Is there a bug in the carousel component or am I doing it wrong ATC Denford

O<changetool> sub
(debug, Tool change to T#<_selected_tool>)

M68 E0 Q#<_selected_tool>  ; Wybierz kieszeń
M64 P0                     ; Włącz karuzelę
G4 P2
; Czekaj max 15s na ready (z timeoutem)
M66 P0 L3 Q15

; Jeśli timeout, zatrzymaj karuzelę i zgłoś błąd
O100 if [#5399 EQ 0] (if timeout)
  M65 P0
  (msg, Toolchange FAILED - Timeout)
  M99
O100 endif

M65 P0                     ; Wyłącz karuzelę
(debug, Tool change OK)
O<changetool> endsub
M2

[code][code]loadrt stepgen step_type=0,0,0
loadrt carousel pockets=4 encoding=counts dir=1 num_sense=1

addf carousel.0 servo-thread

setp stepgen.2.steplen 1
setp stepgen.2.stepspace 0
setp stepgen.2.dirhold 35000
setp stepgen.2.dirsetup 35000
setp stepgen.2.maxvel 100
setp stepgen.2.maxaccel 150
setp stepgen.2.position-scale 1
net astep stepgen.2.step => parport.0.pin-08-out
setp parport.0.pin-08-out-reset 1
#net adir stepgen.2.dir => parport.0.pin-09-out
net adir carousel.0.motor-rev => parport.0.pin-09-out
#Konfiguracja carousel

setp carousel.0.scale 400
setp carousel.0.width 10
setp carousel.0.fwd-dc 10
setp carousel.0.rev-dc 100
setp carousel.0.rev-pulse 10
#Połączenie carousel z stepgen


net carousel-pos-cmd carousel.0.counts-target => stepgen.2.position-cmd
net carousel-counts carousel.0.counts <= stepgen.2.counts

net carousel-ready carousel.0.ready => iocontrol.0.tool-changed motion.digital-in-00

#net carousel-dir stepgen.2.dir <= carousel.0.motor-rev
net carousel-enable carousel.0.enable <= motion.digital-out-00
net carousel-enable stepgen.2.enable <= motion.digital-out-00
net carousel-pocket carousel.0.pocket-number <= iocontrol.0.tool-prep-number
net carousel-ready carousel.0.ready => iocontrol.0.tool-changed
net home-signal carousel.0.sense-0 <= parport.0.pin-10-in
#Toolchange
net tool-prepare-loopback iocontrol.0.tool-prepare => iocontrol.0.tool-prepared



all files below

pin in float rev-pulse """The duration in seconds for which a ratchet changer (Boxford, Emco) should pulse the reverse pin to lock the holder""";

For tool changers which lock the carousel against a stop the \fBrev-pulse\fR pin can be set to a non-zero value. The motor-rev pin will then be set for this many seconds at the completion of the tool search and at the same time the reverse duty/cycle velocity value will be sent to the motor-vel pin.

case 2: // moving if ((current_position != mod_pocket) && enable){ deb = debounce; return; } else if (deb-- > 0) { return; } if (rev_pulse > 0){ motor_fwd = 0; motor_rev = 1; motor_vel = rev_dc; timer = rev_pulse; state = 3; } else if (decel_time > 0) { // stop and prepare for alignment motor_vel = 0; timer = decel_time; state = 5; } else { motor_fwd = 0; motor_rev = 0; motor_vel = hold_dc; active = 0; if (enable && current_position == mod_pocket) ready = 1; state = 9; } break;

case 3: // timed reverse pulse timer -= fperiod; if (timer > 0) return; state = 9; motor_fwd = 0; motor_rev = 0; motor_vel = hold_dc; active = 0; if (enable) ready = 1; break;

case 'C': // encoder or stepgen counts. new_pos = current_position; if (homed){ int c; int t; int w = width / 2; c = (counts - base_counts); t = floor(((float)c + w) / scale); if (c >= (t * scale - w) && c <= (t * scale + w)) { new_pos = 1 + (t % inst_pockets); if (new_pos < 1) new_pos += inst_pockets; } align_pin = (c % scale <= 2 && c % scale >= -2); }