3 Axis Control System with Carriage Acceleration

Winding is defined between 30 and 88 degrees for this release. Note that for winds over ~60 degrees, a mechanical ring at the end of the mandrel to catch filament from slipping is necessary. Release notes are as follows:

• likely debouncing problem with limit switch at lower speeds such that sometimes a rising edge is seen twice per mandrel revolution
• rotator head motion could be optimized for winding (ie. made longer), due to short acceleration for 3 axis, the rotation is very quick
• winding pattern is limited to single helical
• wait time on end is automatically set based on desired distance of mandrel to traverse, not calibratable besides this which might be helpful in some cases

3 Axis Control System

Applicator head functionality was introduced in this release such that the applicator head rotates during the wind as to lay the filament parallel to the mandrel at the specified wrap angle. Testing this release has revealed know defects (both mechanical and software) which should be fixed in later releases. These are:

• Carriage will stop moving after a long enough wind (~10 min) while all other axis / limit switches remain unaffected. Might be a driver issue.
• Rotator will sometimes miss a half turn revolution while delaying at the home end and subsequently add an undesired, persistent offset to the angle of the applicator head for the remainder of the wind.
• The minimal wait steps as specified by wrap angle might be too small such that the filament cant settle on the end if on that number of steps are completed.

2 Axis Control System

Initial release of the 2 axis control system used to produce winds between the angles of 15 and 80 degrees on mandrels of diameter between 1 and 10 inches.