; copy von haberler examples 
;2014.01.05 V1.00  TK  First version to get Z Axis and Arm in
;2014.02.15 V1.00B TK  Eigentlicher umbau für Componente
;2014.03.23 V2.00  TK  Umbau für Komponente nccarousel.comp 1.05b 27.3
;2014.04.20 V2.01  TK  Anpassung Errohandling und Move für BP412! https://www.youtube.com/watch?v=MdlIe_ExkI4
;2014.08.09 V2.02  TK  Anpassung Armmove und Zeit 
o<rack_change> sub
o100 if [#<_current_tool> EQ #<_selected_tool>]
(print, current_tool = selected no action )
; succeed by returning a positive value
o<rack_change> endsub [1]
o100 endif
;------------Normalfall change weitermachen
M73 (auto-restore modal settings on return)
;
(print, rack_change: loaded tool=#<_current_tool> current pocket: #<_current_pocket>)
(print, rack_change: selected tool=#<_selected_tool> selected pocket: #<_selected_pocket>)
; get z Axis in Safe Haven 
M5; spindle stop
o<move_z_safe> call

;here Spindel Orientation !!!! for now we dont care
(print, Do M19 spindle orient here ) 
M19 R0
; unload previous tool
; check if initialized 
; unload previous tool
;------------carousel init zum testen----
;o200 if [#<_current_pocket> EQ 0]
;(print, current_pocket = 0 bedeutet init Carousel! )
;M68 E3 Q1 ;Qx = Pocket 
;M64 P3 ; Jetzt drehen
;(print, o200 drehen)
;M66 P1 L3 Q10 ; Warte auf Digital in1 10Sek
;o200 endif
;------------Normalfall bei 2en Tool 
o300 if [#<_current_pocket> GT 0]
; We adjust Carousel to actual pocket => has to be empty 
(print, Unload old ->Carousel has to be at current Pocket) 
; no we drive armm in has to be empty
     o<arm_danger_position> call
     o<tool_getput_move> call [#<_current_pocket>]  
     M62 P #<_ini[pins]lock> ; set lock pin
     G4  P #<_ini[dwell]lock_time>
;Now Z axis high 
     o<move_z_safe> call
     G4  P #<_ini[dwell]lock_time>
;orig nix gut     o<tool_holder_clear_move> call
     o<arm_safe_position> call
;orig     G4 P #<_ini[dwell]mystery> ; unsure what this is for
;?     G4 P #<_ini[dwell]mystery> ; unsure what this is for
(print, Unload old Sucess) 
o300 endif
;----------------------------------------------
;Now make Turn Carousel ----------------turn it 
(print,Turn carousel for new tool )
M68 E3 Q#<_selected_pocket> ;Qx = Pocket 
M64 P3 ; Jetzt drehen
M66 P1 L3 Q16 ; Warte auf Digital in1 18Sek
M65 P3 ; Jetzt nicht mehr drehen
; check motion.digital-in-01 = p1 !
o400 if [#<_hal[motion.digital-in-01]> GT 0]
(print, NEU motion.digital-in-01 GT 0-> 5600 =0 )
#5600 = 0
; go to new tool only if not danger 
    o<arm_danger_position> call
o400 else
(print, NEU motion.digital-in-01 LE 0 -> 5600 =-1 )
#5600 = -1
; Brutales Ende 
o<rack_change> endsub [-1]
o400endif

M64 P #<_ini[pins]lock> ; set lock pin
M64 P #<_ini[pins]flush> ; set flush pin
G4  P #<_ini[dwell]new_tool> 
M65 P #<_ini[pins]flush> ; drop flush pin
o<tool_getput_move> call [#<_selected_pocket>]  
G4  P 10 
M65 P #<_ini[pins]flush> ; drop flush pin
G4  P #<_ini[dwell]post_unlock>
M65 P #<_ini[pins]lock> ; set lock pin
; now remove magazin of spindle
o<arm_safe_position> call
; now Z axis away
o<move_z_safe> call
(print, ---------Finnish------------ )
(print,#<_selected_tool>)
G43 H#<_selected_tool>
; succeed by returning a positive value
o<rack_change> endsub [1]
m2