Ethercat Servo spindle orient example required

THANKS
i will try

I think most commercial toolchange systems have a positive lock for final alignment.

>my machine is mill-turn center so my required sequence is
1-stop spindle with M19 R0 command
2-engage c-axis servo gear with main spindle gear
3-so my spindle become c axis
4-to memories c axis position i must do c-home before i disengage c-axis from spindle

and

in my machine case there is no brake or any pin on main spindle

(original machine built with siemens series 8 )

that's why i need to stop spindle in exact same position with some amount of torque after M19 R0

no i remove all old stuff from machine

currently i am using(NEW) KEB F5 combivert vfd with ethercat option card for spindle control

i know that

original spindle drive is very powerful but i want to use ethercat so i remove drive

but motor is original

i try to install feedback encoder card to keb vfd then i can improve performance (need lot of time to do this work )

motor start moving after 3 rpm command bellow 3 rpm motor rotate --stop--rotate so exact position arrival is difficult for me

(after 4 rpm motor rotate like servo motor very smooth with lot of power)

thanks
i am going to try on machine

update you result with some videos and pictures

thanks again