1  msc {
 2   hscale="1.5", arcgradient="5";
 3  
 4   a [label="EMC"], b [label="iocontrol"],c [label="HAL TC component"], d [label="Machine"];
 5  
 6   a=>b [label="M6"];
 7   b=>c [label="tool-change = 1"];
 8   c=>d [label="change tool"];
 9   c<=d [label="change complete", ID=1];
10   a->b  [label="abort by user",ID=2,linecolor="red"];
11   b=>c [label="tool-change = 0",ID=3];
12   a<=b [label="M6 command aborted",ID=4];
13   b<=c [label="tool-changed = 1",ID=5];
14   b<=c [label="tool-changed = 0",ID=6];
15  }