M6 script

function m6()

    --Tool Change


    --get newtool/oldtool numbers and return them as selectedtool for newtool and currenttool for oldtool
    --if newtool is the same, end
    --toolchange_checksensors_s1s4()
    local inst = mc.mcGetInstance()
    if(toolchange_getspindlestatus()==2) then
        print("Tool attached incorrectly, Tool change will not start")
        mc.mcCntlEnable(inst, false)
        do return end
    end
    if (toolchange_machine_homed()==false) then
        --the machine has not been homed, which might result in a crash while trying to go to any of the tools' locations
        print("Machine not homed, Tool change will not start")
        mc.mcCntlEnable(inst, false)
        do return end
    end
    if (toolchange_machine_coords_allowed()==false) then
        --the machine is in an unallowed location (next to the tool rack). A crash is likely.
        print("Y axis too close to the tool rack, Tool change will not start")
        mc.mcCntlEnable(inst, false)
        do return end
    end
    local selectedtool = mc.mcToolGetSelected(inst) --get the n. of the new tool
    local currenttool = mc.mcToolGetCurrent(inst) --get the n. of the tool already selected


    if (selectedtool == currenttool) then --if the to-be-selected tool is the same as the current one, no tool change is necessary
        print("No tool change necessary")
        do return end
    end
    if (selectedtool<1) then
        print("Selected tool number out of range. Allowed values 1-21")
        mc.mcCntlEnable(inst, false)
        do return end
    elseif (selectedtool>21) then
        print("Selected tool number out of range. Allowed values 1-21")
        mc.mcCntlEnable(inst, false)
        do return end
    end
    if (currenttool<1) then
        print("Current tool number out of range. Allowed values 1-21")
        mc.mcCntlEnable(inst, false)
        do return end
    elseif (currenttool21) then
        print("Current tool number out of range. Allowed values 1-21")
        mc.mcCntlEnable(inst, false)
        do return end
    end

    if (currenttool>9) then
        if (toolchange_checksensors_s2()==0) then
            --there's a tool in the tool holder, even though there shouldn't be one there. The tool holder in a state where a tool would be there also counts as if there was a tool attached.
            print("Tool number incorrect. Remove the tool from the main spindle or correct the tool number")
            do return end
        end
    end
    --get the machine's state to return to it back later. Absolute vs Incremental, etc.

    --Var# is the PoundVar number for the register holding the value of the attribute.
    --Var# Gcode Description
    --4002 G17 set XY plane
    --4003 G90 set absolute mode
    --4005 G95 set feed as units per minute
    --4006 G21 set units to mm
    --4015 G61 set to exact stop mode, as to avoid taking shortcuts around corners and move predictably
    local CurFeed = mc.mcCntlGetPoundVar(inst, 2134)
    local CurFeedMode = mc.mcCntlGetPoundVar(inst, 4001)
    local CurPlaneMode = mc.mcCntlGetPoundVar(inst, 4002)
    local CurAbsMode = mc.mcCntlGetPoundVar(inst, 4003)
    local CurSpeedMode = mc.mcCntlGetPoundVar(inst, 4005)
    local CurUnit = mc.mcCntlGetPoundVar(inst, 4006)
    local CurMotionMode = mc.mcCntlGetPoundVar(inst, 4015)

    --initialise (Safe start G codes)
    mc.mcCntlGcodeExecuteWait(inst, "G21 G40 G61")
    --mc.mcCntlGcodeExecuteWait(inst, "G17 G90 G95 G21 G40 G61")
    --mc.mcCntlSetLastError(inst, "TC initialised")
    toolchange_zup() --Rise the Z axis up in order to avoid crashes while moving around the table. This will not happen in the tool rack since the toolchange will not start there.
