On Tue, 20 Apr 2010, Peter C. Wallace wrote: > Date: Tue, 20 Apr 2010 08:14:03 -0700 (PDT) > From: Peter C. Wallace <[email protected]> > Reply-To: EMC developers <[email protected]> > To: EMC developers <[email protected]> > Subject: Re: [Emc-developers] Coordinated Gantry Homing by Linked Joints > > On Tue, 20 Apr 2010, Alexey Starikovskiy wrote: > >> Date: Tue, 20 Apr 2010 13:46:41 +0400 >> From: Alexey Starikovskiy <[email protected]> >> