Carousel with counts move x amount of pockets

Hi all,Before I head to bed, I wanted to ask if anyone can quickly help me with my current frustration: getting this machine’s carousel working.I’ve got homing working, but there’s something odd—if the carousel is already homed and I try to home it again, nothing happens. I’ve managed to get M13 working, but I still need to sort out M11 and M12. I’ll attach my HAL and INI files here.I’m wondering if there are better ways to handle this, or if there are any good examples I could look at. My machine doesn’t have sensors for the pockets (which I would have preferred), so I’m working around that.Right now my biggest struggle is that I’m getting “unary” errors from my subroutine. When I try to trace the problem, the error messages aren’t very clear about what’s actually wrong. Is there a way to debug subroutines more effectively? At the moment the basic error messages don’t give me enough detail to figure it out.Any tips would be greatly appreciated

I’ve made some good progress with the carousel. It turned out that some parameters need to be set to 0 when using counts mode, and with that change I’ve got it almost working perfectly. Homing and jogging both run flawlessly through the shell M-codes.The only issue I’m stuck on now is when I tryto rotate to a specific pocket. At that point it just hangs in state 8, because thevariable stays at 0 and won’t let the sequence continue.What’s odd is that when jogging it also goes through state 8, but in that case it’s able to pass through just fine. So it feels like I’m missing something.Any tips or ideas on what might be causing this?

Basically what the original m10 from probe basic does. It tells the carousel comp the pocket number

mmh, i dont understand. how would you do this? I thought you had to do it through a subroutine or m code. 

Btw, this is how the m120 looks like.

okay, i will sure to be using in that in the end. however when i am using M120 or just put the pocket number manualy it just gets stuck in state 8 where it is waiting for align_pin to be something else then 0. As nothing moves , this will never happen. also i constantly getting the error "the toolchanger has hailed its alignment check". I have used the carousel comp many times. howeve this is the first time with only a stepgen. with that in mind and that i barely find anyone use it the same i am question if this actualy works with stepgen (Counts).

i have copied the carousel component and removed the align_pin if statement from state 8. I think this is ment for dc motors. So far it seems to work fine.