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How does the full computer socks machine work?

Update:22 Feb 2020
Summary:

The servo motor drives the 1: 3 gear through the belt t […]

The servo motor drives the 1: 3 gear through the belt to drive the circular motion of the needle barrel of the socks machine. The speed is required to reach 333RPM (servo 1000RPM), and the needle lifting operation of the barrel is completed by a stepper motor.
Movement process: The controller sets the speed, the barrel rotates the socks barrel clockwise at the set speed, and then the socks start to rotate forward three quarters of a week and reverse three quarters of a week. Movement: After the belt movement ends, do a fixed direction movement at a slow speed.
Speed feedback: The actual output speed of the motor is judged by feedbacking the output signal in several cycles. The output of the cycle is set to 2500pulse, and the actual speed of the motor displayed by the controller is basically consistent with the given speed.