Problem with homing ATC step motor

.Read a little more about the carousel function to understand a little better how it is used. Regarding the encoding, I think it is now clear to me that when using index only two sensors are needed. Regarding what you call strobe, in another thread I found that it is a signal that is used in conjunction with gray coding or another to know exactly the position of the tool, avoiding errors when the turret is rotating and gaps appear that could be interpreted as a pocket, I don't know if that's a wrong interpretation.

  Andy I already have the gray encoder working for the tool changer for the lathe, simulating the movement with the sensors, everything works fine. Now I included the stepper motor, but now the problem is that after homing the X and Z axes and trying from the MDI make a tool change with M6 Tx, I get the error: cant issue MDI command when not home. I understand that as the motor I use for the carousel I have no way of doing homing for linuxcnc this motor is not in the home position. These are my configuration files. 

I think that the only change you need is to reduce to two joints:

Andy
No, if I only leave two joints I get an error: joint.2.amp-enable-it does not exist., and without that instruction the engine doesn't work.

change
to

Thank you very much for your support, the motor already works. The problem now is that despite having the carousel configured as bidirectional it always turns in the same direction, when verifying with the HALSHOW carousel.0.motor-fwd or carousel.0.motor-rev it is activated depending on which is the most it cuts to reach the tool it selects, despite that the motor always only turns in the same direction.