Sub Main()

ToolNumberDRO=824	'set the OEM Code 824 to a variable
Capacity=8 		'tool holder capacity
pos1=0			'initialize position variables to zero
pos2=0
pos3=0
pos4=0
pos5=0
pos6=0
pos7=0
pos8=0

count = 0 		'initialize count variables to zero
done  = 0		'initialize done variables to zero

OldTool=GetCurrentTool 	'get tool# that Mach3 thinks is in turret.  This is used only to maintain
			'existing tool# In DRO-824 If macro exits before ending.
NewTool=GetSelectedTool 'get the new commanded tool# from G-Code 'TX01M6'

setOEMDRO(ToolNumberDRO,OldTool)	'set DRO 824 to the currently stored Mach3 tool#.
					'NewTool only gets input if macro executes properly

'-------
'check to see if new tool# makes sense

If NewTool > Capacity Then
	Message("Tool Number Too High, range 1-"&Capacity)
	code "M00"
	Exit Sub	
End If


If NewTool < 1 Then
	Message("Tool Number Too low, range 1-"&Capacity)
	code "M00"
	Exit Sub
End If


'-------
'Everything seems to be OK so-far, get the current tool position in the turret directly from PLC
'by polling the 8-positin reed switch. If a switch position is closed, that is the current tool

pos1=GetInput(0)
pos2=GetInput(1)
pos3=GetInput(2)
pos4=GetInput(3)
pos5=GetInput(4)
pos6=GetInput(5)
pos7=GetInput(6)
pos8=GetInput(7)


'-------
'set the current tool # based on which switch is closed
 
If pos1=1 Then CurrentTool=1
If pos2=1 Then CurrentTool=2
If pos3=1 Then CurrentTool=3
If pos4=1 Then CurrentTool=4
If pos5=1 Then CurrentTool=5
If pos6=1 Then CurrentTool=6
If pos7=1 Then CurrentTool=7
If pos8=1 Then CurrentTool=8

'-------
If pos1+pos2+pos3+pos4+pos5+pos6+pos7+pos8 <> 1 Then
	Message("turret switch broken, or turret out of position, pausing program")
	code "M00"
	Exit Sub
End If

'-------
'check to see if new tool# = CurrentTool#.  If so, nothing needs to happen, exit.

If NewTool = CurrentTool Then
	Message("Old Tool = New Tool, Returning")
	setOEMDRO(ToolNumberDRO,CurrentTool)		'This is here because we now know which tool the PLC
							'thinks is in position, and that should be correct.
	'code "M00"					'commented out 12-31-09, trying to fix jumping of servos	
	Exit Sub					
End If

'-------
'Move to Machine coordinates -12-3
code "G53 G0 Z-12"
code "G53 G0 X-3"
While IsMoving()
Wend

'-------
'Figure out which direction to turn the turret for the shortest toolchange


difference=NewTool-CurrentTool			'Subtract the current tool from the new tool
	
If difference < 0 Then difference=difference+8	'If the difference is negative, then add it to 8 so the number is between 1-8
direction = 8-difference			'This is a little hard to explain without a picture, but basically if you
						'subtract old from new tool you get numbers from -7 to 7.  If you force all those to
						'be positive by adding the negative ones to 8 (in other words if you get -3, add it to 8
						'for a sum of 5) and then subtract that from 8, you get the numbers 1-7.  1,2,3 are one
						'direction, and 7,6,5 are the other.  4 does not matter, same distance either way.x

If direction = 1 Then SetModOutput (0,0)	'sets motor direction clockwose facing -Z
If direction = 2 Then SetModOutput (0,0)	'sets motor direction clockwose facing -Z
If direction = 3 Then SetModOutput (0,0)	'sets motor direction clockwose facing -Z
If direction = 4 Then SetModOutput (0,0)	'sets motor direction clockwose facing -Z
						'direction does not matter here, but might as well go the same way
						
If direction = 5 Then SetModOutput (0,1)	'sets motor direction counter clockwose facing -Z
If direction = 6 Then SetModOutput (0,1)	'sets motor direction counter clockwose facing -Z
If direction = 7 Then SetModOutput (0,1)	'sets motor direction counter clockwose facing -Z

'-------
'unlock turret

'check to see if locked switch is functioning

Turret_Clamped=GetInput(32)

