Carousel component with CIA402 controlled Ethercat closed loop stepper

Hi everyone,
im currently trying to set up an 18 pocket carousel with a cia402 controlled ethercat stepper motor. 
While I got it working in CSV (velocity mode), CSP so Positioning would be much nicer, faster and more accurate. 

My issue with this however, is that I have no way (or at least none that i know) to regulate the speed when setting the target position over the counts-target pin. Am I missing something or is this just not possible?

How is the typical CIA402 driven drive speed regulated?

The speed is controlled by the trajectory planner. You can also use the limit3 or simple_tp components.

In your case - for the tool changer - you could use PP mode. Then the speed would be controlled by the drive itself, and you would only need to specify the new position. This mode is not available in the widely used cia402 component, but there have been examples of modifications on the forum, or a simple startup setting via SDO 0x6060=1   + a small amount of HAL logic

Awesome Thank you.
ill try it with a simple limit2. Didnt know this component existed but it seems to do exactly what i need.

TAKUYA wrote:

Awesome Thank you.
ill try it with a simple limit2. Didnt know this component existed but it seems to do exactly what i need.
 

Following this as I've got a stepper-driven ATC using 'index' encoding under carousel.comp.  I'm thinking about switching everything over to ethercat, but the ATC was a really fuzzy area for me.