ATC: carousel.comp with Servo drive

Hi,

I have gone through many ATC posts with carousel(by Andy) and I am thinking of using the same for my ATC.
But I have some question regarding this:
1. I have a servo drive and motor which is EtherCAT based and want to use this for my ATC.Is there a way I can use it for ATC using Carousel.
2. Does Carousel support AXIS or Joint? As I can make my ATC additional Axis and control it.

As much as I can understand carousel, it mainly controls ATC using GPIO, but as I have EtherCAT based Servo drive and Motor, I don't know how to use GPIO to control it.

If anyone has some Insight please suggest me and help me figure it out.

Regards
Abhishek  

Hi Andy,

Thanks for the reply
As I have absolute servo encoder drive, I will not be using any sensors.
So I think I will have to keep track of encoder count.
I will come back again after some initial test.

Regards
Abhishek

did you figure this out? I'm also eyeballing this

I also have EtherCAT setup and I have managed to do this using it as regular axis and some M code rewrite, as it shown by talla83 in his vids.

But i don't like that there is additional axis shown in ui, so would be happy to see it's done with carousel comp.

yeah my quick research afterwards showed me that you just need to do it in G-code. it is also simpler like that. And use that as your M6 remap. This is also how it is done in several industrial machines i looked at.

any news about this?