function m6()
local inst = mc.mcGetInstance()
local rc = 0
local Alarm = mc.mcSignalGetHandle(inst, mc.OSIG_ALARM)
local AlarmState = 0
local RequestedTool = mc.mcToolGetSelected(inst)
local CurrentTool = mc.mcToolGetCurrent(inst)
local ToolChangePosition = mc.mcCntlGetPoundVar(inst, 500)
local RequestedToolPocket = mc.mcToolGetData (inst, mc.MTOOL_MILL_POCKET, RequestedTool)
local Coolant = mc.mcSignalGetHandle(inst, mc.OSIG_COOLANTON)
local Orient = mc.mcSignalGetHandle(inst, mc.OSIG_OUTPUT5)
local POTUp = mc.mcSignalGetHandle(inst, mc.OSIG_OUTPUT12)
local POTDown = mc.mcSignalGetHandle(inst, mc.OSIG_OUTPUT13)
local ArmToSpindle = mc.mcSignalGetHandle(inst, mc.OSIG_OUTPUT17)
local ArmToHome = mc.mcSignalGetHandle(inst, mc.OSIG_OUTPUT18)
local ToolDrawbar= mc.mcSignalGetHandle(inst, mc.OSIG_OUTPUT11)
--local ToolClamp = mc.mcSignalGetHandle(inst, mc.OSIG_OUTPUT60)
local ArmUp = mc.mcSignalGetHandle(inst, mc.OSIG_OUTPUT14)
local ArmDown = mc.mcSignalGetHandle(inst, mc.OSIG_OUTPUT15)
local ArmCW = mc.mcSignalGetHandle(inst, mc.OSIG_OUTPUT16)
local ArmCCW = mc.mcSignalGetHandle(inst, mc.OSIG_OUTPUT19)
local ArmRotateDelay = 1500
local ErrorWaitTime = 2.5
local NextOperationDelay = 400

local ArmIsCCW = mc.mcSignalGetHandle(inst, mc.ISIG_INPUT29)
local ArmIsCW = mc.mcSignalGetHandle(inst, mc.ISIG_INPUT30)
local ArmIsCWState = mc.mcSignalGetState(ArmIsCW)
local ArmIsCCWState = mc.mcSignalGetState(ArmIsCCW)

-----------------------------------------------------------------------
-----------------------------------------------------------------------
--If the requeseted pocket it 0, then stop the macro.
if (RequestedToolPocket == 0) then
	 mc.mcCntlSetLastError(inst, "Tool change stopped; cannot use carousel pocket 0")
else
	
if RequestedTool == CurrentTool then
     mc.mcCntlSetLastError(inst, "The requested tool is already in the spindle.")
else
	 --Turn off spindle and coolant.
	 mc.mcSpindleSetDirection(inst, 0)
	 mc.mcSignalSetState(Coolant, 0)
	  
	 --Orient the spindle.
	 mc.mcSignalSetState(Orient, 1) 
	  
	 --Move the Z to the Tool Change Position.  
	 mc.mcCntlGcodeExecuteWait(inst, "G90 G53 G00 Z" .. ToolChangePosition)  
	 
	 --Move to the requested tool pocket. 
	 mc.mcCntlGcodeExecuteWait(inst, "G90 G00 C" .. RequestedToolPocket) 
	 
	 --Check the orient signal. 
	 rc = mc.mcSignalWait(inst, mc.ISIG_INPUT20, mc.WAIT_MODE_HIGH, ErrorWaitTime)
	 if rc ~= 0 then
		 mc.mcCntlSetLastError(inst, "There was a problem with the spindle orientation.")
		 mc.mcSignalSetState(Alarm, 1)
		 return 
	 end--Orient Error Check
	 
	 --Move the POT down.
	 mc.mcSignalSetState(POTUp, 0)
	 mc.mcSignalSetState(POTDown, 1) 
	 rc = mc.mcSignalWait(inst, mc.ISIG_INPUT24, mc.WAIT_MODE_HIGH, ErrorWaitTime)
	 if rc ~= 0 then
		 mc.mcCntlSetLastError(inst, "There was a problem moving POT down.")
		 mc.mcSignalSetState(Alarm, 1)
		 return 
	 end--POT down error check.
	 
	 --Move the arm to the spindle.
	 mc.mcSignalSetState(ArmToHome, 0)
	 mc.mcSignalSetState(ArmToSpindle, 1) 
	 rc = mc.mcSignalWait(inst, mc.ISIG_INPUT26, mc.WAIT_MODE_HIGH, ErrorWaitTime)
	 if rc ~= 0 then
		 mc.mcCntlSetLastError(inst, "There was a problem moving the arm to the spindle.")
		 mc.mcSignalSetState(Alarm, 1)
		 return 
	 end--Arm to spindle error check.
	 
	 wx.wxMilliSleep(NextOperationDelay)
	 
	--Release the tool
	 mc.mcSignalSetState(ToolDrawbar, 1)
--	 rc = mc.mcSignalWait(inst, mc.ISIG_INPUT, 1, ErrorWaitTime)
--	 if rc ~= 0 then
--		 mc.mcCntlSetLastError(inst, "There was a problem releasing the tool.")
--		 mc.mcSignalSetState(Alarm, 1)
--		 return
--	 end--Release tool error check.
	 
	wx.wxMilliSleep(1500)
	
