Now I have changed the hal to two directions ( dir=2)
this is now the final version of my carousel hal:
Code:
# hm2_7i76e.0.7i84.0.1.output-13 Relay Motor on/off
# hm2_7i76e.0.7i84.0.1.output-14 Relay Motor direktion
# hm2_7i76e.0.7i84.0.1.output-15 Relay Motor on/off
loadrt carousel pockets=15 dir=2 encoding=BCD num_sense=4
loadrt conv_float_s32
addf conv-float-s32.0 servo-thread
addf carousel.0 servo-thread
setp carousel.0.fwd-dc 0.025
setp carousel.0.rev-dc 0.025
net car-enable motion.digital-out-10 carousel.0.enable
net car-pos-req motion.analog-out-00 conv-float-s32.0.in
net car-pos-s32 conv-float-s32.0.out carousel.0.pocket-number
net car-ready carousel.0.ready motion.digital-in-04
#assign to turret rotate motor relay
net car-fwd carousel.0.motor-fwd => hm2_7i76e.0.7i84.0.1.output-13
net car_rev carousel.0.motor-rev hm2_7i76e.0.7i84.0.1.output-14
net car_rev hm2_7i76e.0.7i84.0.1.output-15
#digital inputs assign BCD switches
net bit0 carousel.0.sense-0 hm2_7i76e.0.7i84.0.1.input-19-not
net bit1 carousel.0.sense-1 hm2_7i76e.0.7i84.0.1.input-20-not
net bit2 carousel.0.sense-2 hm2_7i76e.0.7i84.0.1.input-21-not
net bit3 carousel.0.sense-3 hm2_7i76e.0.7i84.0.1.input-23-not
#Strobe input
net car_rad carousel.0.strobe <= hm2_7i76e.0.7i84.0.1.input-22-not
