第1阶段：抓新刀。txx代码控制刀库按就近方向转动到编程刀具所在的位置，到位且有刀库定位i信号后启动机械手，经过步骤1→步骤2→步骤3→步骤4，将编程刀具抓在手上等待换刀。

第2阶段：换刀。m06启动换刀固定循环“tool”。“tool”控制各坐标移动到换刀位置，并用m90通知plc启动换刀，plc用m90信号请求nc“读入禁止”并启动机械手换刀步骤5→步骤6→步骤7→步骤8→步骤9→步骤10→步骤11，同时用步骤5的到位信号控制刀库转到主轴刀号的位置。

第3阶段：还刀。步骤5启动的刀库旋转停止且有刀库定位i信号后，启动机械手步骤12→步骤13→步骤14→步骤15，将主轴刀具还到刀库中并将记忆主轴刀号的存储器更新。步骤11完成后，取消“读入禁止”，激活刀具参数，加工程序和机械手还同时进行。

第4阶段：抓预选新刀。在m06的下一段紧跟下道工序要用的刀具号txx，刀库在完成还刀动作后可在零件加工的同时启动机械手步骤1→步骤2→步骤3→步骤4，将下道工序所用的刀具预选抓到机械手上，等待m06启动后面的换刀动作，这样大大缩短了刀具交换的时间，提高了工作效率。

applied materials (amat) 0100-11000 analog input

applied materials (amat) 0100-40027 pcba,two chmbr backplane

applied materials (amat) 0100-91077 pwba analysing mgnt.amplifier

applied materials (amat) 0100-91095 pwba pneumatics control l & r

applied materials (amat) 0100-91139 decel control motherboard

applied materials (amat) 0140-02956 harness assembly, mf i/o ribbon, ecp sf3

applied materials (amat) 0140-03010 harness assembly anneal chamber, ecp

applied materials (amat) 0140-03011 harness assembly, anneal chamber, ecp sf3

applied materials (amat) 0140-04594 harness assy, ch-match, isovalve sensors

applied materials (amat) 0140-09215 harn assy onboard teos 15 ft. ext #7

applied materials (amat) 0140-09532 harness, a/b bundle, teos intlk

applied materials (amat) 0140-10941 harness dpa control

applied materials (amat) 0140-16142 harness assembly, smif plc wide body lla int

applied materials (amat) 0140-40264 cable

applied materials (amat) 0140-40266 cable

applied materials (amat) 0140-40355 harn assy,10 channel mfc

applied materials (amat) 0150-00549 cbl heater,ch."d" gplis lower teos line

applied materials (amat) 0150-13063 cbl heater,ch."a" gplis upper teos line

applied materials (amat) 0190-01132 weldment, alum flange

applied materials (amat) 0190-11782 spec., track (xu-acl4202) limit sensor c

applied materials (amat) 0190-13921 driver, sensor cable (5), version 2

applied materials (amat) 0190-13922 external encoder cable, version 2

applied materials (amat) 0190-40180 gas feed,improved,cgf

applied materials (amat) 0190-40181 block bellows assy, cgf

applied materials (amat) 0190-40181 block