Carousel tool charger, best approach?

Hi, I'm going to realize the routine to control my tool charger, a carousel with 12 positions.
The tool changer is controlled by a stepper motor + encoder and configured as an axis.

For changing tool i need some phases,
- rotate the carousel to the correct position
- send signal to spindle lock
- send a signal to activate an air actuator
- others...

What is the best choice? an hal module or remap M6?
Thanks

wiki.linuxcnc.org/cgi-bin/wiki.pl?ClassicLadderExamples

wiki.linuxcnc.org/cgi-bin/wiki.pl?ToolChange

I was using the two above links as a guide on doing mine. I have a 24 pocket rotary tool changer.

2.1 shows the tool changer with the stepper and its a hal component.

Thanks for reply,

I know the sequence of events of M6 command, I was unsure of what was the best way to control the tool changers,
but I think I will use a custom HAL component in combination with the component "orient" to control the spindle orientation.

Hi Andy.

I agree with you, after breaking my head on rt and userspace component i realized that there's no easy way to move axis controlled by linuxcnc, the best option is remap, I had chosen the components way because, during tool change, I have to control a pneumatic piston to move carousel and using components is easy to define some pin to control pneumatic valve and others to read switch limit to verify that carousel is in correct position. With remap i have to use motion.digital-in/out controlled by M-Code.

The alternative of an rt component like the carousel HAL component would force me to control all aspect of carousel motion, including an homing procedure, managing position and feedback entirely in code, it would be the way I would prefer but also the most complex.

So I'll give a chance to remap and try to write an O-word procedure to control tool changer... and this is the third attempt to write some code for my tool changer. We learn by our mistakes...

Thanks PG

Wow! Very close to what I need, l'll save a lot of time writing subroutine, I only need to adapt minor part an try.

Many tanks Andy.

Just as report, i finally terminate to write my tool change procedure using M6 remapping and everything works correctly.
Now I have some question on spindle orient but I'll open a new thread for this.

Thanks to all for your support.