ATC: carousel.comp with Servo drive

Thanks,

I actually managed to find the correct setting (SDO 0x2222 - set to 200) to limit the initial jolt from the servo... so it looks like I can drive directly. Just getting some tuning done and I will post up the configs.

-Jim.

Just to follow this up, I have it working great for small movements... but the moment I try and index to a pocket further away it error's my drive out (1b0 - Bus dithering).

Looking into the mode further... it is using CSP mode, which from the docs expects to be updated periodically with a location from a "movement planner". So I think I need to use Position Profile instead - which would allow a final position to be put in the target position register and then the movement profile (accel/velocity/decell etc) would be used from the drives settings.

So I will be hacking around a cia402 module to see if I can test this.

I use the carousell component with a stepper motor in step-dir mode without any problem. So I think there is no problem using a servo motor.