In traditional CNC tool change, the tool on the spindle needs to be sent back to the tool magazine, and then the new tool can be taken out of the tool magazine. Because these two actions run separately, the tool change time is longer and the processing efficiency is low. The ATC CNC router can accurately transport the tools required for the next step of processing to the tool change position according to the system program instructions, and at the same time receive the tools used in the previous step. This saves time and improves work efficiency.