Problem with homing ATC step motor

COFHAL wrote:

Tomorrow I publish the photos of the ATC. Regarding the sensors, I think I will use the hall effect switch, which are smaller and instead of drill holes, I will use neodymium magnets glued to a disk simulating a 3-bit gray code plus another for the index or strobe. in total 4 hall effect switch.
 

I shy away from magnets on machine tools, they attract swarf.

There are some fairly small inductive sensors: www.ebay.co.uk/itm/313673605719 as an example. You need ones (like these) where the metal case comes right to the end. The others can't work buried in a hole in metal. 

The only reason not to use magnets, I suppose, is that you will need quite a lot of them. One for each strobe, and about 12 more to build the gray codes. Sensing metal instead you can use holes and grooves in existing parts for targets.
There are Hall sensors with magnets included for sensing metal targets, though I am not sure how well they do with pure DC sensing.
ATS-667 is one example, though they are bulkier than the one you show.
For something really tiny, look at reflective optical sensors, this one is 2.5 x 2 mm: uk.rs-online.com/web/p/reflective-optical-sensors/1612156

You can probably use the encoder with carousel. And probably also use the encoder index rather than an external one.

Carousel is basically intended to use any form of feedback that can work. Which includes an incremental encoder + index. (There is a pin for the offset between the index and pocket 1)

Strobe is used on some changers to indicate that the current binary/gray code is valid.

Typically the Gray/Binary levels are set a long way before and after the pocket. Strobe says "believe it now"

Strobe and Index are functionally very similar. Which one to connect rather depends on your toolchanger,

I wrote the component, but that doesn't mean that I fully understand exactly how it works with every possible set of input, outputs and drives.