I have an older Fanuc T21 robodrill that our shop bought used. It's got the pallet changer option on it. We don't use the pallet changer at all because it was a pain. Instead, the same pallet stays inside the machine, and we just change out parts inside the machine at end of cycle. However, when I go to change tools, instead of an M6Txxx in MDI mode no matter where X and Y are, I have to make sure the pallet changer is in "RUN" mode, push a button to activate it, then move X and Y to a certain point. THEN I can do a tool change. We have wasted countless hours of production because some don't know the "exercise". What parameters do I change so that the machine ignores the pallet changer, and what parameters do I change so that I can do a tool change no matter where X and Y are?