Traub Bosch cc100 retrofit

I think I would be tempted to configure the carousel as a rotary axis. The reason for this is that it makes homing it easier as it can home as part of the rest of the homing cycle.
This is not strictly necessary if you prefer not to. The PID component that runs the servo can get its input from anywhere. (the same is true of stepgen)

How does the system find tool 1? Your pictures seem to indicate that there is a cam for every carousel position.

The linear motion could be an axis too, if you wanted. The microswitch could be used as a home switch.

This looks to be your encoder:
elcis.elcis-encoder.com/ENGLISH/catalogo/incr/pdf/E0046.pdf

Series 46 shaft 6mm 500 ppr 12V supply NPN open-collector. (and I can't see the rest)

I don't see any evidence of tachometers. The motors will tend to run away until you have a PID control loop set up, so perhaps that is what you are seeing.

By the way... I am not sure how to wire Open-Collector NPN to the 7i77 encoder counter pins. I am hoping that PCW does.

aventtini wrote:

The servo drives axor dont have encoder the have tacho thats my problem .

The drives very rarely get connected to encoders.

The schematic dosn't mean much to me. Do you have a manual? Can the drives be configured for toque-mode rather than velocity-mode? (You can't do velocity-mode without tachos on the motors)

aventtini wrote:

But dont think it can be in toque

Page 12. JP7.