Configuring ATC

Hi,
I have a problem with configuration for automatic toolchanger.
My lathe is modification from conventional lathe to cnc controlled machine.
I have a revolver turret with no locking system its based on strain wave gearing and servomotor.
The servomotor is defined as A axis in Milling mode, so g-codes like G0 and G1 is working perfectly, but i would like to make use of M6 code, because it must work with offsets for each tool separately. I have no skill in programming scripts, so i cant make it by myself and i need your help with it.
Is there any complete script for that kind of ATC or similar turret?
Would that work in lathe mode in LinuxCNC (this mode uses only 2 axis, but A axis would be possible to use ONLY in Milling mode)?
Do you have any ideas for that?
I think there is simple solution, but i cant go forward with work in cycle process without it, and i need it ASAP.
im attaching in configurations of my lathe:
1. Frezarka- Milling mode (Y axis have no use there, i need to remove it cause it makes bugs and troubles sometimes, even the programs stops)
2. Tokarka- Lathe mode (without A axis)

I think you can just add an axis by manually editing your lathe config. Basically copy the axis sections from your milling config and edit the ini file. See Link

Regarding control of the changer, I think the best way is to remap m6 and then use gcode to move the a axis to the correct tool position.

Remap basically disables the standard m6 actions and allows you to "intercept" the m6 process and to run your own subroutine (gcode) to perform the toolchange. Check the docs for details

will the offset for each tool then work?

can you describe this solution step by step how to do it? I have not much skill in programming and setting on linuxCNC, and i don't want to do somethink wrong and break my lathe.

I attached Config files, you can download and read all configurations of my system. Turret has no locks, its just servo and strain wave gearing

Read the m6 part of this. linuxcnc.org/docs/html/remap/remap.html

It seems intimidating but it is not that difficult.

this is config files:

1. Frezarka- Milling mode (Y axis have no use there, i need to remove it cause it makes bugs and troubles sometimes, even the programs stops)


2. Tokarka- Lathe mode (without A axis)