Ted Miller

I have opened #236 to fix the comparison-check. Here is a build to see if it has any impact on this issue. [pr236.zip](https://github.com/Yaskawa-Global/motoros2/files/14951333/pr236.zip)

@yai-rosejo has a fix which he's validating now. I don't think #237 is necessary.

It seems we're fighting multiple issues. 1) The tolerance arrays are not being properly validated for size and order. The [fix from yai-rosejo](https://github.com/Yaskawa-Global/motoros2/issues/233#issuecomment-2052605104) should resolve this. 2) The debug broadcasts...

To elaborate on this issue, it is not due to a conversion error in motoros2. I have witnessed this behavior on the teach pendant. I'm not sure if it is...

I'm doubtful that it's a race condition with the mpReadIO function, but can't say with certainty. I'd be interested to know if the values are shown on the teach pendant....

Separate email from @BrunoB81HK: > We are currently connecting the robot controller to a PLC...

@BrunoB81HK could you take a look at the teach pendant to see if the values are fluctuating on there? There are two places to look. If you are using the...

@BrunoB81HK The simple fix would be to modify the parameters listed in section 3.12 of https://wiki.ros.org/motoman_driver/Troubleshooting#Not_receiving_axis_speeds_from_robot_controller This controls which registers get populated with the speed data. MotoROS2 will automatically detect...

We encountered this issue again. It turns out that our standard Simple Connect ladder is using these registers for a series of timers. Simple Connect is a very common option...

If the internal queue is full and there's pending point to be processed, we're only giving it 20 ms to finish processing. https://github.com/Yaskawa-Global/motoros2/blob/2d2b62df3655078b93cfe77c1c133ff5df8670fd/src/MotionControl.c#L1012-L1028 Immediately following that though, `Ros_MotionControl_ClearQ_All` sets `hasDataToProcess`...