	 --Move the arm down
	 mc.mcSignalSetState(ArmUp, 0) 
	 mc.mcSignalSetState(ArmDown, 1)
	 rc = mc.mcSignalWait(inst, mc.ISIG_INPUT28, mc.WAIT_MODE_HIGH, ErrorWaitTime)
	 if rc ~= 0 then
		 mc.mcCntlSetLastError(inst, "There was a problem moving the arm down.")
		 mc.mcSignalSetState(Alarm, 1)
		 return 
	 end--Arm Down error check.
	 
	 wx.wxMilliSleep(NextOperationDelay)
	 
 	 --Decide the direction to rotate then rotate the arm 180.
	 if ArmIsCCWState == 1 then
		 mc.mcSignalSetState(ArmCCW, 0) 
		 mc.mcSignalSetState(ArmCW, 1) 
		 wx.wxMilliSleep(ArmRotateDelay)  
		 rc = mc.mcSignalWait(inst, mc.ISIG_INPUT30, mc.WAIT_MODE_HIGH, ErrorWaitTime)
	     if rc ~= 0 then
			 mc.mcCntlSetLastError(inst, "There was a problem rotating the arm CW.")
			 mc.mcSignalSetState(Alarm, 1)
			 return 
		 end--Arm Rotate CW error check. 
	 end
	 
	 wx.wxMilliSleep(NextOperationDelay)
	  
	 if ArmIsCWState == 1 then
		 mc.mcSignalSetState(ArmCW, 0)
		 mc.mcSignalSetState(ArmCCW, 1) 
		 wx.wxMilliSleep(ArmRotateDelay) 
		 rc = mc.mcSignalWait(inst, mc.ISIG_INPUT29, mc.WAIT_MODE_HIGH, ErrorWaitTime)
	     if rc ~= 0 then
			 mc.mcCntlSetLastError(inst, "There was a problem rotating the arm CCW.")
			 mc.mcSignalSetState(Alarm, 1)
			 return 
		 end--Arm Rotate CCW error check. 
	 end
	 
	 wx.wxMilliSleep(NextOperationDelay)
	  
	 --Move arm up.
	 mc.mcSignalSetState(ArmDown, 0) 
	 mc.mcSignalSetState(ArmUp, 1)
	 rc = mc.mcSignalWait(inst, mc.ISIG_INPUT27, mc.WAIT_MODE_HIGH, ErrorWaitTime)
	 if rc ~= 0 then
		 mc.mcCntlSetLastError(inst, "There was a problem moving the arm up.")
		 mc.mcSignalSetState(Alarm, 1)
		 return 
	 end--Arm up error check.
	 
	 wx.wxMilliSleep(NextOperationDelay)
	 
	 --Clamp the tool.
	 mc.mcSignalSetState(ToolDrawbar, 0)
--	 rc = mc.mcSignalWait(inst, mc.ISIG_INPUT, mc.WAIT_MODE_HIGH, ErrorWaitTime)
--	 if rc ~= 0 then
--		 mc.mcCntlSetLastError(inst, "There was a problem clamping the tool.")
--		 mc.mcSignalSetState(Alarm, 1)
--		 return
--	 end--Tool clamp error check. 
	 
		wx.wxMilliSleep(1500)

	
	--Move the arm home.
	 mc.mcSignalSetState(ArmToSpindle, 0)
	 mc.mcSignalSetState(ArmToHome, 1) 
	 rc = mc.mcSignalWait(inst, mc.ISIG_INPUT25, mc.WAIT_MODE_HIGH, ErrorWaitTime)
	 if rc ~= 0 then
		 mc.mcCntlSetLastError(inst, "There was a problem moving the arm home.")
		 mc.mcSignalSetState(Alarm, 1)
		 return 
	 end--Arm to home error check.  
	 
	 wx.wxMilliSleep(NextOperationDelay)
	  
	 --Move the POT up.
	 mc.mcSignalSetState(POTDown, 0)
	 mc.mcSignalSetState(POTUp, 1) 
	 rc = mc.mcSignalWait(inst, mc.ISIG_INPUT23, mc.WAIT_MODE_HIGH, ErrorWaitTime)
	 if rc ~= 0 then
		 mc.mcCntlSetLastError(inst, "There was a problem moving the POT up.")
		 mc.mcSignalSetState(Alarm, 1)
		 return 
	 end--POT Up error check. 
	 
	 --Turn off spindle orient.
	 mc.mcSignalSetState(Orient, 0) 
	 
	 --Turn off outputs that are still on.
	 mc.mcSignalSetState(POTUp, 0)
	 mc.mcSignalSetState(ArmToHome, 0) 
	 mc.mcSignalSetState(ArmUp, 0)
	 mc.mcSignalSetState(ArmCW, 0)
	 mc.mcSignalSetState(ArmCCW, 0)
	 
	 --Check for the Alarm Output.
	 AlarmState = mc.mcSignalGetState(Alarm) 
	 if  AlarmState == 1 then
		 mc.mcCntlSetLastError(inst, "Could not complet tool change.  Check Error Log.") 
		 --mc.mcCntlEStop() 
	 else
		 mc.mcCntlSetLastError(inst, "Tool change complete, current tool is now:  T" .. RequestedTool)
		 mc.mcToolSetData(inst, mc.MTOOL_MILL_POCKET, CurrentTool, RequestedToolPocket)
		 mc.mcToolSetCurrent(inst, RequestedTool)
	 end--AlarmState == 1
	 
end--RequestedTool == CurrentTool

end--Requested Pocket is 0. 

end--m6

if (mc.mcInEditor() == 1) then
 m6()
end