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 ToolChangeAdjustPosition = (ToolChangePosition + .125)
local Coolant = mc.mcSignalGetHandle(inst, mc.OSIG_COOLANTON)
local Orient = mc.mcSignalGetHandle(inst, mc.OSIG_OUTPUT23)
local CarouselForward = mc.mcSignalGetHandle(inst, mc.OSIG_OUTPUT20)
local CarouselReverse = mc.mcSignalGetHandle(inst, mc.OSIG_OUTPUT21)
local ToolDrawbar= mc.mcSignalGetHandle(inst, mc.OSIG_OUTPUT22)
local ErrorWaitTime = 12.5
local NextOperationDelay = 500
local DrawbarDelay = 100
local StartCarRoatate = mc.mcSignalGetHandle(inst, mc.OSIG_OUTPUT15)
local CarouselHomed = mc.mcSignalGetHandle(inst, mc.ISIG_INPUT9)
local CarouselHomedState = mc.mcSignalGetState(CarouselHomed)
local CurrentCarouselPosition = mc.mcRegGetHandle(inst,"Click/DS2")
local CurrentCarouselPositionValue = mc.mcRegGetValue(CurrentCarouselPosition)
local DS1 = mc.mcRegGetHandle(inst,"Click/DS1")
mc.mcRegSetValue(DS1,RequestedTool)

local CarouselForwardInput = mc.mcSignalGetHandle(inst, mc.ISIG_INPUT1)
local CarouselReverseInput = mc.mcSignalGetHandle(inst, mc.ISIG_INPUT2)
local DrawBarReleaseSig = mc.mcSignalGetHandle(inst, mc.ISIG_INPUT3)
local CarouselForwardState = mc.mcSignalGetState(CarouselForwardInput)
local CarouselReverseState = mc.mcSignalGetState(CarouselReverseInput)
local DrawBarReleaseState = mc.mcSignalGetState(DrawBarReleaseSig)

-------------------------------------------------------------------------------------------------------------
--Wrong Conditions
--If the carousel is forwrad, something is wrong.
if CarouselForwardState == 1 then
	 mc.mcCntlSetLastError(inst, "Carousel is already forward.")
	 mc.mcSignalSetState(Alarm, 1)
	 return 
 end
 
--If the drawbar is released, something is wrong. 
if DrawBarReleaseState == 1 then
	 mc.mcCntlSetLastError(inst, "Tool Drawbar is Released.")
	 mc.mcSignalSetState(Alarm, 1)
	 return 
 end
 
-------------------------------------------------------------------------------------------------------------
--Tool Change Start
if CarouselHomedState == 0 then
	 mc.mcCntlSetLastError(inst, "Carousel is not homed, home carousel and try again.")
	 return
else
if RequestedTool > 20 then
	 mc.mcCntlSetLastError(inst, "Requested tool is out of limit.")
else

if CurrentTool == 0 then
	 --Turn off spindle and coolant.
	 mc.mcSpindleSetDirection(inst, 0)
	 mc.mcSignalSetState(Coolant, 0)
	 mc.mcSignalSetState(Orient, 0) 
	  
	 --Orient the spindle.
	 mc.mcSignalSetState(Orient, 1) 
	  
	 --Move the Z Up.  
	 mc.mcCntlGcodeExecuteWait(inst, "G90 G53 G00 Z0.00") 
	 
	 --Check the orient signal. 
	 rc = mc.mcSignalWait(inst, mc.ISIG_INPUT5, 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
	 
	 --Start the Carousel Rotation
	 mc.mcSignalSetState(StartCarRoatate, 1) 
	 rc = mc.mcSignalWait(inst, mc.ISIG_INPUT7, mc.WAIT_MODE_HIGH, 15)
	 if rc ~= 0 then
		 mc.mcCntlSetLastError(inst, "There was a problem rotating the carousel.")
		 mc.mcSignalSetState(Alarm, 1)
		 return
	 end--Wait for the Carousel to rotate
	 
