Please let me know if you make any progress , I am planning on using two cia 402 motors for the tool changer but don't know where to begin.
I threw the problem at ChatGPT and got a promising response. I've not had time to really work on it and test, but the AI Overlord suggests that carousel should be in counts mode, and connecting carousel.N.counts-target to the lcec.N.something-something-position-command is the basic connection.
I don't know about homing yet, but I don't think it's possible to get around the requirement to rotate the carousel until the index pin is triggered.
