There is an inherent problem with rotary axes when moving to absolute
positions, that they will try to take the shortest path.
I prevented this in another component, by making the axis a linear one
and by trial and error getting the linear distance command that equated
to the rotation required and using this figure instead of degrees.
It just requires holding a cumulative total and incrementing or
decrementing as required.
You probably need to debug by checking the pin values over a series of
moves and check when this occurs and whether the amended calculation for
rolling over at 360 degrees is working, but the above is another way
regards
On 03/12/2016 03:07, Mike Ross wrote:
Ok, I still have a small issue with the toolchanger I'm trying to sort
out - again pointers on where to look or how to troubleshoot are
appreciated.
It seems that either after many tool changes or many tool positions
(i.e T1 to T6, then to T5, etc) it attempts to drive in the wrong
direction.
I'll try and figure this one out but I'm afraid its in the
toolchanger.comp code...
I'm going to write a simple program that cycles the tool change and
see if I can get a repeatable result.
Mike
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