Regarding the sensors, the Chiron has them on the cylinders, there is a cylinder for each tool, each having a prox sensor top and bottom and then two more cylinders either side that lower and raise the basket. It looks at first a very complex set up but when you study it is actually quite simple and seems reliable as the only thing my friend has had to do in the 15 or so years he has had it is replace pipes as the originals started splitting.
Heres a vid of the style on the Chiron.http://www.youtube.com/watch?v=97KQ5DKSuNw
That's one cool tool changer. Definitely the fastest I have seen.
If the basket can't rotate then setup is not an easy task, trying to reach the tools on the rear.