I am trying to reverse engineer the tool changer arm on this Kitamura Mycenter 0 I have been retrofitting with Linuxcnc. The factory proximity sensors (trip locations) are not making much sense to me. The ATC Arm is powered via a VFD. All the motions are performed by a CAM. It does however have original inputs for CW, CCW, Speed 1, Speed 2 and Reset. The slow speed is for maintenance only. I am trying to figure out how the events are triggered for tool clamp / unclamp. It does not look straight forward to me (Could be lack of sleep). I am hoping someone can help me decipher the original ladder logic? I would like to write a component to handle this but I am having trouble understanding the sequencing. The ability for the arm to go both CW and CCW is really stumping me as well. I shot some slow motion video of the arm in low speed with the sensor activity displayed on the screen. This is just running continuous in CW or CCW directions. From every video I have seen on Youtube it appears it should be moving in the CCW direction. Any help on this is appreciated. I am including docs and videos below.
ATC Arm Proximity Sensors and ladder input address (Just the arm sensors)...
10081 ATC CAM Zero
10044 ATC Cammotor Stop Pos
10045 ATC Unlamp Pos (Not used or even installed in this machine)
10040 Tool Clamp Fin
Video of the arm VFD running CW...
Video of the arm VFD running CCW...
Video of tool change (Not my machine but the same model)
Ladder Diagrams...
www.dropbox.com/s/qjgb8urkird9jkd/Kit%20...0Searchable.pdf?dl=0
Electrical Diagrams...
www.dropbox.com/s/k68bkkealpbji1d/kit%20electrical.pdf?dl=0
