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Sorry for the late reply.

To do it all with G-code you would remove the carousel.comp from the system. It's not really helping if you define the changer as an axis.
(Note that you _could_ define the changer as an "extrajoint" if you really wanted to not have a spurious A axis appear in the GUI, but that's a topic for another day).

Your remapped toolchange routine has access to a set of built-in variables:http://linuxcnc.org/docs/stable/html/gcode/overview.html#gcode:predefined-named-parameters

Your routine could use #<_selected_pocket>

So, your toolchamge.ngc would be something like

There is no tool unload in this routine, so it won't work as-is. But is illustrates the idea. It's a lot like the rack-toolchanger example in the sim configs.

ethercat slaves indicates drives are in PREOP
halshow shows no pins

sudo dmesg output:
[3991690.001706] EtherCAT DEBUG 0: ec_master_send_datagrams(device_index = 0)
[3991690.001707] EtherCAT DEBUG 0: Adding datagram 0x0B
[3991690.001708] EtherCAT DEBUG 0: frame size: 46
[3991690.001709] EtherCAT DEBUG 0: Sending frame:
[3991690.001709] EtherCAT DEBUG: FF FF FF FF FF FF 2C 44 FD 25 D0 28 88 A4 0E 10
[3991690.001714] EtherCAT DEBUG: 04 0B 01 00 30 01 02 00 00 00 00 00 00 00 00 00
[3991690.001719] EtherCAT DEBUG: 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00
[3991690.001723] EtherCAT DEBUG: 00 00 00 00 00 00 00 00 00 00 00 00
[3991690.009637] EtherCAT DEBUG 0: Received frame:
[3991690.009639] EtherCAT DEBUG: FF FF FF FF FF FF 2E 44 FD 25 D0 28 88 A4 0E 10
[3991690.009645] EtherCAT DEBUG: 04 0B 01 00 30 01 02 40 00 00 02 00 01 00 00 00
[3991690.009650] EtherCAT DEBUG: 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00
[3991690.009655] EtherCAT DEBUG: 00 00 00 00 00 00 00 00 00 00 00 00
[3991690.009663] EtherCAT DEBUG 0: ec_master_send_datagrams(device_index = 0)
[3991690.009664] EtherCAT DEBUG 0: Adding datagram 0x0C
[3991690.009665] EtherCAT DEBUG 0: frame size: 46
[3991690.009666] EtherCAT DEBUG 0: Sending frame:
[3991690.009666] EtherCAT DEBUG: FF FF FF FF FF FF 2C 44 FD 25 D0 28 88 A4 0E 10
[3991690.009671] EtherCAT DEBUG: 04 0C 02 00 30 01 02 00 00 00 00 00 00 00 00 00
[3991690.009676] EtherCAT DEBUG: 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00
[3991690.009681] EtherCAT DEBUG: 00 00 00 00 00 00 00 00 00 00 00 00

The ethercat-conf.xml file came from the output of the command lcec_configgen


I replaced ethercat-conf.xml with your suggestions, and still get the same error

phil@SodickA:~/linuxcnc/configs/sim.axis$ linuxcnc lathe.ini
LINUXCNC - 2.9.3
Machine configuration directory is '/home/phil/linuxcnc/configs/sim.axis'
Machine configuration file is 'lathe.ini'
Starting LinuxCNC...
libnml/buffer/shmem.cc 320: Shared memory buffers toolCmd and toolCmd may conflict. (key=1004(0x3EC))
libnml/buffer/shmem.cc 320: Shared memory buffers toolSts and toolSts may conflict. (key=1005(0x3ED))
libnml/buffer/shmem.cc 320: Shared memory buffers emcError and emcError may conflict. (key=1003(0x3EB))
linuxcnc TPMOD=tpmod HOMEMOD=homemod EMCMOT=motmod
Note: Using POSIX realtime
Found file(REL): ./ethercat.hal
./ethercat.hal:50: Pin 'lcec.0.0.statusword' does not exist
Shutting down and cleaning up LinuxCNC...
Note: Using POSIX realtime
LinuxCNC terminated with an error.  You can find more information in the log:
    /home/phil/linuxcnc_debug.txt
and
    /home/phil/linuxcnc_print.txt
as well as in the output of the shell command 'dmesg' and in the terminal
 

i tried typing sudo make setuid but u got make:: *** No rule to make target setuid. Stop

Hey, i have no idea what this means. I can tell you that I downloaded the linux cnc from here linuxcnc.org/downloads/ 2025 version, I made a bootable flash drive and installed it like this, initially I was using only the USB but then I installed it properly and it's the only thing on this PC.

could you tell me what I should do from here?

Look at gearchange.comp (I think) on my repository above, I think that is close to what you want. (not exactly, but would be a reasonable starting point)

A workaround if you are worried about phase error on reversal is to use a tension-comopression tap holder to absorb the axial mismatch.

Anything HAL in GTK will have come with the LinuxCNC installation.

It _might_ help to install linuxcnc-uspace-dev (it won't hurt, at least)