	 --Turn off the Carousel Rotation 
	 mc.mcSignalSetState(StartCarRoatate, 0)  
	 
	 --Release the tool
	 mc.mcSignalSetState(ToolDrawbar, 1)
	 wx.wxMilliSleep(DrawbarDelay) 
	 rc = mc.mcSignalWait(inst, mc.ISIG_INPUT3, mc.WAIT_MODE_HIGH, 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(NextOperationDelay)
	  
	 --Move the carousel forward.
	 mc.mcSignalSetState(CarouselReverse, 0)
	 mc.mcSignalSetState(CarouselForward, 1) 
	 rc = mc.mcSignalWait(inst, mc.ISIG_INPUT1, mc.WAIT_MODE_HIGH, ErrorWaitTime)
	 if rc ~= 0 then
		 mc.mcCntlSetLastError(inst, "There was a problem moving the carousel forward.")
		 mc.mcSignalSetState(Alarm, 1)
		 return 
	 end--Carousel Forward error check.
	 
	 wx.wxMilliSleep(NextOperationDelay)
	 
	 --Move the Z to the Tool Change Adjust Position.  
	 mc.mcCntlGcodeExecuteWait(inst, "G90 G53 G00 Z" .. ToolChangeAdjustPosition) 
	 wx.wxMilliSleep(NextOperationDelay)
	 
	 --Clamp the tool
	 mc.mcSignalSetState(ToolDrawbar, 0)
	 --Move the Z to the tool change position.  
	 mc.mcCntlGcodeExecuteWait(inst, "G90 G53 G00 Z" .. ToolChangePosition) 	 
	 wx.wxMilliSleep(DrawbarDelay) 
	 --rc = mc.mcSignalWait(inst, mc.ISIG_INPUT4, 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--Clamp tool error check.
	 
	 wx.wxMilliSleep(NextOperationDelay) 
	  
	 --Move the carousel reverse.
	 mc.mcSignalSetState(CarouselForward, 0) 
	 mc.mcSignalSetState(CarouselReverse, 1)
	 rc = mc.mcSignalWait(inst, mc.ISIG_INPUT2, mc.WAIT_MODE_HIGH, ErrorWaitTime)
	 if rc ~= 0 then
		 mc.mcCntlSetLastError(inst, "There was a problem moving the carousel back.")
		 mc.mcSignalSetState(Alarm, 1)
		 return 
	 end--Carousel reverse error check.
     
	 --Turn off spindle orient.
	 mc.mcSignalSetState(Orient, 0) 
	 --mc.mcSignalSetState(OrientLock, 0) 
	 	 
	 --Final Check.  Be sure the machine is ready to run.
	 local CarouselForwardInput = mc.mcSignalGetHandle(inst, mc.ISIG_INPUT1)
	 local CarouselReverseInput = mc.mcSignalGetHandle(inst, mc.ISIG_INPUT2)
	 local DrawBarReleaseSig = mc.mcSignalGetHandle(inst, mc.ISIG_INPUT21)
	 local CarouselForwardState = mc.mcSignalGetState(CarouselForwardInput)
	 local CarouselReverseState = mc.mcSignalGetState(CarouselReverseInput)
	 local DrawBarReleaseState = mc.mcSignalGetState(DrawBarReleaseSig)
	 
	 --If the carousel is forwrad, something is wrong.
	 if CarouselReverseState == 0 then
		 mc.mcCntlSetLastError(inst, "There is something wrong.")
		 mc.mcSignalSetState(Alarm, 1)
		 return 
	 end
	 
	--If the drawbar is released, something is wrong. 
	 if DrawBarReleaseState == 1 then
		 mc.mcCntlSetLastError(inst, "There is something wrong.")
		 mc.mcSignalSetState(Alarm, 1)
		return 
	 end 
	 
