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Well, one thing I can tell you is that I never imagined that a toolchanger like that existed when I created the carousel component

It's a neat idea, actually, I quite like the design.

You could maybe set the carousel.0.rev-pulse to some value, but to be honest I don't think that would work properly, as it assumes that the motor is allowed to slip against a hard stop, and that's not going to work in counts mode.

I think that one way to do what you want would be to add a mux2 to switch the velocity command.

Change

Then set up (and tune) the PID to park the changer and hold it there.

A better option might be to modify the carousel.comp to add an extra park state in the state machine. Do you have any familiarity with C code?

Hi Tia,

I don't know why it won't run with cia-402.
We have more users with the same problem.

However the cia-402 source code does nothing with acceleration. Only torque, vel, pos.

Is there a alternative to the cia-402?  

if you want to access my machine remotely i can give you access

Tried to compile but got this:

In file included from emc/planner/curve.h:14,
                 from emc/planner/feed.h:15,
                 from emc/planner/feed.c:12:
emc/planner/emcmot_segment.h:27:10: fatal error: segment.h: No such file or directory
   27 | #include "segment.h"