    --toolchange_spindlecover_up()
    if (currenttool>8) then --The current tool is in the boring head
        if (selectedtool>8) then --The selected tool is in the boring head
            toolchange_boringhead_allin()
            toolchange_gotosafe()
            toolchange_boringhead_toolout(selectedtool)
            toolchange_boringhead_down()
            toolchange_setoffsets(selectedtool)
        elseif (selectedtool<9) then --The to-be-selected tool is goes in the main spindle
            toolchange_boringhead_up()
            toolchange_boringhead_allin()
            toolchange_boringhead_motorOFF()
            toolchange_goto_take_tool(selectedtool)
            toolchange_spindle_grabtool()
            if(toolchange_getspindlestatus()==2) then --ERROR within the tool attachment system, STOP
                mc.mcCntlSetLastError(inst, "Tool attached incorrectly, remove it manually")
                mc.mcToolSetCurrent(inst, selectedtool)
                mc.mcCntlSetLastError(inst, string.format("New tool %.0f", selectedtool))
                do return end
            end
            toolchange_goto_slide_out_tool()
        end
    end
    --The current tool is goes in the main spindle, put it back first
    if(currenttool<9) then
        --just in case
        toolchange_boringhead_up()
        toolchange_boringhead_allin()

        toolchange_spindle_spindleOFF()
        if(toolchange_getspindlestatus()==1) then
            toolchange_goto_remove_tool(currenttool)
            toolchange_spindle_releasetool()
            if(toolchange_getspindlestatus()>0) then
                mc.mcCntlSetLastError(inst, "Tool didn't release correctly")
                do return end
            end
            toolchange_zup()
        end
        if(toolchange_getspindlestatus()==2) then
            mc.mcCntlSetLastError(inst, "Tool attached incorrectly, remove it manually")
            mc.mcToolSetCurrent(inst, selectedtool)
            mc.mcCntlSetLastError(inst, string.format("New tool %.0f", selectedtool))
            do return end
        end
        if(selectedtool<9) then --The to-be-selected tool is goes in the main spindle
            toolchange_goto_take_tool(selectedtool)
            toolchange_spindle_grabtool()
            if(toolchange_getspindlestatus()==2) then --ERROR within the tool attachment system, STOP
                mc.mcCntlSetLastError(inst, "Tool attached incorrectly, remove it manually")
                mc.mcToolSetCurrent(inst, selectedtool)
                mc.mcCntlSetLastError(inst, string.format("New tool %.0f", selectedtool))
                do return end
            end
            toolchange_goto_slide_out_tool()
        elseif (selectedtool>8) then --The to-be-selected tool is in the boring head
            toolchange_gotosafe()
            --toolchange_boringhead_motorON()
            toolchange_boringhead_toolout(selectedtool)
            toolchange_boringhead_down()
            toolchange_setoffsets(selectedtool)
        end
    end
    --return the machine's state to the one it was in before, recorded at the start of this function

    --There is a bug that causes set #4xxx variables to be of size ten times smaller,
    --i.e 17 becomes 1.7.
    --In order to account for this, they have to be multiplied by 10
    mc.mcCntlSetPoundVar(inst, 2134, CurFeed)
    mc.mcCntlSetPoundVar(inst, 4001, CurFeedMode*10)
    mc.mcCntlSetPoundVar(inst, 4002, CurPlaneMode*10)
    mc.mcCntlSetPoundVar(inst, 4003, CurAbsMode*10)
    mc.mcCntlSetPoundVar(inst, 4005, CurSpeedMode*10)
