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Is your module real time? I have seen similar issues with non-real time
functions being affected by LinuxCNC periodic screen update. 

Yup, it was U15. I put a new one in and it works just as before.
Thank you again for your awesome support!

/Peter

Hello Benny,
I'm not sure if I expressed myself correctly,the file spinport.comp causes the cylinder to retract when the y-axis reaches position 900 (while processing a program or jogging), allowing the axis to pass through the support.
When the y-axis reaches position 1600, the cylinder is extended again.

I haven't changed anything on the machine yet because I'm on vacation. But after my vacation, I want to install the new spindle support quickly. I tore down the support shortly before my vacation!
   

I tried to adjust gain of admittance module before but no luck.

I understand your point about increasing the update rate to reduce step magnitude while potentially increasing the number of steps.

However, if steps were the primary issue, I would expect the problem to be more pronounced at higher speeds, yet that doesn’t seem to be the case here. Additionally, I’ve noticed a sudden velocity drop that fails to meet the required speed, causing vibrations. This issue occurs simultaneously across all four motors and seems to happen approximately every 100ms. While it appears random, I haven’t yet identified the source of this cycle (admittance module is 10ms update rate), which makes it quite puzzling.

Thanks for the suggestion, but I have already installed a pressure monitor with an e-stop, which is set at 4.5 bar.
Unfortunately, this did not prevent the support from breaking off, for whatever reason, I don't know.
Therefore, I would like to install an additional safety device.

I ordered the first parts for the atc! The main pivoting hub, and some grippers. Basically the simplest and most complicated parts. I am using JLC to make the prototype so these will be my tests of the service to see what we get. Should be here end of next week. Exciting!

As I've refined this down it has basically become identical to the brother TC225 changer. It uses an identical BCD encoding system and 2 servos, one to pivot the magazine, and one to spin the platter geneva mechanism. I will have a custom pcb that has optical sensors and RC servo controller mcu that converts it all into 8x 24v IO (5 x bcd, and one fwd and reverse platter and one for the pivot). The linuxcnc side of things will reuse my brother tc225 osubs, with the addition of the pivot command. The pivoting will take 200ms, and the platter will take 400-500ms per station. So with clamping and z motion it should be about 1.5 seconds for the next tool, and 3.5 seconds for the farthest tool for a tool change. Plus 12 seconds on my spindle to start and stop form 40000rpm. I need to see if I can adjust that and use modbus to "know" when the spindle is stopped or at speed to adapt the dwell. Cause at lower speeds like 18k or 24k it should only take 2-3 seconds to start or stop.

I would think a faster update rate will decrease the steps.
You will get more steps but less in magnitude.
I guess you have some gain parameter between force and position.
Maybe try higher gain at low speeds? Since it seems to be a bit off, I mean.

Finally figured it out
I had to make true "is_opendrain" and "invert_output".

Alltogether:
setp [HMOT](CARD0).gpio.050.is_output true
setp [HMOT](CARD0).gpio.050.is_opendrain true
setp [HMOT](CARD0).gpio.050.invert_output true