Mesa 7i76e and toolchanger.comp

Can you post you hal and ini files? something very basic is broken here

Attached,

Thanks,
Mike

OK what i think is happening is this:
The toolchanger does not provide a motion profile, it just steps the position so the
FF1 term is not doing the expected thing

You might try setting the PID maxerrror to 0 and see what happens

As suggested I changed the PID maxerror in the HAL to 0 (spent some time looking for this in the .ini...)
setp pid.ToolChanger.maxerror .000
That worked - Now its alive! Needs to be tuned though as it overshoots quite a bit.
This might be another reason for me to think about rewriting the toolchanger.comp, but if I get it working enough I may just live with it.

Thanks for your help!
Mike

The stepgenerator really dislikes step inputs (this is why you have overshoot) so one solution would to feed the position
command through the limit3 component so an actual trapezoidal velocity profile is generated

I'll give that a try - as a quick hint - will that need to be in the toolchanger.comp or can I just reroute it in the hal file?
Mike