Samurai 120 CNC Tool Changer Configuration

Hi all,
I’m looking for some advice on configuring a tool changer for a Samurai 120 CNC.The machine is currently running a Raspberry Pi 5 with EtherCAT-based Leadshine EL8 servo drives and motors.
The tool changer will require two additional motors, which I haven’t purchased yet. At the moment I’m considering the StepperOnline EtherCAT servo motors, as they’re significantly cheaper than the Leadshine units.
Has anyone here configured an EtherCAT-based tool changer using two motors, or got any advice on the best way to approach the setup and control side of it?I’m also using the Probe Basic interface, so I’ll probably need some help understanding how to correctly configure everything to work with that as well.Any guidance would be greatly appreciated.
 

Hi Andy,The tool changer uses two motors: one to rotate the carousel into position and the other to actuate the tool change mechanism.The carousel rotation has a proximity sensor fitted, which could be used to establish a reference or home position. Once the correct tool position has been indexed, the second motor drives the tool in and out to allow the machine to perform the tool change.I’ve added a video link below showing an example of the system running on Mach4. It should give a better idea of how the sequence operates.


thanks for the help !