I do understand it's really hard to bugfix without the real hardware. But I'm really grateful that you're helping me! I tried to implement your solution using "setp carousel.0.rev-pulse 2". I don't know if that is the correct way but when using HAL watch it can be seen that carousel.0.timer counts down from two seconds after the tool change. Unfortunately it doesn't make the tool changer behave any differently. It still seems to count the first flank/trigger even though it should ignore it, thereby missing one pocket step.
One strange thing also is that I've started to get these strange "Unexpected realtime delay" errors on my servo thread since I ditched the M6 remap and went for the pure HAL solution. Never seen that problem before. Den mån 11 jan. 2021 kl 15:48 skrev andy pugh <bodge...@gmail.com>: > On Mon, 11 Jan 2021 at 13:47, Andreas Linnarsson > <andreas.linnars...@gmail.com> wrote: > > > Correct me if I'm wrong but it seems fair to say that this isn't a HAL > > issue and that it needs to be addressed withinin the carousel component. > > Yes. > > However in previous emails you had shown examples where T4 M6 left > pocket-number = 5. > As pocket-number is the commanded position, that looked wrong and I > wanted to eliminate that variable. > > > is there some functionality within the component that makes it ignore the > > first pocket trigger when a reverse latching tool changer is used? What > > lines of code are responsible for that functionality? > > The code looks for changes in the index pin, by comparing old_index > with (current) index. > > The change that I suggested was intended to keep the value of > old_index high if the turret was turning backwards, so that there > would be no update until the next high-to-low transition. > > Staring at the code some more (this is very much something that is far > easier to follow with the actual hardware and halscope) I actually > think that the standard, unmodified carousel comp will work, but only > if you set the reverse-pulse > 0. > > I think that the underlying problem is that your tool changer moves > when not told to, and the component isn't tracking that. > > So: > > 1) Revert to the unmodified carousel.comp > > 2) If you set carousel.0.rev-pulse to 1 second (or maybe 2) then the > system will still be tracking position during the locking reverse, it > will see the edge, decrement apparent position and so be back in > position when it sees the edge the second time. > > > > > -- > atp > "A motorcycle is a bicycle with a pandemonium attachment and is > designed for the especial use of mechanical geniuses, daredevils and > lunatics." > — George Fitch, Atlanta Constitution Newspaper, 1912 > > > _______________________________________________ > Emc-users mailing list > Emc-users@lists.sourceforge.net > https://lists.sourceforge.net/lists/listinfo/emc-users > _______________________________________________ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
