Problem with homing ATC step motor

I think that the only change you need is to reduce to two joints:

Andy
No, if I only leave two joints I get an error: joint.2.amp-enable-it does not exist., and without that instruction the engine doesn't work.

change
to

Thank you very much for your support, the motor already works. The problem now is that despite having the carousel configured as bidirectional it always turns in the same direction, when verifying with the HALSHOW carousel.0.motor-fwd or carousel.0.motor-rev it is activated depending on which is the most it cuts to reach the tool it selects, despite that the motor always only turns in the same direction.

How is carousel connected to the stepgen?
For a stepper you should probably have carousel.0.motor-vel connected to stepgen.N.velocity-cmd. If the changing sign of the velocity command does not change the rotation direction than it may be that the stepgen.N.dir pin (in software or hardware, or possibly both) is incorrectly connected.

Dear Andy.

#*******************
# ATC MOTOR
#*******************

# Step Gen signals/setup

setp hm2_7i96.0.stepgen.03.dirsetup [JOINT_2]DIRSETUP
setp hm2_7i96.0.stepgen.03.dirhold [JOINT_2]DIRHOLD
setp hm2_7i96.0.stepgen.03.steplen [JOINT_2]STEPLEN
setp hm2_7i96.0.stepgen.03.stepspace [JOINT_2]STEPSPACE
setp hm2_7i96.0.stepgen.03.position-scale [JOINT_2]STEP_SCALE
setp hm2_7i96.0.stepgen.03.step_type 0
setp hm2_7i96.0.stepgen.03.control-type 1
setp hm2_7i96.0.stepgen.03.maxaccel [JOINT_2]STEPGEN_MAXACCEL
setp hm2_7i96.0.stepgen.03.maxvel [JOINT_2]STEPGEN_MAXVEL

net a-enable <= carousel.0.active

setp carousel.0.fwd-dc 10000
setp carousel.0.rev-dc 10000
setp carousel.0.hold-dc 0

net carousel-vel <= carousel.0.motor-vel
net carousel-vel => hm2_7i96.0.stepgen.03.velocity-cmd

try -10000 for the rev-dc

Thank you very much for your support, it is working now, the only thing I have noticed is that sometimes it does not take the shortest route to go to a tool and always does it in CW sense, other times it does it well.

www.youtube.com/shorts/lqIkyk-0P-8