Alzmetall BAZ 15 CNC Carousel ATC - need help.

Hello.
I'm "new" in LCNC ( I can copy paste with a little understanding the process)
The axis, and the spindle is working and moveing and doing the homeing sequence (with index).
Now I'm tryin to figure out the carousel component.
The machine is a Baz 15 CNC with random tool changer. (=1 in the config - axis ui)
The I/O signals connected to the mesa 7i96s and to a 7i84 board.
All signals now has names.
The carousel motor has a break. In the VFD it's hooked up and by running it loose, stops it lock. So the control should be with motor ON (cw) and a REVerse (ccw) signal. (there was 2 different speeds 24Hz 83hz, but on the new vfd i can't make them work, because in multispeed is in % and the revers is controled with negative %)
Activating the ATC output signals from LCNC one-by-one everything is moveing, the inputs are blinking.
The question is, how to make it move on by own with one command?
There are 3 sensors for tool search. 
S4 - index
S5 - count
S6 - count (on position)?
S7 - when changing and hide the carousel.

When I will be at home, i will add some fotos.
The tool change looks like this:

A few words more....
To the main spindle's VFD 2 output signals (alarm and spindle stop) connected also to the mesa card. The spindle stop signal is high, when the spindle run. So the first check will be this.
There are also sensors (S12-S14) for rotary head position "0°", or "180°" (the head must move cw, or ccw sensing the head position)
For the "clamps" (catching the tool, rotates the head and release it) not sure if there any sensor (i will figure it out later)
Also there are a head top and bottom position sensor + tool lock/release in the spindle.
If needed, i will add tomorrow my config, but there are nothing about the carousel, only I/O pin names

The first question is:
Which pins i have to use from the carousel component, to see only how it rotates and find the commanded pocket number.
pockets - The number of pockets in one toolchanger - 24.
encoding - The position encoding. - ? (not sure - Index, or count)
num_sense - The number of position sense pins. - 3 (but if use Index just 2)
dir  - Set to  2 for bidirectional operation.
carousel.N.pocket-number
carousel.N.enable
carousel.N.ready
carousel.N.sense-0 
carousel.N.sense-1
carousel.N.sense-2
carousel.N.index-enable (sense-0 if i understand correctly will wait for high, or i will invert it if needed low)
carousel.N.motor-fwd
carousel.N.motor-rev
carousel.N.homed (i have no idea how to home the carousel)


An other issue with the "message". Some why it's triggering the pop up message at LCNC startup. (they are high, but i'm used the inverted pin "-not")
+ at startup, before showing the main screen pop up a message "negative tool number id not found" (trying it on a raspbery pi 5 with the raspbian OS with LCNC 2.10 pre, on this forum found the image file)

Here are some photos...

And if I understand correctly, all pins must be connected to motion I/O, to be possible to manipulate them from G-code.
Is that correct?

Also watched this... Try to understand... But... not really... What to use in my case...

Here is my hal file (pleas tell me which pins to use) 


Now i  will try to edit the toolchange.ngc (it looks like the macro-b in the DDCS Expert controller)

the toolchange.ngc not so difficult, but to unload the spindle i need to find an empty pocket first.
How can i do it?

Hello
Here is the toolchange ngc, but i don't understand how to check the head position
There are 3 switches s12 s13 s14 in the hal file. How to read them or they result from the hal file to use it in the ngc file?

;check the position of he head ussing s12-s14 signals  ?
;use the M64 P6 ka25-head-ccw if s12 - HIGH , s13 - LOW , s14 - HIGH . ?
;use the M64 P7 ka26-head-cw if s12 -  , s13 -  , s14 -  . ?
;if all  three signals low in a few seconds abort 


 

Tried to read the manual about the REMAP. It's a little difficult for me.Added the Pytons to the ini without epilogs and prologs.Now the carousel begin to rotating, but after index it stops, car-active pin goes LOW, but index-enable still HIGH and the car-enable HIGH too, but after 30sec both goes LOW. Tool and pocket number changes. When i try to change again the tool nothing happens.

Can anyone help, how to make work the carousel.component?
Maybe i  don't make some connections, or setp...

Now the config looks like this...
 

Is it possible to make the random tool change faster searching for the next tool in the g-code and prepare it while the program runs?