FreeBSD 2.2 supports SCSI changers using the ch(4) device and the chio(1) command. The details of how you actually control the changer can be found in the chio(1) man page.
If you are not using AMANDA or some other product that already understands changers, remember that they only know how to move a tape from one point to another, so you need to keep track of which slot a tape is in, and which slot the tape currently in the drive needs to go back to.
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