    mc.mcCntlSetPoundVar(inst, 4006, CurUnit*10)
    mc.mcCntlSetPoundVar(inst, 4015, CurMotionMode*10)

    --set a new tool number, since the tool is now attached
    if toolchange_machine_enabled()==true then
        toolchange_setoffsets(selectedtool)
        mc.mcToolSetCurrent(inst, selectedtool)
        mc.mcCntlSetLastError(inst, string.format("New tool %.0f", selectedtool))
    end
end

function toolchange_boringhead_toolout(tool_n) --this function pushes a specific tool out from the boring head. Range tool n. 9-21 (total 13)
    local inst = mc.mcGetInstance()
    local hsig = nil
    if toolchange_machine_enabled()==true then
        if tool_n==9 then
            hsig = mc.mcSignalGetHandle(inst, mc.OSIG_OUTPUT6)
        elseif tool_n==10 then
            hsig = mc.mcSignalGetHandle(inst, mc.OSIG_OUTPUT5)
        elseif tool_n==11 then
            hsig = mc.mcSignalGetHandle(inst, mc.OSIG_OUTPUT16)
        elseif tool_n==12 then
            hsig = mc.mcSignalGetHandle(inst, mc.OSIG_OUTPUT15)
        elseif tool_n==13 then
            hsig = mc.mcSignalGetHandle(inst, mc.OSIG_OUTPUT14)
        elseif tool_n==14 then
            hsig = mc.mcSignalGetHandle(inst, mc.OSIG_OUTPUT13)
        elseif tool_n==15 then
            hsig = mc.mcSignalGetHandle(inst, mc.OSIG_OUTPUT12)
        elseif tool_n==16 then
            hsig = mc.mcSignalGetHandle(inst, mc.OSIG_OUTPUT11)
        elseif tool_n==17 then
            hsig = mc.mcSignalGetHandle(inst, mc.OSIG_OUTPUT10)
        elseif tool_n==18 then
            hsig = mc.mcSignalGetHandle(inst, mc.OSIG_OUTPUT9)
        elseif tool_n==19 then
            hsig = mc.mcSignalGetHandle(inst, mc.OSIG_OUTPUT8)
        elseif tool_n==20 then
            hsig = mc.mcSignalGetHandle(inst, mc.OSIG_OUTPUT7)
        elseif tool_n==21 then
            hsig = mc.mcSignalGetHandle(inst, mc.OSIG_OUTPUT17)
        end
        mc.mcSignalSetState(hsig, true)
    end
end
function toolchange_boringhead_toolin(tool_n)  --this function pulls a specific tool in to the boring head. Range tool n. 9-21 (total 13)
    local inst = mc.mcGetInstance()
    local hsig = nil
    if toolchange_machine_enabled()==true then
        if tool_n==9 then
            hsig = mc.mcSignalGetHandle(inst, mc.OSIG_OUTPUT6)
        elseif tool_n==10 then
            hsig = mc.mcSignalGetHandle(inst, mc.OSIG_OUTPUT5)
        elseif tool_n==11 then
            hsig = mc.mcSignalGetHandle(inst, mc.OSIG_OUTPUT16)
        elseif tool_n==12 then
            hsig = mc.mcSignalGetHandle(inst, mc.OSIG_OUTPUT15)
        elseif tool_n==13 then
            hsig = mc.mcSignalGetHandle(inst, mc.OSIG_OUTPUT14)
        elseif tool_n==14 then
            hsig = mc.mcSignalGetHandle(inst, mc.OSIG_OUTPUT13)
        elseif tool_n==15 then
            hsig = mc.mcSignalGetHandle(inst, mc.OSIG_OUTPUT12)
        elseif tool_n==16 then
            hsig = mc.mcSignalGetHandle(inst, mc.OSIG_OUTPUT11)
        elseif tool_n==17 then
            hsig = mc.mcSignalGetHandle(inst, mc.OSIG_OUTPUT10)
        elseif tool_n==18 then
            hsig = mc.mcSignalGetHandle(inst, mc.OSIG_OUTPUT9)
        elseif tool_n==19 then
            hsig = mc.mcSignalGetHandle(inst, mc.OSIG_OUTPUT8)
        elseif tool_n==20 then
            hsig = mc.mcSignalGetHandle(inst, mc.OSIG_OUTPUT7)
        elseif tool_n==21 then
            hsig = mc.mcSignalGetHandle(inst, mc.OSIG_OUTPUT17)
        end
        mc.mcSignalSetState(hsig, false)
    end
end
function toolchange_boringhead_allin()  --this function pulls all the tools in to the boring head. Range total 13
