Emco 240 Tool Turret

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#  example Hal linkages required:-
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setp stepgen.3.position-scale [AXIS_3]SCALE
setp stepgen.3.steplen 1
setp stepgen.3.stepspace 0
setp stepgen.3.dirhold 16000
setp stepgen.3.dirsetup 31000
        ## make sure accel and velocity are sensibly low or it will take off!
setp stepgen.3.maxaccel [AXIS_3]STEPGEN_MAXACCEL
        ### must unlink these 2 to access stepgen.3.position-cmd
        ### and prevent continual following errors if motor-pos-fb left linked
#net apos-cmd axis.3.motor-pos-cmd => stepgen.3.position-cmd
#net apos-fb stepgen.3.position-fb => axis.3.motor-pos-fb
net astep <= stepgen.3.step
net adir <= stepgen.3.dir
net aenable axis.3.amp-enable-out => stepgen.3.enable

sub change_tool
    ;Switch off guard for tool change area collision
    TCAGuard off

    ;Use #5015 to indicate succesfull toolchange
    #5015 = 0 ; Tool change not performed

    ; check tool in spindle and exit sub
   msg"Current 5008 "#5008
   msg"new 5011 "#5011
   IF [ [#5011] <> [#5008] ]
       IF [[#5011] > 6 ]
          ERRMSG "PLEASE SELECT A TOOL FROM 1 TO 6."
       ENDIF
   ENDIF
    IF [#5011]>[#5008]
      #4600=[#5011-#5008]
    ENDIF
   IF [#5011<#5008]
      #4600=[[#5011-#5008]+6]
   ENDIF

   #4601=[[#4600*60]+3]
   msg #4601
   G00 G91 A#4601
   G00 G91 A-4
   G90
   M6T#5011
   G43

    ;Switch on guard for tool change area collision
    TCAGuard on
       
    ;;Check if ZHeight comp was on before and switch ON again if it was.
    ;if [#5019 == 1]
    ;    ZHC on
    ;endif
       
EndSub