Mill atc configuration

When finish all go to insert here all my working config.
I have another cuestion but first want finish this.
Is any another solution for orient complete set to high when is 2 seconds on position?

Back to setup.
After install linuxcnc 2.9.1 I start my program for try tool changer who changes tools from 1 to 12
First is M6 T1 the tool changer looking index and turn to the 1 pocket  take the tool
Second is M6 T2 Tool 1 back to pocket but changer start turn only for short time and get error "The toolchanger has failed the final alignment check"
After that program is still going M6 T3, M6 T4... But changer dont turn only load and unload to First pocket
When I test atc in 2.8.2 version it didn't happen
 
Actual hal and ini
       
Problem found
M64 P0 ; start carousel
;G4 P2
 

Aciera wrote:

You could try to use your 'near' component and an 'on-delay' to drive spindle.0.is-oriented. This would let you take control of the condition for completing the orient cycle instead of having the 'orient' component doing it.
 
 

I think this wil be the same like now. Now I use near for confirming angle position and see near High but pid still working.
Ideal wil be if the signal go to high when is one or two seconds on position.
How working now 

Today tried when orient.is-oriented go to high brake spindle but didint work...
How we see on video above, first orient (0.18s video) stop fast exactly 0.5 on position.
Second (1.14) stop 0.502 and need 10 seconds to stop on position.
Third time stop (2.13) fast exactly 0.5 on position.
But sometimes orient need little more time.
I cant set high P becouse close to position spindle is oscilating 0.498-0.502.
I cant set low sum.2.0 becouse close to position spindle start oscilating 0.498-0.502.
When orient-pid.output is greater than sum.2 (now set to 0.004) spindle dont move and waithing when orient-pid.output will pas them. but pid changing very slow and need sometimes 20 seconds to stop on position.
Try play with all settings P, I, D,FF, Deadband and this what I have is the best I can get. On video we see two times orient stop exactly.
But stop exactly 50 times and 51 need 20 or more seconds for stop on position.
Is my problem I have inventer who needs two relays cw/ccw and must use sum2/wcomp etc? Dont see any other people working with orient and sum2/wcomp.
For now I can set timedelay spindle-oriented.on for 60second and mill working hours changing tools without any problem. But 95% he stops immediately exatly on position and few times need 2-5 seconds and one need 30 seconds.
Does anyone have any ideas on how to solve this??
 

Any ideas how to solve it?

Need implement in my toolchange.ngc routine somethink like this..
Z axis go to move from -200 to -150 but if in this time one input go to high I want to stop program.
Any ideas?

 

Why if I want Run-from-line It make all the tool changes up to the starting point?   
Linuxcnc 2.9.2