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   // Scan network
        ec_slave_info_t slave_info;
        for (uint16_t slave_pos = 0;; slave_pos++) {
            if (ecrt_master_get_slave(master, slave_pos, &slave_info)) {
                break; // No more slaves
            }

            printf("Slave %d: Name: %s, Vendor ID: 0x%08X, Product Code: 0x%08X\n",
                   slave_pos, slave_info.name, slave_info.vendor_id, slave_info.product_code);
        }

O220 else
            ; The tool's pocket number is not within the range of the rack and the tool needs to be removed manually
            ; Tool is still at safe Z height from before
            (print, Pocket is not within range, moving to manual change positon)
            G53 G0 X #<_ini[ATC]CHANGEX> Y #<_ini[ATC]CHANGEY>
            G53 G0 Z #<_ini[ATC]CHANGEZ>
            ;(MSG, Please remove tool manually from spindle using release button. Afterwards press OK)
            ; Abuse M6 for a dialog with the user by briefly killing the requested tool and replacing it with T0
            T0
            M6
            T#<newtool>
            ; Turn off flush and close drawbar to eliminate noise
            ; clamp tool
            ; TOOL_CLAMP 1; TOOL_RELEASE 0; FLUSH_OFF1; FLUSH_ON 0
            M65 P0
            G4 P0.2
            ; Check if the tool is really gone (LOW)
o220 endif

        O320 else
            ; The tool's pocket number is not within the range of the rack and the tool needs to picked up at the manual change position
            (print, Selected pocket is not within range, moving to manual pick up)
            ; rapid move to manual pick up position
            G53 G0 Z[#<_ini[AXIS_Z]MAX_LIMIT>-0.1]
            G53 G0 X[#<_ini[ATC]CHANGEX>] Y[#<_ini[ATC]CHANGEY>]
            G53 G0 Z[#<_ini[ATC]CHANGEZ>]
            ; using the code being remapped here means 'use builtin behaviour' and should trigger the usual message
            (print, Now trigger M6 to tell the user which tool to pick)
            M6
            ; Check  1: the drawbar is locked LOW L4 immediately
            ; check 2: there is a tool in the spindle HIGH L3 immediately
            (print, A tool is manually loaded and we can continue with measurement)
        O320 ENDIF

#  ---manual tool change signals---

#net tool-change-request    <= iocontrol.0.tool-change
#net tool-change-confirmed  => iocontrol.0.tool-changed
#net tool-number            <= iocontrol.0.tool-prep-number

#  ---Use external manual tool change dialog---

#loadusr -W hal_manualtoolchange
#net tool-change-request    =>  hal_manualtoolchange.change
#net tool-change-confirmed  <=  hal_manualtoolchange.changed
#net tool-number            =>  hal_manualtoolchange.number

#  ---ignore tool prepare requests---

net tool-prep-loop iocontrol.0.tool-prepare     iocontrol.0.tool-prepared
net tool-change-loop iocontrol.0.tool-change     iocontrol.0.tool-change