Problem with homing ATC step motor

How is carousel connected to the stepgen?
For a stepper you should probably have carousel.0.motor-vel connected to stepgen.N.velocity-cmd. If the changing sign of the velocity command does not change the rotation direction than it may be that the stepgen.N.dir pin (in software or hardware, or possibly both) is incorrectly connected.

Dear Andy.

#*******************
# ATC MOTOR
#*******************

# Step Gen signals/setup

setp hm2_7i96.0.stepgen.03.dirsetup [JOINT_2]DIRSETUP
setp hm2_7i96.0.stepgen.03.dirhold [JOINT_2]DIRHOLD
setp hm2_7i96.0.stepgen.03.steplen [JOINT_2]STEPLEN
setp hm2_7i96.0.stepgen.03.stepspace [JOINT_2]STEPSPACE
setp hm2_7i96.0.stepgen.03.position-scale [JOINT_2]STEP_SCALE
setp hm2_7i96.0.stepgen.03.step_type 0
setp hm2_7i96.0.stepgen.03.control-type 1
setp hm2_7i96.0.stepgen.03.maxaccel [JOINT_2]STEPGEN_MAXACCEL
setp hm2_7i96.0.stepgen.03.maxvel [JOINT_2]STEPGEN_MAXVEL

net a-enable <= carousel.0.active

setp carousel.0.fwd-dc 10000
setp carousel.0.rev-dc 10000
setp carousel.0.hold-dc 0

net carousel-vel <= carousel.0.motor-vel
net carousel-vel => hm2_7i96.0.stepgen.03.velocity-cmd

try -10000 for the rev-dc

Thank you very much for your support, it is working now, the only thing I have noticed is that sometimes it does not take the shortest route to go to a tool and always does it in CW sense, other times it does it well.

www.youtube.com/shorts/lqIkyk-0P-8