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I'm using a stepper in position command for my ATC, where carousel.countes-target drives the stepgen.nn.position-command.  That's the basic connection between carousel and a position-mode motor.

Unfortunately, I'm not expert in LCNC enough to know if there's a similar way to connect carousel.comp to an analog torque or velocity-mode servo.  I can see why you're inclined to stick with the ATC-axis scheme.

Can you post your config files, including the toolchange ngc files?

Also - what servo motor and drive is being used?  Just asking, as maybe there's an alternative command signal available that doesn't require a massive wiring change.

Start linuxcnc from the command line,
(by typing "linuxcnc" in a terminal window)
select the desired configuration, click 
the "Create Desktop Shortcut" check box,
and then hit OK
 

Believe me… I have read through countless hal-, ini- and remap-configurations, but since LinuxCNC is a relatively complicated piece of software, it’s hard to find all the needed information and sometimes I almost don’t even know what to look for.

I have watched Erik Salos’ video several times, and it is by far one of the best sources I have found on this topic. And even though he is using the carousel.comp (which I also would have used if my tool-carousel wasn’t controlled by a +-10V signal) I have gathered a lot of useful info from that video.

But back to the topic…

I have the M6 and Tx remap working to the point that when I run an M6 Tx command from MDI, LinuxCNC executes the necessary prolog and epilog functions and executes the change.ngc file.

I have put some print-commands in the change.ngc file to verify that it is beeing called and executed and I have also successfully returned different parameters to verify that everything is working as intended.

But I can’t get it to execute G-codes from within the change.ngc-file. I have tried running G0-commands (e.g. G0 C180 and G53 G0 C180) but it’s just skipping the lines containing the G-code and the axis doesn’t move. When I run the axes in MDI they work just fine.

Any tips regarding this?

Thanks Tommy.  That was the one I watched about 3 times before the motion.digital-in stuff started sinking in.

I would note that it would likely be easier
to find a 7I97T than a 7I97.

I have a problem with the system coordinates, I have represented the machine axes in blue (when I click on the + button in axis and on each axis).
and the axes I need to orientate on fusion 360 so that the cnc machines in the right place (in red).

would the problem come from fusion or axis?

I have another cnc with another control card (edingcnc) and I don't have this problem.