halui.max-speed decrease/increase ... never go to right value

With my custom com I try to modify via modbus max-velocity ... in order to try these I send via modbus the % value of maxvel needed ... I use a qt gui with slider so I can choose step of 10% and send 10 or 20 or 30 or.....
Halui.max-velocity.scale is fixed to 16.2 in hal file ... and my max halui.max-velocity.value is 1620 ..... so 10 step of changing ...
In my custom comp scan halui.max-velocity.value and convet it on actual percentage of max velocity, if my register change ...comparing the new value of the register with the value percentage of halui, if greater ......
if it is less ....

but nothing appens ...

after this I tried to cycle (halui.max-velocity.decrease 1 and than halui.max-velocity.decrease 0) a number of times corresponding to step .... but nothing happens

regards
Miki

I use show hal configuration and check all pin halui.max-velocity.xxxxx ... i see increase or decrease pin flashing (depends on the command) but .value pin is fixed to 1620 (my real max value....).

I must select other pin ? I try to select:

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first test

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if change value first halui.max-velocity.direct-value = 1
than halui increase or decrease pin 1 and than 0 (nr. of time depending of increase/decrease value)
than halui.max-velocity.direct-value = 0

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second test

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if change value these time not use at all halui.max-velocity.direct-value , but only
than halui increase or decrease pin 1 and than 0 (nr. of time depending of increase/decrease value)
than halui.max-velocity.direct-value = 0

first test: halui.max-velocity.value go to value 1 and than not change at all .... but sometime is fixed to 1620
second test: halui.max-velocity.value is everytime fixed to 1620

I need to select some other halui.pin??

regards
Giorgio

using halmeter is the same ...

Regards
Giorgio

i try to use pyvcp pushbutton ....
and I see the halui.max-velocity.value goto 59,9 (from 97200) ... so I try these:

same result.

So I try to observe other halui.max-velocity pin .... and halui.max-velocity.count-enable is all time ON .... I use a std hal file as it output from pnnconfig .... and I use external MPG but I use it only in teleop mode .... in joint and automode is disable .... but halui.max-velocity.count-enable is always ON. Is normal?? for disable it I must disconnect joint.selected-count pin??

Regards
Giorgio

sorry ... I correct my post ...

But mu count-enable pin is all time set to "1" ... and in these case I not wont to use mpg.

I try to use MPG only in teleop(and these obviusly work fine) .... but in automode I woult to use halui.increase and decrease value without use MPG value at all .... so I think the correct way is these right?:

regards
Giorgio

P.S. the same ....

setp halui.max-velocity.scale 16.2
setp halui.max-velocity.direct-value 0
These is the right sotlution??

Tomorrow I test it ... but my halui.max-velocity.count-enable is set to "1" from mi hal file I suppose ....

Regards
Giorgio