Run Mesa 7i76e + 7i85 with 3 servos and 1 stepper motor

I think that would be a good starting point. Note that that routine has an arm in-out and a locking pin, so your system might end up simpler.

Look at the HAL file too.

github.com/LinuxCNC/linuxcnc/tree/master...smach/VMC_toolchange

toolchange_index.hal is likely to be close.

Ok, thank you so much.

In the example toolchange.ngc there has to be set #<tool_in_spindle> and other parameters. I could'nt find, where they has to be/will be defined.

#<tool_in_spindle> is created by the prolog routine in the tool remap.

This line in the INI file of that sample:
Tells the system that when it sees an M6 it should run a (library) routine called "change_prolog", then run the toolchange.ngc file, then the "change_epilog"

Got it. Thank you
 

Ok. I reviewed all my macros and stuff. The homing is now directly from the carousel component. And seems to work so far.
I also tried to understand the manual pages of the M6 remap with prolog and epilog.

What is not ok in the moment: #<tool_in_spindle> always show -1, even if I run T2M6 for example. The screen also shows T0, so I think, the M6 will not end sucessful.

What happens if you use M61 to change the tool in spindle without M6?

linuxcnc.org/docs/stable/html/gcode/m-code.html#mcode:m61

The tool appears in the screen. M61 Q3 e.g. will correctly show T3 as selected tool.
The parameter tool_in_spindle get the correct value also.

Then I suspect that somewhere in the remapped G-code routine the (default, un-remapped) M6 is not being run.

Can you trace the programme logic to work out under what circumstances that could happen?

I add quick and dirty the M61 command to the toolchange.ngc file. Indeed, in this macro there is no M6 command.

You can (and probably should) use M6. Remap knows when the remapped code is used in the remap and runs the normal version.