Carousel with step motor

[code][code]#include "KMotionDef.h"
#define TMP 10 // which spare persist to use to transfer data
#include "C:\KMotion434j\C Programs\KflopToKMotionCNCFunctions.c"
 
//-----------------------------------------
//      LINEAR TOOL CHANGING
//-----------------------------------------
#define AXISX 0
#define AXISY 1
#define AXISZ 2
#define AXISB 4
 
//---------Absolute position of tool holders
#define HOLDER_B_1 18.28
#define HOLDER_B_2 48.28
#define HOLDER_B_3 78.28
#define HOLDER_B_4 108.28
#define HOLDER_B_5 138.28
#define HOLDER_B_6 168.28
#define HOLDER_B_7 198.28
#define HOLDER_B_8 228.28
#define HOLDER_B_9 258.28
#define HOLDER_B_10 288.28
#define HOLDER_B_11 318.28
#define HOLDER_B_12 348.28

#define HOLDER_Y -151
#define HOLDER_Z -147.68
 
// absolute position of the tool height setting plate
#define SOFT_LIMIT_X_SHIFT_POS 700
#define SOFT_LIMIT_Y_SHIFT_POS -151 
 
// absolute position to move to that is permanently unobstructed, and safe to move down in Z
#define TOOL_CHANGE_SAFE_POS_X  753 
#define TOOL_CHANGE_SAFE_POS_Y -151
#define TOOL_CHANGE_POS_X 819.34  
#define TOOL_CHANGE_POS_Y -151 
#define AXIS_SAFE_DISTANCE_X 600  // distance in mm to approach tool holder
#define Z_1 -1
//---------
 
//--------- Spindle IO bits
#define CLAW_EJECT 52       // IO bit to eject tool from spindle (KONNECT OUTPUT 10)
#define SPINDLE_CLEAN 51    // IO bit to blow air out of spindle taper (KONNECT OUTPUT 11)
#define CLAW_LOOSE 1041     // IO bit to sense whether the claw has ejected (KONNECT INPUT 24)
#define TOOL_SENSE 1040 
#define CHENGER_OPENED 1042
#define CHENGER_CLOSED 1043
#define OPEN_CHENGER 58
#define CLOSE_CHENGER 59
    // IO bit to sense whether the a tool is in the spindle (KONNECT INPUT 24)
//---------
 
#define TOOL_VAR 9          // Tool changer desired new tool Var
 
// Tool changer Last tool loaded is saved globally in this Var
#define LAST_TOOL_VAR 8     //  -1=Spindle empty, 0=unknown, 1-12 Tool Slot loaded into Spindle
#define TOOL_DISK_FILE "C:\\KMotion434j\\C Programs\\User\\temp\\ToolChangerData.txt"
 
 
#define CLAMP_TIME 2.0      // seconds to wait for the clamp/unclamp
#define CHANGER_OPENING_TIME 2.0  // seconds to wait for the OPEN/CLOSE CHANGER
#define TOOL_HEIGHT_BIT 1055    //bit to read tool height plate (KONNECT INPUT 31)
 
#define SAFE_HEIGHT_Z 10 
#define SAFE_HEIGHT_Z1 100  // relative distance in mm to move to clear the top of the tool taper
#define TOOL_RETRACT_SPEED_Z 45.0    //speed in mm/second to move spindle up after tool has been ejected
 
#define SlowSpeed 150.0 //mm/sec
#define SlowSpeedB 80 //deg/sec 
#define Time_to_open 2 
float S=0;

[code][code]I hope the home-offset will be fine in my case

P.S.: My native language is not English and I'm a building engineer. So, the coding part a little difficult for me to understand. Never used those concepts such as velocity mode or position mode and how they differ, or other stuff.
But if there is an example, or description with images, schemes, it much more easier for me. (simple text reading is difficult to understand for me)

[b]stepgen[/b] has two control modes, which can be selected on a channel by channel basis using [b]ctrl_type[/b]. Possible values are "[b]p[/b]" for position control, and "[b]v[/b]" for velocity control. The default is position control, which drives the motor to a commanded position, subject to acceleration and velocity limits. Velocity control drives the motor at a commanded speed, again subject to accel and velocity limits. Usually, position mode is used for machine axes. Velocity mode is reserved for unusual applications where continuous movement at some speed is desired, instead of movement to a specific position.