O20000(ATC Program)

(Record the workpiece position before ATC)
#2 = #880
#3 = #881
#4 = #882
#5 = #883
#1514 = 1  //Pause and lift up Enabled
(Judge to excute the ATC or not)
IF #1300>#1301 GOTO4; When current tool no. is greater then the magazine capacity then exit from ATC program.
IF #1>#1301 GOTO4;   Target Tool no. is greater than the magazine capacity then exit from ATC program.
IF #1302==0 GOTO4; Magazine type is NULL then exit.
IF #1300==#1 GOTO4; If current tool no. is same as the target tool no. then exit.
IF #720 == 0 GOTO50;
(Judge by the sign of each axis Home)
IF [#1515+#1516+#1517]>=3 GOTO50;
#1503 = 1(X.Y,ZX, Y, Z axis didn't Home All.)
G04 P10
GOTO4 ;XYZ didn't Home then exit

N50
(Judge the magzine type)
IF #1302==1 GOTO4; If the Magazine type is "Multiple", exit.
IF #1302==2 GOTO22; If magazine type is "Follow row" then excute the "Follow row" ATC
IF #1302==3 GOTO23; If magazine type is "Fixed row" then excute the "Fixed row" ATC
IF #1302==4 GOTO4; If magazine type is "Servo disc" then excute the "Servo disc" ATC

N17; 
IF #1302==1 GOTO4; If the Magazine type is "Multiple", exit.
IF #1302==2 GOTO32; If magazine type is "Follow row" then excute the "Follow row" ATC
IF #1302==3 GOTO33; If magazine type is "Fixed row" then excute the "Fixed row" ATC
IF #1302==4 GOTO4; If magazine type is "Servo disc" then excute the "Servo disc" ATC

(---------------ATC of Follow Row starts-----------------)
N22
IF#1300 == 0 GOTO17; If current tool no. is 0, then only excute tool change movements.
#1503 = 1(Excute the "Follow row" ATC!)

M05  //Spindle Stop
M09  //Coolant Stop
M300 //Air pressure detection
M152 //Magazine Open
M303 //Magazine open detection

#1503 = 1(Spindle lift up to the highest position when ATC, speed: Para #812)
G53 Z#1306 F#1312 ; Spindle lift up to highest position when ATC
#1503 = 1(Spindle move to the G53 X&Y position of Current tool, Speed: Para #811)
G53 X[#[1330+#1300-1]]F#1311 ;
G53 Y[#[1350+#1300-1]]F#1311 ;
#1503 = 1(Spindle move to the G53 Z position of Current tool, Speed: Para #819)
G53 Z[#[1370+#1300-1]] F#1319 ;

M300 //Air pressure detection
M154 //Spindle Release the tool
G04 P#1314
M301 //Spindle release signal detection

#1300 = 0 ;Update the curent tool no. to 0
#1503 = 1(Spindle lift up to the highest position when ATC, speed: Para #812)
G53 Z#1306 F#1312 ;Spindle lift up to highest position when ATC

IF #1!=0 GOTO17; Target tool no. is not 0, excute ATC
GOTO5; Follow row tool uploading finished
(---------------Uploading Tool for Follow row ATC Finished-----------------)

(---------------Changing tool of Follow Starts-----------------)
N32
M05  // Spindle Stop
M09  // Coolant Stop
M300 // Air pressure detection
M154 // Spindle Release the tool
G04 P#1314
M301 // Spindle release signal detection

#1503 = 1(Spindle lift up to the highest position when ATC, speed: Para #812)
G53 Z#1306 F#1312 ; Spindle lift up to highest position when ATC
#1503 = 1(Spindle moves to the G53 X&Y position of Current tool, Speed: Para #811)
G53 X[#[1330+#1-1]] Y[#[1350+#1-1]] F#1311 ;
#1503 = 1(Spindle moves to the G53 Z position of Current tool, Speed: Para #819)
G53 Z[#[1370+#1-1]]+10 F#1319 ;
G53 Z[#[1370+#1-1]] F1000 ;

M300 // Air pressure detection
M155 // Tool locked
G04 P#1314
M302 // Tool locked signal detection

#1300 = #1; update the curent tool no. to target tool no.
#1503 = 1( Spindle lift up to the highest position when ATC, speed: Para #812)
G53 Z#1306 F#1312 ; Spindle lift up to highest position when ATC
GOTO5; Follow row ATC finished
(--------------- Follow row ATC finished-----------------)

(---------------  Tool uploading for Fixed row starts-----------------)
N23
IF#1300 == 0 GOTO17; If current tool no. is 0, then only excute tool change movements.
#1503 = 1(Fixed row ATC starts!)

