carousel.comp - jog-FWD still an issue

The unhome and homed pins are there, and the unhome pin works to clear both the homed pin and homed parameter.

I noticed something else...Maybe it was doing this before, too, but I thought it continued to the destination pocket after homing was completed at first enable.

Jogging:
fwd/rev-dc = 50/-50
align-dc = 10
decel-time = 0.8

jog-REV
Works as expected
State = 0 - 20 - 5 - 8 - 0

jog-FWD
Same issue as before: moves to next pocket sensor, stops, and backs up to original pocket sensor at slow search speed
State = 0 - 20 - 5 - 6 - 0

But... changing the decel-time to a really low value (0.05) got it working... except now the max speed is seriously reduced.

With these settings:
fwd/rev-dc = 150/-150
align-dc = 10
width = 10
decel-time = 0.8

It stops as expected at every pocket, both using pocket commands (M68/M64, both directions) and jog-rev.  At this speed it's pretty brisk, but not crazy fast.

But jog-fwd then results in the continuous rotation - same as from a few revisions/tuning back.  Even dropping it down to 75/-75 and decel-time to 0.01 it does the continuous rotation thing.

I can obviously turn the speed way down and get it working reliably, but I figured you might want to know because jog-fwd does not seem to behave the same way as jog-rev or normal pocket commands.

 

Something just occurred to me...

I remember seeing that the jog-rev pin go significantly farther past the pocket sensor flag than during a normal pocket to pocket move before slow searching to final position.

I haven't read that far in to the comp code, but does this mean that jogging does not use the counts/scale function, and just turns on the motor at fwd/rev-dc speed until it senses the pin?

I wonder if that has something to do with the difference between jog-rev and jog-fwd.  Because jog-fwd never moves past the pin.  Regardless of decel-time settings, it always stops at the pin and the backs up or stays put depending on decel-time value.

I'm at your disposal whenever you get to it.

-R

Had a thought.  Maybe it'll help, maybe muddy the waters, maybe you've already done this and I'm too dense to pick up on it..

I think the slow search should be from the same direction every time, and not 'mirror' the motion depending on direction.

Example:

• Homing
  • CW to index sense
  • CCW off index
  • CW slow search to index
• Subsequent moves (pocket command or jog)
  • CW
    • CW counts
    • CCW off pocket sense
    • CW slow search to pocket
  • CCW
    • CCW counts
    • CCW past pocket sense
    • CW slow search to pocket

That sequence would eliminate any sensor field width affecting the actual pocket orientation.

Again, sorry if that's already your plan and I'm not seeing it.

Andy,

I removed the individual pocket flags from my carousel and reverted to counts mode with no search function.  It's faster indexing this way, and I'm not worried about lost steps since the stepper drive is set to alarm at 20 counts (~+/- 0.01" arc length at the fork radius).

Disassembling the forks and installing the flags again would take a bit of time.  If you've no other way of testing the bug fix, let me know and I'll reinstall the flags for testing.

You've certainly spent more time on this than the hour or two it'll take me to plod through 18 pockets.

-Ralph