o<rack_change> sub


      ( Check if Current Tool and Next Tool Are the Same)
       o101 if [#<_current_tool> EQ #<_selected_tool>]
		;(abort, Same tool request)
		o<rack_change> endsub [1];
       o101 endif
M5
M73 (auto-restore modal settings on return)
G64 P0.5
(print, rack_change: loaded tool=#<_current_tool> current pocket: #<_current_pocket>)
(print, rack_change: selected tool=#<_selected_tool> selected pocket: #<_selected_pocket>)

M66 P22 L3 Q2 ; da li je Z osa referencirana
                   o102 if [#5399 LT 0]
                       (abort, Masina nije referencirana)
                   o102 endif

G53 G0 Z0

; unload previous tool
o300 if [#<_current_tool> GT 0 ]
	(print, idem da ostavim alat)

   o315 if [#<_current_tool> GE 4 ]
        #<y_gap_o> = #<_ini[tool_slot_delta]y_gap>]
   o315 else
        #<y_gap_o> = 0
   o315 endif

    o301 if [EXISTS[#<_ini[change_position]x>]]

     G53 G0 Y [#<_ini[change_position]y> + #<y_gap_o> + [#<_current_tool> * #<_ini[tool_slot_delta]y>]] X [#<_ini[change_position]x>]
     G53 G0 Z #<_ini[change_position]z>
    
	o301 endif 
	 
     M64 P00 ; otpusti alat
     G4  P #<_ini[dwell]lock_time> 
     M64 P01
     G4  P #<_ini[dwell]lock_time> 
	M66 P12 L3 Q3 ; ceka da spindle popusti alat
		           o302 if [#5399 LT 0]
		               (abort, Alat se nije otpustio)
		           o302 endif
     G4 P #<_ini[dwell]mystery> ;
o300 endif

G53 G0 Z0

; POKUPI ALAT ------------------------------------------------
(print, idem da uzmem alat)
M64 P00 ; otpusti alat
     M64 P01
     G4  P #<_ini[dwell]lock_time> 
G4  P #<_ini[dwell]lock_time> 

	o310 if [#<_selected_tool> EQ 0]
		M65 P00 ; stegni alat	
		M65 P01	
		(print, Trazen je alat 0)
        o310 endif

	o311 if [#<_selected_tool> GT 0]
		(print, trazen je alat veci od nula)
		M64 P00 ; otpusti alat
		M64 P01
        G4  P #<_ini[dwell]lock_time> 
        
     o316 if [#<_selected_tool> GE 4 ]
          #<y_gap_i> = #<_ini[tool_slot_delta]y_gap>]
     o316 else
          #<y_gap_i> = 0
     o316 endif
        
	o312 if [EXISTS[#<_ini[change_position]x>]]

     G53 G0 Y [#<_ini[change_position]y> + #<y_gap_i> + [#<_selected_tool> * #<_ini[tool_slot_delta]y>]] X #<_ini[change_position]x>
     G53 G0 Z0
     G53 G0 Z #<_ini[change_position]z>
 
	o312 endif 
		
		M65 P00 ; stegni alat
		M65 P01	
		G4  P #<_ini[dwell]new_tool> 
		G4  P #<_ini[dwell]post_unlock> 

		M66 P10 L3 Q3 ; ceka da spindle uhvati alat
				   o313 if [#5399 LT 0]
				       (abort, Alat nije stegnut)
				   o313 endif
	o311 endif


G53 G0 Z0

(print, sad cu da primenim offset)
G43 H#<_selected_tool>

G53 G0 X-100

; succeed by returning a positive value
o<rack_change> endsub [1]
m2