> >
> > I see it can send positions to a stepgen component, but I did not get how I
> > should detect when the movement is ready.In Index mode it count pockets
>
> Thinking further, I am not sure it can. It can do bidirectional shortest path
> to feedback with a velocity-mode stepgen. Without feedback, things are more
> interesting.
> I think that a velocity-mode stepgen correctly scaled to feedback pocket
> number would work, but it would need a modulo HAL component. Which we don't
> have at the moment.
> (Actually, if you want to write one, I think that would be an easy "sell")
> Also, there would need to be a sample-hold feeding an offset to simulate
> homing reset.
> I am starting to agree that there may need to be an extra mode for
> "carousel".
>
> It might be that the orient component is more applicable.
>
>
I made a new Component inspired of the original CAROUSEL component yesterday.
Since I'm new to this it was the easiest way for me to do it. I have not tested
it in any machine yet since it will take a couple more weeks befor I have my
new mill in place.
In short it works like this:I send a relative move (number of steps to move to
pocket the shortest way) to STEPGEN and I use a NEAR component to report back
to my component when the move is done. I also home it via external sensor and
if carousel has signal from home sensor when not homed it backs off before
homig again. Works fine in theory and in sim. Shall be interesting to test in
reality.
If it is of common interest I can add comments and post it for Review when it
is tested.--Per
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