Run Mesa 7i76e + 7i85 with 3 servos and 1 stepper motor

Ok...one step done. The stepper motor turns now

But there are two new challenges to solve
1) The motor turns much to fast. Editing the carousel.N.*-dc values has no effect. Has the axis/joint parameter to be changed?
2) The home position of the carousel is wrong. I have no idea how to handle, as I can not use the classical axis homing stuff.

Any ideas?

Thanks & best regards
Marcus

In the meantime, I found the matching value to reduce speed. This was a bit tricky. I changed the carousel.*-dc values and nothing happens. So i deleted them and played with the axes/joint values. It needs so time to realize, that the carousel.*-dc has no effect, but has to exist regardless. I changed now the max_vel and max_acc to get proper speed.

The motor is directly attached to the carousel. There is no gear. Microstepping is 1.600. Seems to be ok.

Next issue is to figure out, how to drive the carousel to pocket-1-position after/within the init-sequence.

Does it need to? It should home itself the first time that it is enabled. Though I don't see any connection to the "sense-0" pin (home sensor) in your HAL file.

I'am sorry - I didn't attach my lastest config files. They're added now.

The sense-o pin is connected to a digital-in and works fine. While doing M13, the carousel stops at sense-0 = high as expected. Unfortunately the position of the pockets will not fit with needed position. So I have to offset - just like in a typical axis homing too. In the moment I have no idea, how to make that best. Is it a good way, to config the carousel stepper as a axis and do a usual axis homing?

And another issue I think about: After correct homing I obviously do not need the step-calculation in M11 and M12...I just have to jog n times where n is the amount of pockets to move. Is this correct? As I'am not a software developer: How can I code a carousel jog in the M12 ngc file?   

Would a home-offset pin help? I have added one.

So cool Thanks a lot. I'll try that an be back.

Regarding the jogging: I'm wondering, if I could do that in the easy way (n-times x jog). I'am afraid, I could to pipeline n jog commands...
 

Looks good But the result isn't as expected

I hope it's ok to ask another question. I didn't get 100%, what to define in carousel.N.width. And what the value has effect to the carousel moves.  My pockets has a distance of 200 steps (carousel.N.scale = 200). In the moment, I defined a width of 110 after some try and error. Confusing side effect: home-offset is 0 in the moment.

After homing by M13, the carousel stops by the prox sensor - with wrong position for pocket 1. After jogging cw once, pocket 1 is positioned perfectely. All jogs after this procedure are fine and as needed.