
o112 if [#5399 EQ -1]
(abort, Failed to activate drawbar! 27)
o112 endif
(MSG, MovingDownForAirBlast 28)
G53 G0 Z-80 ;prepForAirBlast
(MSG, AirBlast ON 29)
M64 P5 ;Spindle air on
(MSG, moving down 30)
G53 G0 Z-112.357 ;pick up the tool
M65 P3 ;TurnOffPump
(MSG, AirBlast OFF 31)
M65 P5 ;Turn off Spindle Air
o200 ENDIF
(MSG, Turn off Pump clamp tool 32)
M65 P3 ;Turn off Pump;clamp tool
(MSG, waiting for toolLocked 33)
M66 P3 L4 Q5 ; wait for tool-released = false
O110 if [#5399 EQ -1]
(abort, failed to clamp tool 34)
O110 endif
M65 P4
(MSG, move arm out 35)
M65 P2 ; move arm back out
(MSG, waiting for arm 36)
M66 P4 L3 Q20 ; wait for arm-out = true
O111 if [#5399 EQ -1]
(abort, failed to move arm out 37)
O111 endif
(MSG, Stopp spindel orient 38)
M5 ; Stopp spindel orient
M65 P1 ; unlock carousel
(MSG, Wait for unlock 39)
M66 P1 L4 Q2 ; wait for unlock "LOW signal"
o113 if [#5399 EQ -1]
(abort, failed to unlock carousel 40)
O113 endif
O999 ENDIF
o<toolchange> endsub [1]
M2