    local inst = mc.mcGetInstance()
    if toolchange_machine_enabled()==true then
        mc.mcSignalSetState(mc.mcSignalGetHandle(inst, mc.OSIG_OUTPUT5), false)
        mc.mcSignalSetState(mc.mcSignalGetHandle(inst, mc.OSIG_OUTPUT6), false)
        mc.mcSignalSetState(mc.mcSignalGetHandle(inst, mc.OSIG_OUTPUT7), false)
        mc.mcSignalSetState(mc.mcSignalGetHandle(inst, mc.OSIG_OUTPUT8), false)
        mc.mcSignalSetState(mc.mcSignalGetHandle(inst, mc.OSIG_OUTPUT9), false)
        mc.mcSignalSetState(mc.mcSignalGetHandle(inst, mc.OSIG_OUTPUT10), false)
        mc.mcSignalSetState(mc.mcSignalGetHandle(inst, mc.OSIG_OUTPUT11), false)
        mc.mcSignalSetState(mc.mcSignalGetHandle(inst, mc.OSIG_OUTPUT12), false)
        mc.mcSignalSetState(mc.mcSignalGetHandle(inst, mc.OSIG_OUTPUT13), false)
        mc.mcSignalSetState(mc.mcSignalGetHandle(inst, mc.OSIG_OUTPUT14), false)
        mc.mcSignalSetState(mc.mcSignalGetHandle(inst, mc.OSIG_OUTPUT15), false)
        mc.mcSignalSetState(mc.mcSignalGetHandle(inst, mc.OSIG_OUTPUT16), false)
        mc.mcSignalSetState(mc.mcSignalGetHandle(inst, mc.OSIG_OUTPUT17), false)
    end
end
function toolchange_boringhead_up()  --this function operates the pneumatic cylinder, pulling the boring head complex up, checking (and waiting until) the success and DISABLING the machine if it fails.
    local inst = mc.mcGetInstance()
    if toolchange_machine_enabled()==true then
        mc.mcSignalSetState(mc.mcSignalGetHandle(inst, mc.OSIG_OUTPUT2), 0)
        counter=0
        while (mc.mcSignalGetState(mc.mcSignalGetHandle(inst, mc.ISIG_INPUT2))==0) and (counter<20) do
            counter=counter+1
            mc.mcCntlGcodeExecuteWait(inst, "G4 P0.1")
        end
        if (counter>=20) then
            mc.mcCntlEnable(inst, false)
            mc.mcCntlSetLastError(inst, "Unable to lift the boring head. Tool change will not start. Check air pressure.")
        end
    end
end
function toolchange_spindlecover_up()  --this function operates the pneumatic cylinder, pulling the spindle cover up, checking (and waiting until) the success and DISABLING the machine if it fails.
    local inst = mc.mcGetInstance()
    if toolchange_machine_enabled()==true then
        mc.mcSignalSetState(mc.mcSignalGetHandle(inst, mc.OSIG_OUTPUT3), 0)
        counter=0
        while (mc.mcSignalGetState(mc.mcSignalGetHandle(inst, mc.ISIG_INPUT0))== 1) and (counter<20) do
            counter=counter+1
            mc.mcCntlGcodeExecuteWait(inst, "G4 P0.1")
        end
        if (counter>=20) then
            mc.mcCntlEnable(inst, false)
            mc.mcCntlSetLastError(inst, "Unable to lift the spindle cover. Tool change will not start. Check air pressure.")
        end
    end
end
function toolchange_boringhead_down()  --this function operates the pneumatic cylinder, pulling the boring head complex up, checking (and waiting until) the success and DISABLING the machine if it fails.
    local inst = mc.mcGetInstance()
    if toolchange_machine_enabled()==true then
        mc.mcSignalSetState(mc.mcSignalGetHandle(inst, mc.OSIG_OUTPUT2), 1)
        counter=0
        while (mc.mcSignalGetState(mc.mcSignalGetHandle(inst, mc.ISIG_INPUT1))==0) and (counter<20) do
            counter=counter+1
            mc.mcCntlGcodeExecuteWait(inst, "G4 P0.1")
        end
        if (counter>=20) then
            mc.mcCntlEnable(inst, false)
            mc.mcCntlSetLastError(inst, "Unable to lower the boring head. Tool change will not start. Check air pressure.")
