Homing a PID

Hi
i got a rackATC and it workes great on V axis setup STEPPER via 7i92Mesa
i want to go for a different Kinetics xyzac (switchKinetics)
Therefor i look to get rid of the V comand lines and use a PID

Q: I can not find a Guide on how to Setup a PID without Axis/Join relation and HOME that on the default Startup
the Pid needs to act as a Joint/Axis Command Pos

DOES THIS work Eighter or do i need to trweek the kinetics to leave V untouched

The Racktoolchanger acts on POS command only via M6 remap ngc
i did see a Carusell Comp but this needs switches per pocket or detect pocket movement i guess so 2 more inputs
(pocket,index at min i guess want to avoid this
Please HELP

First Thank you for Answering
I think i am approaching the Wrong way
it is a Stepper with a GT2 belt that drives a linier "Axis! that hold tools
there is the Stepper and the Inductive Switch all 6 Inductive switches of the Machine Fire the Same Pin
it workes on V Axis but only on Trivial Kinetics and if i Change to %axis kinetics the Problems Start

SO my Guess and best Advice be take the ATC away from the Joint Coordinates

to a Stand-alone commanded Thing

but as my English is far from Perfect i'am Stuck in search
Carousel may not be best for Racktoolchanger
is there something else in the HAL components that woudt fit

Requierment is to move the Stepper on Command per pocket number and ToolDistoffset at the ATC rack
in Remap NGC POS ATC = toolnr *dist