Been doing some tuning of servo in analog mode. Has a little jitter to it(not bad tho) and takes about a second to settle into position when coming to a complete stop, estimate about the last .02" of movement when rotating carousel about 180* then back to 0. Still finding my way through the servo drive settings. I think current tuning is fine.
Now iam trying to figure out how i should approach the Ccode for tool change sequence.
1) Set 2 inputs on servo drive , one for CW rotation and other for CCW. Then use my current proximity sensor that was used to count tool pockets on the Geneva mechanism and design a trip for it to sense. Or maybe a trip at every tool pocket position?
2)Would rather do this....Use the encoder on servo to move/rotate carousel to desired pocket position. But how is this done?? Is there a text file that the M6 c code would call to find out where the position of each pocket is? Example: Pocket 1 is at 0* and Pocket 16 is at -22.5* or 337.5*. And then ccode would need to determine which direction of rotation is shorter to desired tool.
Anyone got a ccode example of method 2?
Thanks,
Troy