        end
    end
end
function toolchange_boringhead_motorON()
    if toolchange_machine_enabled()==true then
        local inst = mc.mcGetInstance()
        mc.mcCntlGcodeExecuteWait(inst, "M103")
    end
end
function toolchange_boringhead_motorOFF()
    if toolchange_machine_enabled()==true then
        local inst = mc.mcGetInstance()
        mc.mcCntlGcodeExecuteWait(inst, "M105")
    end
end
function toolchange_spindle_spindleOFF()
    if toolchange_machine_enabled()==true then
        local inst = mc.mcGetInstance()
        mc.mcCntlGcodeExecuteWait(inst, "M5")
    end
end
function toolchange_spindle_grabtool() --this function operates the main spindle's pneumatic tool attacher, grabbing a tool
        toolchange_checksensors_s2()
        local inst = mc.mcGetInstance()
        mc.mcCntlGcodeExecuteWait(inst, "G04 P1")
        if toolchange_machine_enabled()==true then
            mc.mcSignalSetState(mc.mcSignalGetHandle(inst, mc.OSIG_OUTPUT1), false)
        end
        mc.mcCntlGcodeExecuteWait(inst, "G04 P1")
        toolchange_checksensors_s2()
end
function toolchange_spindle_releasetool() --this function operates the main spindle's pneumatic tool attacher, releasing a tool
        toolchange_checksensors_s2()
        local inst = mc.mcGetInstance()
        mc.mcCntlGcodeExecuteWait(inst, "G04 P1")
        if toolchange_machine_enabled()==true then
            mc.mcSignalSetState(mc.mcSignalGetHandle(inst, mc.OSIG_OUTPUT1), true)
        end
        mc.mcCntlGcodeExecuteWait(inst, "G04 P1")
        toolchange_checksensors_s2()
end
function toolchange_gotosafe()  --this function moves the X axis to the side of the machine, in order to avoid any crashes from pushing out a tool from the boring head
    if toolchange_machine_enabled()==true then
        local inst = mc.mcGetInstance()
        mc.mcCntlGcodeExecuteWait(inst, "G90 G21\n G01 G53 Z0 F3000\n G01 G53 X200 F3000")
    end
end
function toolchange_zup() --this function rises up the Z axis
    if toolchange_machine_enabled()==true then
        local inst = mc.mcGetInstance()
        mc.mcCntlGcodeExecuteWait(inst, "G90 G21\n G01 G53 Z0 F3000")
    end
end
function toolchange_goto_remove_tool(tool_n) --this function moves to a specific tool's XY location in front of the rack, for it to be slid in, and then slides it in. Range tool n. 1-8 (total 8)
    if toolchange_machine_enabled()==true then
        --setup\n Z up\n go in front of the holder in XY\n Z down \n Y slide in
        local inst = mc.mcGetInstance()
        if (tool_n==8) then
            mc.mcCntlGcodeExecuteWait(inst, "G90 G21\n G01 G53 Z0 F3000\n G01 G53 X328 Y-54 F3000\n G01 G53 Z-84.9 F1000\n G01 F500 G53 Y29")
        elseif (tool_n==7) then
            mc.mcCntlGcodeExecuteWait(inst, "G90 G21\n G01 G53 Z0 F3000\n G01 G53 X448 Y-54 F3000\n G01 G53 Z-84.7 F1000\n G01 F500 G53 Y32")
        elseif (tool_n==6) then
