Carousel component + ethercat absolute servo as ATC motor setup

Hi, I'm trying to setup an ATC carousel with "style" I could have added an axis and use the standard probe basic marcos but the carousel component is something I would like to learn. 

1) I tried to feed the carousel.0.count-target straight as a pos-cmd getting a following-error, guess due to the sudden change in position, the motor moves a bit then stops with an error.
2) as a second attempt I've added a joint (without axis) to feed the new servo position from joint.N.motor-pos-cmd hoping that the servo would be controlled as an axis but motor.pos.cmd is an OUT pin..

At this point I'm lost, but don't want to give up using an axis, any suggestion?

Attached my actual toolchange.hal

No idea how the carousel works, but maybe you can try the Profile Position mode (PP) instead of CSP.