M05  //Spindle Stop
M09  //Coolant Stop
M300 //Air pressure detection
M152 //Magazine open
M303 //Magazine open signal detection

#1503 = 1(Spindle lift up to the highest position when ATC)
G53 Z#1306 F#1311 ;Spindle lift up to highest position when ATC
#1503 = 1(Spindle moved to Y-axis tool change front Mach position)
G53 Y#1309 F#1311 ;Y处Spindle moved to Y-axis tool change front Mach position
#1503 = 1(Spindle moved to X-axis tool change front Mach position)
G53 X[#[1330+#1300-1]] F#1311 ;X-axis tool change front Mach position
#1503 = 1(Spindle moved to Z-axis tool change front Mach position)
G53 Z[#[1370+#1-1]] F#1319 ;
#1503 = 1(Spindle moves to Y-axis mach of the current tool position)
G53 Y[#[1350+#1300-1]] F#1313 ; Y axis Mach position

M300 //Air pressure detection
M154 //Tool release
G04 P#1314
M301 //Tool release signal detection

#1300 = 0 ; update the current tool no. to 0
#1503 = 1(Spindle lift up to the highest position when ATC, speed: Para #812)
G53 Z#1306 F#1312 ;Spindle lift up to the highest position when ATC

IF #1!=0 GOTO17;Target tool no. is not 0, excute ATC
GOTO5;Tool uploading for Fixed row finished.
(---------------Tool uploading for Fixed row finished-----------------)

(---------------ATC of Fix row change tool starts-----------------)
N33
M05  // Spindle Stop
M09  // Coolant Stop
M300 // Air pressure detection
M154 // Tool release
G04 P#1314
M301 // Tool release signal detection

#1503 = 1(Spindle lift up to the highest position when ATC)
G53 Z#1306 F#1312 ; Spindle lift up to the highest position when ATC
#1503 = 1(Spindle move to the G53 X&Y position of Current tool)
G53 X[#[1330+#1-1]] Y[#[1350+#1-1]] F#1311 ;
#1503 = 1(Spindle moves to the G53 Z position of Current tool)
G53 Z[#[1370+#1-1]]+10 F#1319 ;
G53 Z[#[1370+#1-1]] F1000 ;

M300 // Air pressure detection
M155 // Tool locked
G04 P#1314
M302 // Tool locked signal detection

#1300 = #1; Update the current no. to the target tool no.
#1503 = 1( Spindle moved to Y-axis tool change front Mach position)
G53 Y#1309 F#1313 ; Spindle moved to Y-axis tool change front Mach position
#1503 = 1( Spindle lift up to the highest position of ATC)
G53 Z#1306 F#1311 ; Spindle lift up to the highest position of ATC
GOTO5; Fix Row ATC finished

(---------------ATC of Fix Row finished-----------------)

N5
#1300 = #1; Update the target tool no.
IF #1315==0 GOTO6;  Judge if back to the orignal position before ATC when ATC is fnished.
#1503 = 1(Spindle lift up to the highest position when ATC, speed: Para #812)
G53 Z#1306 F#1311 ;Spindle lift up to the highest position when ATC
#1503 = 1(back to the XY orignal position before ATC when ATC is fnished)
G90 G53 Y#3  F#1311
G90 G53 X#2  F#1311

N6
IF #1300==0 GOTO3; The current tool no. is 0, then don't excute probing automatically.
IF #1305==0 GOTO3; If probe after ATC not active, then don't excute probing automatically.
G53 Z#1306 F#1311 
G90 G53 Y#3  F#1311
G90 G53 X#2  F#1311
#1503 = 1(Probing automatically)
#1502=2; The second time fix probe.
M98P502

N3 
#1300 = #1;Update the target tool no.
IF #1993==1 GOTO4;
M153

N4
#1514 = 0//Pause Sign
#1503 = 1000 // Clear assist sign
M99