I don't have it running yet.
I just thought of the idea this afternoon.
Instead of using a PLC and a modbus to run the ATC, I could just assign three drives (two servos and one stepper) to the three axis (A,B and C) and operate the ATC with G code or a macro.
The 7th drive is for a 4th axis rotary table, but I can skip that if I can get the tool changer working this way.
Timothy