Hood,
Well, I just transitioned from 'impressed' to 'amazed'.
The video does not do justice to the complexity and ingenuity that went into this machine. Often the best solutions are evolutionary. The trick is to persevere thru the fails. Assess the performance gaps, re-design and have another go at it.
Plus, you have anticipated and answered my next question already, so I'm all caught up!
However, as a follow up on the topic of 'indexing' drives:
It would not really have been a problem as I use the Indexing drive and thus would just have different encoder counts for each position, the actual M6 macro in Mach would have been exactly the same as I have now with the exception of 10 tools possible rather than 8.I recall that you are using Allan-Bradley and those guys have both 'universal' input and also positioning in the same drive. Is that correct? With Mitsubishi, you have to buy different drives and Yaskawa has 'motion controller' to pair with their drives. I have one of the Yaskawa controllers that I purchased with the idea of running an ATC carousel or chain with differently spaced 'tool spots', but I have not had time to mess with it. Also, I have in-house at the moment a customer's new Sigma5 Yaskawa motor and drive in 3kw size and it is uber impressive. The motor is about half the size of my 3.6kw Mitsu and it's fast!
As you know, the manuals on these things are just huge and I have not looked at what the new Yaskawas have to offer (beyond what I needed for the task at hand), but I am leaning toward the Allan-Bradley since from your description, it would be more or less 'universal'.