Motor control
Use a relay or relays to swap rotation direction. It would be wired so that when the relay/s are off it rotates in the default direction (no output required). To change direction you fire a single output (which if I'm not mistaken will deactivate in an estop).
This would not work because Mach4 in combination with PoKeys does not deactivate the output in case of an estop. If you know how to change that, please let me know
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By the way all other drives are deactivated via Safe Torque Off that is controlled by a PNOZ safety relay. The DC Motor driver does not offer such a funcionality and I think it is unnessecary because it has very little power. It can easily be stopped by hand. Also one second after the estop a contactor cuts the power supply to all drives and also the toolchanger. The contactor is monitored by the safety relais.
However, when the estop is cleared and the power is reconnected, the toolchanger starts turning again, because the output of mach is still enabled.
I will try your suggestions and let you know. Thank you very much for the help so far.
Martin