Turntable synchronization for multiple rotations

[anjakunic]

Prerequisites

• [X] Put an X between the brackets on this line if you have done all of the following:
  • Reproduced the problem in a minimal file that you can share if needed.
  • Checked that your issue isn't already filed: https://github.com/HALRobotics/Beta/issues?utf8=%E2%9C%93&q=is%3Aissue

Description

[Dear HAL team, I am looking into using a turntable that is synchronized with the movements of the robot on a rail unit. I would like to rotate the turntable multiple times (e.g. 6 times back and forth). Do I need to create each time a new sync component and a new corresponding robot position, or could I repeat the same group of commands for instance with "repeat data"?

I tried synchronizing a "init" turntable position = 0 degrees rotation with an "init" robot position, and a "reinit" turntable position = 180 degrees rotation with a "reinit" robot position, and I created a corresponding list of robot operations (e.g. Init, mill, reinit, mill, init, mill, reinit, mill, etc.).

I receive an error message saying: Synchronization setting reuse found. Synchronization settings have been found in two distinct sequences of the same procedure. I attach my file for you to see it.]

Steps to Reproduce

1. [First Step]
2. [Second Step]
3. [and so on...]

Expected behavior: [What you expect to happen]

Actual behavior: [What actually happens]

Reproduces how often: [What percentage of the time does it reproduce?]

Versions

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Additional Information

Any additional information, configuration, files or data that might be necessary to reproduce the issue.

https://www.dropbox.com/s/1t56sn56z88zcx4/CREATE%20KUKA%20setup%20%20-%20%20turntable%20rotating.gh?dl=0

[thibaultschwartz]

Hi Anja, You should not reuse sync settings - right now you are duplicating references to the same sync settings using the repeat component instead of creating unique sync settings.

[anjakunic]

Hi Thibault, So I need to create 6 sync settings and 6 corresponding robot/turntable positions if I want to rotate the table 6 times back and forth?

Thanks for your fast reply.

[thibaultschwartz]

As mentioned in the doc, you can supply a single sync settings for a set of following targets that will result in a single motion action. If you supply a tree of targets, you will need to generate one sync settings per branch.

[tristangobin]

Tip : use the alias in the component to directly have multiple synch settings (multiple ref, not just one duplicated). Then use it in a data tree. Should work nicely.

[anjakunic]

Great, thanks for the tip. That worked nicely!

[thibaultschwartz]

Great, I am closing this thread as solved then. Please reopen if you encouter syncing issues with turntables again.