ATC - Servo, Analog, Carousel

Hello,

I got some trouble - with my ATC
Problem: 
ATC wont align to the right pocket number
Homing works not correct

The ATC has one INI to find Pocket 1 
A servo drives the magazin but i cant use the index for homing because the in comes several times per magazin rev.

my questions:

1. is it possible with the carousel comp to drive these ATC ?
2. if the first answer is yes - can anyone help me finding the errors in my config?

Thanks, bassti

The ATC has one sensor (inductive). One bolt is longer, so it is used as a reference (pocket 1).
The other bolts have no effect to the sensor.The disk is driven by a servomotor (JMC 750W, analog input velocity mode)—it's connected to a 7i97.I have encoder counts from the motor as feedback.The linear move toward the spindle is done by a pneumatic cylinder.

this is how it should work :

The ATC moves pneumatically into the working area. The disk rotates to the corresponding tool pocket, and then the main spindle retrieves the tool.

Can you post your ini file as well? What does it do when it homes? Have you tried setting a slower velocity as the carousel? Carousel doesn't have double tap homing like an axis/joint. Something I had a hard time with was I wanted to revolutions be carousel only takes whole numbers not floats for counts. So I made the scale of the carousel Joint 1:1 with the encoder/stepper. Then used encoder/steps do drive the position.

I'm having a remap issue, but you can look at my config here. forum.linuxcnc.org/10-advanced-configura...ord-toolchange-false