            mc.mcCntlGcodeExecuteWait(inst, "G90 G21\n G01 G53 Z0 F3000\n G01 G53 X568 Y-54 F3000\n G01 G53 Z-84.7 F1000\n G01 F500 G53 Y32")
        elseif (tool_n==5) then
            mc.mcCntlGcodeExecuteWait(inst, "G90 G21\n G01 G53 Z0 F3000\n G01 G53 X688 Y-54 F3000\n G01 G53 Z-84.5 F1000\n G01 F500 G53 Y32")
        elseif (tool_n==4) then
            mc.mcCntlGcodeExecuteWait(inst, "G90 G21\n G01 G53 Z0 F3000\n G01 G53 X807.6 Y-54 F3000\n G01 G53 Z-83.7 F1000\n G01 F500 G53 Y32")
        elseif (tool_n==3) then
            mc.mcCntlGcodeExecuteWait(inst, "G90 G21\n G01 G53 Z0 F3000\n G01 G53 X929 Y-54 F3000\n G01 G53 Z-84 F1000\n G01 F500 G53 Y32")
        elseif (tool_n==2) then
            mc.mcCntlGcodeExecuteWait(inst, "G90 G21\n G01 G53 Z0 F3000\n G01 G53 X1048 Y-54 F3000\n G01 G53 Z-82.3 F1000\n G01 F500 G53 Y32")
        elseif (tool_n==1) then
            mc.mcCntlGcodeExecuteWait(inst, "G90 G21\n G01 G53 Z0 F3000\n G01 G53 X1168 Y-54 F3000\n G01 G53 Z-82.3 F1000\n G01 F500 G53 Y32")
        end
    end
end
function toolchange_goto_take_tool(tool_n)  --this function moves to a specific tool's XY location on top of the rack for it to be grabbed, and the moves exactly on the position where the tool can be properly attached. IT DOES NOT SLIDE IT OUT. Range tool n. 1-8 (total 8)
    if toolchange_machine_enabled()==true then
        --setup\n Z up\n go on top of the holder XY\n Z down
        local inst = mc.mcGetInstance()
        if (tool_n==8) then
            mc.mcCntlGcodeExecuteWait(inst, "G90 G21\n G01 G53 Z0 F3000\n G01 G53 X328 Y29 F3000\n G01 G53 Z-84.9 F500")
        elseif (tool_n==7) then
            mc.mcCntlGcodeExecuteWait(inst, "G90 G21\n G01 G53 Z0 F3000\n G01 G53 X448 Y32 F3000\n G01 G53 Z-84.7 F500")
        elseif (tool_n==6) then
            mc.mcCntlGcodeExecuteWait(inst, "G90 G21\n G01 G53 Z0 F3000\n G01 G53 X568 Y32 F3000\n G01 G53 Z-84.7 F500")
        elseif (tool_n==5) then
            mc.mcCntlGcodeExecuteWait(inst, "G90 G21\n G01 G53 Z0 F3000\n G01 G53 X688 Y32 F3000\n G01 G53 Z-84.5 F500")
        elseif (tool_n==4) then
            mc.mcCntlGcodeExecuteWait(inst, "G90 G21\n G01 G53 Z0 F3000\n G01 G53 X807.6 Y32 F3000\n G01 G53 Z-83.7 F500")
        elseif (tool_n==3) then
            mc.mcCntlGcodeExecuteWait(inst, "G90 G21\n G01 G53 Z0 F3000\n G01 G53 X929 Y32 F3000\n G01 G53 Z-84 F500")
        elseif (tool_n==2) then
            mc.mcCntlGcodeExecuteWait(inst, "G90 G21\n G01 G53 Z0 F3000\n G01 G53 X1048 Y32 F3000\n G01 G53 Z-82.3 F500")
        elseif (tool_n==1) then
            mc.mcCntlGcodeExecuteWait(inst, "G90 G21\n G01 G53 Z0 F3000\n G01 G53 X1168 Y32 F3000\n G01 G53 Z-82.3 F500")
        end
    end
end
function toolchange_goto_slide_out_tool()  --this function slides out a tool from the tool rack, only moving the Y axis. Then it rises the Z-axis up, only moving the Z axis.