	 --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.mcToolSetCurrent(inst, RequestedTool)
	 end--AlarmState == 1
else--Current Tool == 0
-------------------------------------------------------------------------------------------------------------
-------------------------------------------------------------------------------------------------------------
if  CurrentTool ~= CurrentCarouselPositionValue then
	 mc.mcRegSetValue(DS1,CurrentTool)
	 wx.wxMilliSleep(NextOperationDelay)
	 --Start the Carousel Rotation
	 mc.mcCntlSetLastError(inst, "Rotate the carousel to match the current tool.") 
	 --return 
	 --mc.mcSignalSetState(Alarm, 1) 
	 mc.mcSignalSetState(StartCarRoatate, 1)
	 wx.wxMilliSleep(NextOperationDelay) 
	 rc = mc.mcSignalWait(inst, mc.ISIG_INPUT7, mc.WAIT_MODE_HIGH, 15)
	 if rc ~= 0 then
		 mc.mcCntlSetLastError(inst, "There was a problem rotating the carousel.")
		 mc.mcSignalSetState(Alarm, 1)
		 return
	 end--Wait for the Carousel to rotate
	 
	 --Turn off the Carousel Rotation 
	 mc.mcSignalSetState(StartCarRoatate, 0)  
	 
	 local DS1 = mc.mcRegGetHandle(inst,"Click/DS1")
	 mc.mcRegSetValue(DS1,RequestedTool)
end --Current Carousel Position ~= Current Tool
-------------------------------------------------------------------------------------------------------------

if RequestedTool == 0 then
	 --Turn off spindle and coolant.
	 mc.mcSpindleSetDirection(inst, 0)
	 mc.mcSignalSetState(Coolant, 0)
	 mc.mcSignalSetState(Orient, 0) 
	  
	 --Orient the spindle.
	 mc.mcSignalSetState(Orient, 1) 
	 mc.mcCntlSetLastError(inst, "Spindle Orient") 
	  
	 --Move the Z to the Tool Change Position.  
	 mc.mcCntlGcodeExecuteWait(inst, "G90 G53 G00 Z" .. ToolChangePosition)  
	 
	 --Check the orient signal. 
	 rc = mc.mcSignalWait(inst, mc.ISIG_INPUT5, 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 carousel forward.
	 mc.mcSignalSetState(CarouselReverse, 0)
	 mc.mcSignalSetState(CarouselForward, 1) 
	 rc = mc.mcSignalWait(inst, mc.ISIG_INPUT1, mc.WAIT_MODE_HIGH, ErrorWaitTime)
	 if rc ~= 0 then
		 mc.mcCntlSetLastError(inst, "There was a problem moving the carousel forward.")
		 mc.mcSignalSetState(Alarm, 1)
		 return 
	 end--Carousel Forward error check.
	 
	 wx.wxMilliSleep(NextOperationDelay)
	 
	 --Release the tool
	 mc.mcSignalSetState(ToolDrawbar, 1)
	 --Move the Z to the Tool Change Adjust Position.  
	 mc.mcCntlGcodeExecuteWait(inst, "G90 G53 G00 Z" .. ToolChangeAdjustPosition)  
	 wx.wxMilliSleep(DrawbarDelay) 
	 rc = mc.mcSignalWait(inst, mc.ISIG_INPUT3, mc.WAIT_MODE_HIGH, 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.
	 
	 --Move the Z Up.  
	 mc.mcCntlGcodeExecuteWait(inst, "G90 G53 G00 Z0.00")  
	 
	 wx.wxMilliSleep(NextOperationDelay)
	 --Clamp the tool
	 mc.mcSignalSetState(ToolDrawbar, 0)
	 wx.wxMilliSleep(DrawbarDelay) 
	 --rc = mc.mcSignalWait(inst, mc.ISIG_INPUT4, 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--Clamp tool error check.
	 
	 wx.wxMilliSleep(NextOperationDelay) 
	  
	 --Move the carousel reverse.
	 mc.mcSignalSetState(CarouselForward, 0) 
	 mc.mcSignalSetState(CarouselReverse, 1)
	 rc = mc.mcSignalWait(inst, mc.ISIG_INPUT2, mc.WAIT_MODE_HIGH, ErrorWaitTime)
	 if rc ~= 0 then
		 mc.mcCntlSetLastError(inst, "There was a problem moving the carousel back.")
		 mc.mcSignalSetState(Alarm, 1)
		 return 
	 end--Carousel reverse error check.
     