If Turret_Clamped <> 1 Then
	Message("Turret Clamped Switch Malfunction, Returning and Pausing Program")
						'If the turret is not fully camped or if switch is bad operation stops
	code "M00"
	Exit Sub					
End If


Do
count = count + 1
SetModOutput(10,1)
sleep 100
done = GetInput(33)
If done=1 Then Exit Do
	If count > 50 Then
		Message ("turret unclamp timed out, pausing program")
		SetModOutput(10,0)
		code "M00"
		Exit Sub
	End If
Loop
done=0


'-------
'Actually do the tool change, now that the direction relay is set and the turret is unlocked the PLC does not need to deal with that.

If NewTool=1 Then
	Do
	count = count + 1
	SetModOutput(1,1)
	sleep 100
	done = GetInput(73)
	If done=1 Then Exit Do
		If count > 100 Then
			Message ("tool change timed out, pausing program")
			SetModOutput(1,0)
			code "M00"
			Exit Sub
		End If
	Loop
	SetModOutput(1,0)
	done=0
	End If

'-------

If NewTool=2 Then
	Do
	count = count + 1
	SetModOutput(2,1)
	sleep 100
	done = GetInput(73)
	If done=1 Then Exit Do
		If count > 100 Then
			Message ("tool change timed out, pausing program")
			SetModOutput(2,0)
			code "M00"
			Exit Sub
		End If
	Loop
	SetModOutput(2,0)
	done=0
	End If

'-------

If NewTool=3 Then
	Do
	count = count + 1
	SetModOutput(3,1)
	sleep 100
	done = GetInput(73)
	If done=1 Then Exit Do
		If count > 100 Then
			Message ("tool change timed out, pausing program")
			SetModOutput(3,0)
			code "M00"
			Exit Sub
		End If
	Loop
	SetModOutput(3,0)
	done=0
	End If

'-------
	
If NewTool=4 Then
	Do
	count = count + 1
	SetModOutput(4,1)
	sleep 100
	done = GetInput(73)
	If done=1 Then Exit Do
		If count > 100 Then
			Message ("tool change timed out, pausing program")
			SetModOutput(4,0)
			code "M00"
			Exit Sub
		End If
	Loop
	SetModOutput(4,0)
	done=0
	End If

'-------
	
If NewTool=5 Then
	Do
	count = count + 1
	SetModOutput(5,1)
	sleep 100
	done = GetInput(73)
	If done=1 Then Exit Do
		If count > 100 Then
			Message ("tool change timed out, pausing program")
			SetModOutput(5,0)
			code "M00"
			Exit Sub
		End If
	Loop
	SetModOutput(5,0)
	done=0
	End If

'-------

If NewTool=6 Then
	Do
	count = count + 1
	SetModOutput(6,1)
	sleep 100
	done = GetInput(73)
	If done=1 Then Exit Do
		If count > 100 Then
			Message ("tool change timed out, pausing program")
			SetModOutput(6,0)
			code "M00"
			Exit Sub
		End If
	Loop
	SetModOutput(6,0)
	done=0
	End If

'-------
	
If NewTool=7 Then
	Do
	count = count + 1
	SetModOutput(7,1)
	sleep 100
	done = GetInput(73)
	If done=1 Then Exit Do
		If count > 100 Then
			Message ("tool change timed out, pausing program")
			SetModOutput(7,0)
			code "M00"
			Exit Sub
		End If
	Loop
	SetModOutput(7,0)
	done=0
	End If

'-------

If NewTool=8 Then
	Do
	count = count + 1
	SetModOutput(8,1)
	sleep 100
	done = GetInput(73)
	If done=1 Then Exit Do
		If count > 100 Then
			Message ("tool change timed out, pausing program")
			SetModOutput(8,0)
			code "M00"
			Exit Sub
		End If
	Loop
	SetModOutput(8,0)
	done=0
	End If


	
setOEMDRO(ToolNumberDRO,NewTool)		'store the new tool in DRO 824


'-------
'lock turret
count = 0
Do
count = count + 1
SetModOutput(10,0)
sleep 100
done = GetInput(32)
If done=1 Then Exit Do
	If count > 50 Then
		Message ("turret clamp timed out, pausing program")
		code "M00"
		Exit Sub
	End If
Loop
done=0


sleep 500

	
End Sub
Main