Small victory in the war against the Cincinnati cinturn 12u

 loadrt carousel pockets=6 dir=1 encoding=Binary num_sense=3
loadrt conv_float_s32   #(Already loaded in sim_vmc.hal)
addf carousel.0 servo-thread
addf conv-float-s32.0   servo-thread # G-code analogue outputs are float-type
net car-enable motion.digital-out-00 carousel.0.enable
net car-pos-req motion.analog-out-00 conv-float-s32.0.in
net car-pos-s32 conv-float-s32.0.out carousel.0.pocket-number
 net car-ready carousel.0.ready motion.digital-in-00   #<-------------------------   add this line ????

#assign locked pin
net car-locked  <=  hm2_5i25.0.7i77.0.0.input-00

#asign to turret unlock switch
net car-ready    <= hm2_5i25.0.7i77.0.0.input-01
#assign to turret unclamp relay
net car-lock  carousel.0.active   => hm2_5i25.0.7i77.0.0.output-05



#assign to turret rotate motor relay
net car-fwd   carousel.0.motor-fwd => hm2_5i25.0.7i77.0.0.output-08





#digital inputs assign BCD switches
net bit0   carousel.0.sense-0 hm2_5i25.0.7i77.0.0.input-04
net bit1  carousel.0.sense-1 <= hm2_5i25.0.7i77.0.0.input-05
net bit2  carousel.0.sense-2 <= hm2_5i25.0.7i77.0.0.input-06
#Strobe input, sinals when turret is aligned with pocket to lock assign to Strobe switch
net carousel.0.1  <=  hm2_5i25.0.7i77.0.0.input-03
net carousel.0.1 carousel.0.strobe











[u][i][b]#net tool-prep-loop iocontrol.0.tool-prepare iocontrol.0.tool-prepared
net tool-change-loop iocontrol.0.tool-change iocontrol.0.tool-changed
loadusr sim_pin carousel.0.jog-fwd   [/b][/i][/u]

 o<toolchange> sub



; 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 [#<selected_tool> GT 0]
    G53 
   
    M65 P1 ; unlock carousel
    M66 P1 L4 Q1 ; wait for locked=false
    M66 G4 P0.5    
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
   
    M66 P0 L3 Q60 ; wait for carousel finished
    M66 G4 P0.5
    
O107 if [#5399 LT 0]
        (abort, failed to align carousel)
    O107 endif
    
    M65 P0; stop carousel
    M65 G4 P1.5

    M64 P1 ; lock carousel
    M66 P1 L3 Q1 ; wait for locked=true
    O108 if [#5399 LT 0]
        (abort, failed to lock carousel)
    O108 endif

   

    

O200 ENDIF