	 --Turn off spindle orient.
	 mc.mcSignalSetState(Orient, 0) 
	 --mc.mcSignalSetState(OrientLock, 0) 
	 	 
	 --Final Check.  Be sure the machine is ready to run.
	 local CarouselForwardInput = mc.mcSignalGetHandle(inst, mc.ISIG_INPUT1)
	 local CarouselReverseInput = mc.mcSignalGetHandle(inst, mc.ISIG_INPUT2)
	 local DrawBarReleaseSig = mc.mcSignalGetHandle(inst, mc.ISIG_INPUT21)
	 local CarouselForwardState = mc.mcSignalGetState(CarouselForwardInput)
	 local CarouselReverseState = mc.mcSignalGetState(CarouselReverseInput)
	 local DrawBarReleaseState = mc.mcSignalGetState(DrawBarReleaseSig)
	 
	 --If the carousel is forwrad, something is wrong.
	 if CarouselReverseState == 0 then
		 mc.mcCntlSetLastError(inst, "There is something wrong.")
		 mc.mcSignalSetState(Alarm, 1)
		 return 
	 end
	 
	--If the drawbar is released, something is wrong. 
	 if DrawBarReleaseState == 1 then
		 mc.mcCntlSetLastError(inst, "There is something wrong.")
		 mc.mcSignalSetState(Alarm, 1)
		return 
	 end 
	 
	 --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.mcToolSetCurrent(inst, RequestedTool)
	 end--AlarmState == 1

else --Requested == 0 
-------------------------------------------------------------------------------------------------------------

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)
	 mc.mcSignalSetState(Orient, 0) 
	 --Reset the DS1 value to the Requested Too2
	 mc.mcRegSetValue(DS1,RequestedTool)
	 --Orient the spindle.
	 mc.mcSignalSetState(Orient, 1) 
	 mc.mcCntlSetLastError(inst, "Spindle Orient") 
	  
	 --Move the Z to the Tool Change Position.  
	 mc.mcCntlGcodeExecuteWait(inst, "G90 G53 G00 Z" .. ToolChangePosition)  
	 
	 --Check the orient signal. 
	 rc = mc.mcSignalWait(inst, mc.ISIG_INPUT5, 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 carousel forward.
	 mc.mcCntlSetLastError(inst, "Move the carousel forward.")
	 
	 mc.mcSignalSetState(CarouselReverse, 0)
	 mc.mcSignalSetState(CarouselForward, 1) 
	 rc = mc.mcSignalWait(inst, mc.ISIG_INPUT1, mc.WAIT_MODE_HIGH, ErrorWaitTime)
	 if rc ~= 0 then
		 mc.mcCntlSetLastError(inst, "There was a problem moving the carousel forward.")
		 mc.mcSignalSetState(Alarm, 1)
		 return 
	 end--Carousel Forward error check.
	 
	 wx.wxMilliSleep(NextOperationDelay)
	 
	 --Release the tool
	 mc.mcCntlSetLastError(inst, "Release the tool.") 
	 mc.mcSignalSetState(ToolDrawbar, 1)
	--CAB 
	 --Move the Z to the Tool Change Adjust Position.  
	 mc.mcCntlGcodeExecuteWait(inst, "G90 G53 G00 Z" .. ToolChangeAdjustPosition)  
	 
	 wx.wxMilliSleep(DrawbarDelay) 
	 rc = mc.mcSignalWait(inst, mc.ISIG_INPUT3, mc.WAIT_MODE_HIGH, 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.
	 
