OK, I now have the whole thing working. In the end I settled on a G-code subroutine for the tool-change sequence after finding a serious design flaw in my sequencer component.
This is a video of the tool change in action:
And here is the G-code that does the change.
Code:
o<toolchange> sub
M19 R0 ;align the spindle
; 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.
O100 IF [#<tool_in_spindle> GT 0]
G53 G0 Z -100
M64 P2 ; move arm in
M66 P2 L3 Q5 ; wait for arm-in = true
O104 if [#5399 LT 0]
(abort, failed to move arm in)
O104 endif
M64 P3 ; release tool
M66 P3 L3 Q2 ; wait for tool-released = true
O105 if [#5399 LT 0]
(abort, failed to release tool)
O105 endif
O100 ENDIF
G53 G0 Z0
O200 IF [#<selected_tool> GT 0]
M65 P1 ; unlock carousel
M66 P1 L4 Q1 ; wait for locked=false
O106 if [#5399 LT 0]
(abort, failed to unlock carousel)
O106 endif
M68 E0 Q#<selected_pocket> ;set the carousel to move to the right pocket
M64 P0 ; start carousel
G4 P2
M66 P0 L3 Q60 ; wait for carousel finished
O107 if [#5399 LT 0]
(abort, failed to align carousel)
O107 endif
M65 P0; stop carousel
M64 P1 ; lock carousel
M66 P1 L3 Q1 ; wait for locked=true
O108 if [#5399 LT 0]
(abort, failed to lock carousel)
O108 endif
M64 P2 ; move arm in (might already be in)
M66 P2 L3 Q5 ; wait for arm-in = true
O109 if [#5399 LT 0]
(abort, failed to move arm in)
O109 endif
G53 G0 Z-100 ; pick up the tool
O200 ENDIF
M65 P3 ; clamp tool
M66 P3 L4 Q2 ; wait for tool-released = false
O110 if [#5399 LT 0]
(abort, failed to clamp tool)
O110 endif
M65 P2 ; move arm back out
M66 P4 L3 Q5 ; wait for arm-out = true
O111 if [#5399 LT 0]
(abort, failed to move arm in)
O111 endif
o<toolchange> endsub [1]
M2
