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//Example linear toolchanger code

//Tool positions definition
int Chuckopenport = 1;
int Chuckopenpin = 16;

double[] ToolY = new double[11];

double Xtoolload = 0; // Z tool load and unload (in machine coordinates)

double ToolX = 0; // Tool1 X position

ToolY[0] = 0; // Tool0 Y position
ToolY[1] = 50; // Tool1 Y position
ToolY[2] = 10; // Tool2 Y position
ToolY[3] = 150; // Tool3 Y position
ToolY[4] = 200; // Tool4 Y position
ToolY[5] = 250; // Tool5 Y position
ToolY[6] = 300; // Tool6 Y position
ToolY[7] = 350; // Tool7 Y position
ToolY[8] = 400; // Tool8 Y position
ToolY[9] = 450; // Tool9 Y position
ToolY[10] = 500; // Tool10 Y position

double SafeZ = 0; // Safe retract at Z home height (in machine coordinates)

double Ztoolload = 50; // Z tool load and unload (in machine coordinates)

int Newtool = exec.Getnewtool();
int Currenttool = exec.Getcurrenttool();

if(Newtool == -1) // If new tool number is -1 means a missing T code, so we need to stop here...
return;

if(Newtool <1 || Newtool >10) // Tool number is out of range, so we need to stop here...
return;

if(Newtool == Currenttool) // Same tool was selected, so do nothing, stop here...
return;

if(!exec.GetLED(56)||!exec.GetLED(57)||!exec.GetLED(58)) // If machine was not homed then it is unsafe to move in machine coordinates, stop here...
{
MessageBox.Show("The machine was not yet homed, do homing before executing a tool change!");
exec.Stop();
return;
}

while(exec.IsMoving()){}

/*
if(Currenttool==0)
{
// ASK if you want to unload the current tool within a slot...... OR confirm no tool is presently loaded.....
MessageBox.Show("Tool Zero Currently Loaded will need to be unloaded before inserting next tool");
exec.Stop();
return;
}
*/

// Get current XY machine coordinates to return to this position at the end of the macro

double Xoriginalpos = exec.GetXmachpos();
double Yoriginalpos = exec.GetYmachpos();

// Stop spindle if running and Move Z up

exec.Stopspin();
exec.Code("G00 G53 Z"+ SafeZ); // Move Z up
while(exec.IsMoving()){}


if(Currenttool!=0) // No need to drop down tool if current tool number is zero
{
// Move to old tool position on XY plane
exec.Code("G00 G53 X" + Xtoolload + " Y" + ToolY[Currenttool]);
while(exec.IsMoving()){}
exec.Code("G00 G53 Z" + Ztoolload);
while(exec.IsMoving()){}
exec.Code("G00 G53 X" + ToolX);
while(exec.IsMoving()){}

// Drop current tool

// exec.Code("G00 G53 Z"+ Ztoolrelease); // Move Z axis down to tool holder position
// while(exec.IsMoving()){}
exec.Setoutpin(Chuckopenport, Chuckopenpin); // Open the chuck with pneumatic valve
exec.Wait(1000); // Wait one 1000msec
exec.Code("G00 G53 Z"+ SafeZ); // Move Z up
while(exec.IsMoving()){}
}

// Move to new tool position on XY plane
exec.Code("G00 G53 Y" + ToolY[Newtool]);
while(exec.IsMoving()){}
// Pick new tool

exec.Code("G00 G53 Z" + Ztoolload); // Move Z axis down to tool holder position
while(exec.IsMoving()){}
exec.Clroutpin(Chuckopenport, Chuckopenpin); // Close the chuck with pneumatic valve
exec.Wait(1000); // Wait one 1000msec
exec.Code("G00 G53 X" + Xtoolload);
while(exec.IsMoving()){}
exec.Code("G00 G53 Z"+ SafeZ); // Move Z up
while(exec.IsMoving()){}

// Move back to start point

exec.Code("G00 G53 X" + Xoriginalpos + " Y" + Yoriginalpos);
while(exec.IsMoving()){}

// Measure new tool will go here....
exec.Code("G43 H"+Newtool); // Load new tool offset

exec.Wait(200);
while(exec.IsMoving()){}
if(!exec.Ismacrostopped()) // If tool change was not interrupted with a stop only then validate new tool number
{
exec.Setcurrenttool(Newtool); //Set the current tool -> the new tool
MessageBox.Show("Tool change done.");
}
else
{
exec.StopWithDeccel();
MessageBox.Show("Tool change was interrupted by user!");
}