ATC with carousel.comp and M6 remap

Note that in the above, I am talking about the 2.8 version of carousel. The analogue speed outputs are not present in the 2.7 version. But it is fairly easy to install the 2.8 version in 2.7 with halcompile. (halcompile -install carousel.comp) after downloading the source file ,

Thanks andypugh
So I add another pin in the toolchange_index.hal and connect it to an output of mesa7i76 and edit this in toolchange.ncg:

M65 P2; move arm back out
M66 P4 L3 Q5; wait for arm-out = true
O111 if [# 5399 LT 0]
     (abort, failed to move arm out)
O111 endif

it's correct ???

Hi gmarconi2

Thanks andypugh
I had not read the second post of response and thought to modify the 2.7 using an ad hoc harware to change the direction of the arm

anyway now I look at the 2.8

gmarconi2 wrote: Thanks andypugh
I had not read the second post of response and thought to modify the 2.7 using an ad hoc harware to change the direction of the arm

There is no reason to use hardware. It could be done in HAL even with the 2.7 version of carousel.

But it is a fair bit simpler with the updated version of carousel.comp

Ok andypugh with the new version of carousel.comp:

float pin fwd-dc "Velocity or duty cycle when forward rotation is desired";
pin in float rev-dc "Velocity or duty cycle when reverse rotation is desired";

My step by step driver has 2 pins step and excuse my ignorance but how do I reverse the rotation, output of:

float fwd-dc ## produces a square wave
float rev-dc ## produces a reverse square wave

How should I wire these pins to the driver step dir.

Greetings Giampiero

Are you using software stepping, a Pico card, a Mesa card or something else?

Most support velocity-mode, but the way the mode is set is different.