20.04.2010 18:07, Slavko Kocjancic пишет: > Alexey Starikovskiy pravi: > >> Main problem seems to be that you need to make sure you don't increase skew >> between linked axis while homing or working. >> >> > Just that.! The homing as is doesn't increase the skew (if parameters > are correct) > Bold statement, do you have any proof for it? Or can you list all parameter mistakes, which could lead to increase in skew? > >> Hoping that it's small enough and machine can cope with it could be >> expensive. >> >> > The skew itself is problem. If appears then something is already very > bad. As I tested on my unfinished machine if I fix the one side rock > solid and pull another side with 500N force the gantry is skewed les > than 1mm. So if I assume than my stepper can put max 500N force on > gantry the max skew is 1mm. If My gantry hit some obstacles and is > skewed more than 1mm then there are NO WAY to unskew that with homming > procedure alone. As motors are NOT STRONG ENOUGHT to move such skewed > gantry at all. So the home procedure can make unskew only if it's small. > (and to do proper the gantry should move slow and home switch must have > short "backlash". > This might be true for your one gantry. What about all other gantries? > Not so long ago I want to have report on (re)homming how far from home > axis was. That's should be just fine here too. If Home is not same then > you have gantry skew. And gantry skew can be removed in most cases only > by hand intervention as skewed gantry make big force and stall mottors. > > >> Second problem, it should still look as one axis to interpreter and gui. >> >> > I was thinking that gantry kins already do that. > Wasnt?!? > No, there is some experimental setup with unapplied patch if I'm not mistaken. IMHO, all axis are independent, and all home switches too.
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