2002 Matsuura with pallet pull. Videos available in links below.
Matsuura RA-1X (Machine Homing Sequence & Spindle Operation)

https://youtu.be/YjK7_W2p-qY

 Matsuura RA-1X ( Pallet Change)

https://youtu.be/TcPYAGupZkA

 Matsuura RA-1X ( Tool Change )

https://youtu.be/Cpq2rkP_AbE

 Matsuura RA-1X ( Tool Carousel )

https://youtu.be/coXsjOXb0Q8