Hello, I think it's time to introduce the tool-changer mechanism in equipment design. It has been missing for decades. There are machines where the tool-changer mechanism rides along with the Z-axis, and each tool has its own robotic arm for loading and unloading. These machines don't have a preset position for changing the tool, so the programmer must be aware of the last position of the tool in the program. Please see the video below for the basket-style tool-changer.
https://www.youtube.com/watch?v=97KQ5DKSuNw