ATC - Servo, Analog, Carousel

Hello,

I got some trouble - with my ATC
Problem: 
ATC wont align to the right pocket number
Homing works not correct

The ATC has one INI to find Pocket 1 
A servo drives the magazin but i cant use the index for homing because the in comes several times per magazin rev.

my questions:

1. is it possible with the carousel comp to drive these ATC ?
2. if the first answer is yes - can anyone help me finding the errors in my config?

Thanks, bassti

The ATC has one sensor (inductive). One bolt is longer, so it is used as a reference (pocket 1).
The other bolts have no effect to the sensor.The disk is driven by a servomotor (JMC 750W, analog input velocity mode)—it's connected to a 7i97.I have encoder counts from the motor as feedback.The linear move toward the spindle is done by a pneumatic cylinder.

this is how it should work :

The ATC moves pneumatically into the working area. The disk rotates to the corresponding tool pocket, and then the main spindle retrieves the tool.

Can you post your ini file as well? What does it do when it homes? Have you tried setting a slower velocity as the carousel? Carousel doesn't have double tap homing like an axis/joint. Something I had a hard time with was I wanted feedback in revolutions but carousel only takes whole numbers not floats for counts. So I made the scale of the carousel Joint 1:1 with the encoder/stepper. Then used encoder/steps do drive the position.

I'm having a remap issue, but you can look at my config here. forum.linuxcnc.org/10-advanced-configura...ord-toolchange-false

I was talking about the index from the motorencoder - the inductive sensor is seen only once per rev.

 Hey CNC4Life,

I can't find your project - I think the link is dead.
Can you post it here?
Here is my INI...Currently, the reference process starts, and I am at pocket 1. Then I want pocket 5.
The carousel goes to that position, but when I want to go back to tool 1, the carousel rotates in the same direction (so I end up at a pocket with a higher number).

The carousel.comp  ignores the parameters for unidirectional and reverse pins.

I think there is a problem with the counts being given to the PID.