I now have an encoder mounted to my tool carousel. I linked the encoder to a PID and found that each pocket is 720 counts apart. I can travel in either way to get to a pocket, but there is no motion control, so the start and stop is pretty abrupt. I am starting to consider implementing some sort of motion planning to control the acceleration on each side of the move, but now that I actually need to create the solution it becomes more complicated. Finding the closest path to the target pocket should be easy. The next step is to feed position commands to the PID to control the trajectory. A couple of issues are that the carousel will not be an axis and the motion component is not available during a tool change, also position overshoot (but eventually corrected) is acceptable. As is, the straight PID works okay, but if I increase the maximum carousel speed (very likely), the start/stop jerk may become a problem. Any pointers on how to attack this problem would be appreciated.
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