	 --Move the Z Up.  
	 mc.mcCntlGcodeExecuteWait(inst, "G90 G53 G00 Z0.00")  
	 
	 wx.wxMilliSleep(NextOperationDelay)
	 
	 --Start the Carousel Rotation
	 mc.mcCntlSetLastError(inst, "Rotate the carousel to the requested tool.") 
	 mc.mcSignalSetState(StartCarRoatate, 1) 
	 rc = mc.mcSignalWait(inst, mc.ISIG_INPUT7, mc.WAIT_MODE_HIGH, 15)
	 if rc ~= 0 then
		 mc.mcCntlSetLastError(inst, "There was a problem rotating the carousel.")
		 mc.mcSignalSetState(Alarm, 1)
		 return
	 end--Wait for the Carousel to rotate
	 
	 --Turn off the Carousel Rotation 
	 mc.mcSignalSetState(StartCarRoatate, 0)  
	 
	 
	 --Move the Z to the tool change adjust position.  
	 mc.mcCntlGcodeExecuteWait(inst, "G90 G53 G00 Z" .. ToolChangeAdjustPosition) 	
	 
	 wx.wxMilliSleep(NextOperationDelay)
	 
	 --Clamp the tool
	 mc.mcCntlSetLastError(inst, "Clamp the tool.") 
	 mc.mcSignalSetState(ToolDrawbar, 0)
	 --Move the Z to the Tool Change Position.  
	 mc.mcCntlGcodeExecuteWait(inst, "G90 G53 G00 Z" .. ToolChangePosition)   
	 wx.wxMilliSleep(DrawbarDelay) 
	 --rc = mc.mcSignalWait(inst, mc.ISIG_INPUT4, 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--Clamp tool error check.
	 
	 wx.wxMilliSleep(NextOperationDelay) 
	  
	 --Move the carousel reverse.
	 mc.mcCntlSetLastError(inst, "Move the carousel back.") 
	 mc.mcSignalSetState(CarouselForward, 0) 
	 mc.mcSignalSetState(CarouselReverse, 1)
	 rc = mc.mcSignalWait(inst, mc.ISIG_INPUT2, mc.WAIT_MODE_HIGH, ErrorWaitTime)
	 if rc ~= 0 then
		 mc.mcCntlSetLastError(inst, "There was a problem moving the carousel back.")
		 mc.mcSignalSetState(Alarm, 1)
		 return 
	 end--Carousel reverse error check.
     
	 --Turn off spindle orient.
	 mc.mcSignalSetState(Orient, 0) 
	 --mc.mcSignalSetState(OrientLock, 0) 
	 	 
	 --Final Check.  Be sure the machine is ready to run.
	 local CarouselForwardInput = mc.mcSignalGetHandle(inst, mc.ISIG_INPUT1)
	 local CarouselReverseInput = mc.mcSignalGetHandle(inst, mc.ISIG_INPUT2)
	 local DrawBarReleaseSig = mc.mcSignalGetHandle(inst, mc.ISIG_INPUT21)
	 local CarouselForwardState = mc.mcSignalGetState(CarouselForwardInput)
	 local CarouselReverseState = mc.mcSignalGetState(CarouselReverseInput)
	 local DrawBarReleaseState = mc.mcSignalGetState(DrawBarReleaseSig)
	 
	 --If the carousel is forwrad, something is wrong.
	 if CarouselReverseState == 0 then
		 mc.mcCntlSetLastError(inst, "There is something wrong.")
		 mc.mcSignalSetState(Alarm, 1)
		 return 
	 end
	 
	--If the drawbar is released, something is wrong. 
	 if DrawBarReleaseState == 1 then
		 mc.mcCntlSetLastError(inst, "There is something wrong.")
		 mc.mcSignalSetState(Alarm, 1)
		return 
	 end 
	 
	 --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.mcToolSetCurrent(inst, RequestedTool)
	 end--AlarmState == 1

end--RequestedTool == CurrentTool
end--Requested == 0
end--Current Tool == 0
end--Requested > 20
end--Carousel Not Homed

end--m6

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