    if toolchange_machine_enabled()==true then
        --slide out Y\n Z up
        local inst = mc.mcGetInstance()
        mc.mcCntlGcodeExecuteWait(inst, "G90 G21\n G01 G53 Y-54 F1000\n G01 G53 Z0 F3000")
    end
end
function toolchange_setoffsets(tool_n)  --this function sets a specific tool's offset value on the boring head. Range tool n. 9-21 (total 13)
    local inst = mc.mcGetInstance()
    if (tool_n<9) then
        mc.mcCntlGcodeExecuteWait(inst, "G90 G10 L20 P0 X0 Y0")
    elseif (tool_n==21) then
        mc.mcCntlGcodeExecuteWait(inst, "G90 G10 L20 P0 X180.3 Y62.6")
    elseif (tool_n==20) then
        mc.mcCntlGcodeExecuteWait(inst, "G90 G10 L20 P0 X267.3 Y62.6")
    elseif (tool_n==19) then
        mc.mcCntlGcodeExecuteWait(inst, "G90 G10 L20 P0 X299.3 Y62.6")
    elseif (tool_n==18) then
        mc.mcCntlGcodeExecuteWait(inst, "G90 G10 L20 P0 X331.3 Y62.6")
    elseif (tool_n==17) then
        mc.mcCntlGcodeExecuteWait(inst, "G90 G10 L20 P0 X363.3 Y62.6")
    elseif (tool_n==16) then
        mc.mcCntlGcodeExecuteWait(inst, "G90 G10 L20 P0 X395.3 Y62.6")
    elseif (tool_n==15) then
        mc.mcCntlGcodeExecuteWait(inst, "G90 G10 L20 P0 X427.3 Y62.6")
    elseif (tool_n==14) then
        mc.mcCntlGcodeExecuteWait(inst, "G90 G10 L20 P0 X427.3 Y94.6")
    elseif (tool_n==13) then
        mc.mcCntlGcodeExecuteWait(inst, "G90 G10 L20 P0 X427.3 Y126.6")
    elseif (tool_n==12) then
        mc.mcCntlGcodeExecuteWait(inst, "G90 G10 L20 P0 X427.3 Y158.6")
    elseif (tool_n==11) then
        mc.mcCntlGcodeExecuteWait(inst, "G90 G10 L20 P0 X427.3 Y190.6")
    elseif (tool_n==10) then
        mc.mcCntlGcodeExecuteWait(inst, "G90 G10 L20 P0 X427.3 Y222.6")
    elseif (tool_n==9) then
        mc.mcCntlGcodeExecuteWait(inst, "G90 G10 L20 P0 X427.3 Y309.6")
    end
end
function toolchange_checksensors_s1s4() --this function checks the main spindle's S1S4 sensor values and returns a state
    local inst = mc.mcGetInstance()
    local hsig=mc.mcSignalGetHandle(inst, mc.ISIG_INPUT5)
    local val=mc.mcSignalGetState(hsig)
    return val
end
function toolchange_checksensors_s2() --this function checks the main spindle's S2 sensor values and returns a state
    local inst = mc.mcGetInstance()
    local hsig=mc.mcSignalGetHandle(inst, mc.ISIG_INPUT4)
    local val=mc.mcSignalGetState(hsig)
    --0: tool holde blocked (maybe there's a tool attached to it)
    --1: tool holde open (there's no tool attached to it)
    return val
end
function toolchange_getspindlestatus() --this function compiles the main spindle's sensor values and returns a state of the tool.
    local inst = mc.mcGetInstance()
    if (toolchange_checksensors_s2()==1) then
        return 0
    elseif (toolchange_checksensors_s2()==0) then
        local s1s4=toolchange_checksensors_s1s4()
        if(s1s4==1) then
            return 1 --Tool OK
        else
            return 2 --Tool NOT OK
        end
    end
end
function toolchange_machine_enabled()
    local inst = mc.mcGetInstance()
    local hsig=mc.mcSignalGetHandle(inst, mc.OSIG_MACHINE_ENABLED)
    local isRunning=mc.mcCntlIsInCycle(inst)
    local val=mc.mcSignalGetState(hsig)
    if val==1 then
        --if isRunning==true then
            return true
        --else
        --    return false
        --end
    else
        return false
    end
end
function toolchange_machine_homed()
    local inst = mc.mcGetInstance()
    if (mc.mcAxisIsHomed(inst, 0)==1 and mc.mcAxisIsHomed(inst, 1)==1 and mc.mcAxisIsHomed(inst, 2)==1) then
        return true
    else
        return false
    end
end
function toolchange_machine_coords_allowed() --this function checks if the current Y axis location value is accepted, in order to avoid a Z rise in the tool's location holder, or any other crashes
    --Get the Y axis coords
    local inst = mc.mcGetInstance()
    local loc_Y=0
    loc_Y= mc.mcAxisGetMachinePos(inst, 1)
    --Compare them to unallowed values
    if (loc_Y>-50) then
        --Y not allowed, and so return that the coords are not allowed (false)
        return false
    elseif (loc_Y<-50) then
        --Y is allowed
        return true
    else
        --error, (no further motion by caller allowed). It is up to the caller to stop, however.
        return false
    end
end


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