What doesn't work great so far is the home offset - it moves, but it is quite violent... I appear to be missing a setting to control the acceleration/velocity of the moves on the carousel. The settings I have found so far will slow it down during homing, but appear to not affect the position mode once homed.
Likewise I have the jog forwards and reverse working, however still quite violent compared to what I would like.
Andy Pugh may chime in a more accurate response, but I think carousel.comp doesn't manage velocity or accel/decel when set to 'counts' mode and the counts-target pin is used.
In the velocity modes fwd-dc, rev-dc, align-dc pins all affect the motor velocity, but there don't appear to be specific accel/decel settings.
If you read the online manual (I suspect you've done so already), 'counts' mode can be used as either a position or velocity command. I suspect that because you are using the counts-target pin via ethercat the servo sees a position command and moves there (and stops) at fastest possible speed.
In my counts-mode carousel config the position is sent to a stepgen (itself in position mode), and the stepgen runs at the max values. So velocity & accel are adjusted in the stepgen setting, not with carousel.comp pins or parameters.
So I think in your case the easiest thing would be to adjust the servo drive to limit the max velocity and accel. You'd treat the servo drive essentially like I'm using my stepgen settings.
An alternative would be to put your servo in velocity mode - like a 'dumb' motor - and switch your carousel config to output a velocity & direction command to a PID component, and the PID output is sent to the drive. Velocity & accel would be adjusted in the PID.
