Spindle override with wsum switch bouncing

I have set up panel spindle override switch. It uses weighted sum HAL component in following manner:

#Spindle
setp halui.spindle-override.direct-value 1
setp halui.spindle-override.scale 0.1
setp halui.spindle-override.count-enable 1
setp wsum.0.bit.0.weight 5
setp wsum.0.bit.1.weight 7
setp wsum.0.bit.2.weight 8
setp wsum.0.bit.3.weight 9
setp wsum.0.bit.4.weight 1
setp wsum.0.bit.5.weight 11
setp wsum.0.bit.6.weight 12
setp wsum.0.bit.7.weight 13
setp wsum.0.bit.8.weight 14
setp wsum.0.bit.9.weight 15
setp wsum.0.bit.10.weight 16
setp wsum.0.bit.11.weight 18
setp wsum.0.bit.12.weight 20
net bit0-spindle wsum.0.bit.0.in <= hm2_5i25.0.7i70.1.4.input-10
net bit1-spindle wsum.0.bit.1.in <= hm2_5i25.0.7i70.1.4.input-11
net bit2-spindle wsum.0.bit.2.in <= hm2_5i25.0.7i70.1.4.input-12
net bit3-spindle wsum.0.bit.3.in <= hm2_5i25.0.7i70.1.4.input-13
net bit4-spindle wsum.0.bit.4.in <= hm2_5i25.0.7i70.1.4.input-14
net bit5-spindle wsum.0.bit.5.in <= hm2_5i25.0.7i70.1.4.input-15
net bit6-spindle wsum.0.bit.6.in <= hm2_5i25.0.7i70.1.4.input-16
net bit7-spindle wsum.0.bit.7.in <= hm2_5i25.0.7i70.1.4.input-17
net bit8-spindle wsum.0.bit.8.in <= hm2_5i25.0.7i70.1.4.input-18
net bit9-spindle wsum.0.bit.9.in <= hm2_5i25.0.7i70.1.4.input-19
net bit10-spindle wsum.0.bit.10.in <= hm2_5i25.0.7i70.1.4.input-20
net bit11-spindle wsum.0.bit.11.in <= hm2_5i25.0.7i70.1.4.input-21
net bit12-spindle wsum.0.bit.12.in <= hm2_5i25.0.7i70.1.4.input-22
net spindle-ov-out halui.spindle-override.counts wsum.0.sum

Problem is that right after touching this OVR switch spindle speed starts bouncing around. Issue can be corrected with pressing 100% on Gmoccapy or using slide on Gmoccapy. What am I doing wrong here?

This is open loop. There is no encoding just a switch with 13 positions. IIRC Gmoccapy shows commanded speed not actual.

Tero

I can not figure this out. Switch has 13 positions. All of those are connected to 7i70 inputs. I have checked halui.spindle-override.value and it is stable (varies between 0.5 and 2 depending on switch position). But still motion.spindle-speed-out bounces if switch position is changed.... It does not bounce if Gmoccapy slide is used. Any ideas? Related HAL:

setp halui.spindle-override.direct-value 1
setp halui.spindle-override.scale 0.1
setp halui.spindle-override.count-enable 1
setp wsum.0.bit.0.weight 5
setp wsum.0.bit.1.weight 7
setp wsum.0.bit.2.weight 8
setp wsum.0.bit.3.weight 9
setp wsum.0.bit.4.weight 10
setp wsum.0.bit.5.weight 11
setp wsum.0.bit.6.weight 12
setp wsum.0.bit.7.weight 13
setp wsum.0.bit.8.weight 14
setp wsum.0.bit.9.weight 15
setp wsum.0.bit.10.weight 16
setp wsum.0.bit.11.weight 18
setp wsum.0.bit.12.weight 20
net bit0-spindle wsum.0.bit.0.in <= hm2_5i25.0.7i70.1.4.input-10
net bit1-spindle wsum.0.bit.1.in <= hm2_5i25.0.7i70.1.4.input-11
net bit2-spindle wsum.0.bit.2.in <= hm2_5i25.0.7i70.1.4.input-12
net bit3-spindle wsum.0.bit.3.in <= hm2_5i25.0.7i70.1.4.input-13
net bit4-spindle wsum.0.bit.4.in <= hm2_5i25.0.7i70.1.4.input-14
net bit5-spindle wsum.0.bit.5.in <= hm2_5i25.0.7i70.1.4.input-15
net bit6-spindle wsum.0.bit.6.in <= hm2_5i25.0.7i70.1.4.input-16
net bit7-spindle wsum.0.bit.7.in <= hm2_5i25.0.7i70.1.4.input-17
net bit8-spindle wsum.0.bit.8.in <= hm2_5i25.0.7i70.1.4.input-18
net bit9-spindle wsum.0.bit.9.in <= hm2_5i25.0.7i70.1.4.input-19
net bit10-spindle wsum.0.bit.10.in <= hm2_5i25.0.7i70.1.4.input-20
net bit11-spindle wsum.0.bit.11.in <= hm2_5i25.0.7i70.1.4.input-21
net bit12-spindle wsum.0.bit.12.in <= hm2_5i25.0.7i70.1.4.input-22
net spindle-ov-out halui.spindle-override.counts wsum.0.sum

Tero

I tried same config on my simulation laptop and was unable to reproduce this behaviour.... It has to be somekind of hardware related one. Maybe faulty switch. I have to check this.


Tero