Hi People,
I've had a two servos working in tandem for about 2 years now and the company say they are not happy about having to reteach them.
Servo 1 has three positions, teach POS1, POS2 and POS3 are autocalculated.
Servo 2 has two positions, teach POS1, POS2 is auto calculated.
Now, if you don't want to do a manual reteach and your zero point on the encoder can shift during a collision how do you get around it.
Currently, a homing request will home left until the home sensor goes on, then off, then I will home right until the home sensor goes on, then off again and finally stops when it finds zero on the encoder.
If it is currently left of the home sensor, it will home Left until it hits the over travel sensor then move right to home as normal.
Ok so that's the basics out of the way..... so is the only way to teach the new positions if the belt has slipped, to place a sensor at POS1 and slowly move the servo to that position, when it sees the sensor write the new position value into POS1 and auto calculate POS2 and POS3 from there.
Or is there a more clever solution.
Any suggestions are most welcome.
Thanks
Oran
I've had a two servos working in tandem for about 2 years now and the company say they are not happy about having to reteach them.
Servo 1 has three positions, teach POS1, POS2 and POS3 are autocalculated.
Servo 2 has two positions, teach POS1, POS2 is auto calculated.
Now, if you don't want to do a manual reteach and your zero point on the encoder can shift during a collision how do you get around it.
Currently, a homing request will home left until the home sensor goes on, then off, then I will home right until the home sensor goes on, then off again and finally stops when it finds zero on the encoder.
If it is currently left of the home sensor, it will home Left until it hits the over travel sensor then move right to home as normal.
Ok so that's the basics out of the way..... so is the only way to teach the new positions if the belt has slipped, to place a sensor at POS1 and slowly move the servo to that position, when it sees the sensor write the new position value into POS1 and auto calculate POS2 and POS3 from there.
Or is there a more clever solution.
Any suggestions are most welcome.
Thanks
Oran