Servo Spindle with velocity AND position mode for Toolchanger?

hi
i think here is it better instead of my retrofit thread.

the emco vmc100 has a carousel which is turned by the spindle.

i use the original spindle hardware.
i can tap threads and mill. there is a encoder on top of the spindledrive.

with m19 r p i can orient the spindle.

now i came to the point that orient not works for the toolchanger because 2 spindle rotation are 1 positionchange from slot to slot.

could someone help me to get it work in position and velocity mode?

to enable the spindle i have a relay. if the relay open the drive is disabled and i can turn the spindle by hand.

if its enable the spindle is blocked and the pid bring it back to position.

thanks i will upload my hal in a hour

hi andy!
i think the right way is to use your carousel.comp.

but i have no idea how to link this up... its complete new to me and i need help to do this.

i try a little bit.. but if i want to go from pocket 1 to pocket 2 i must count a hole 2 times in a spinning gear disc.

i dont know if INDEX is the correct mode.. i dont want that ou think i am stupid... but.. can we do this together? or is there someone who can help me?

thanks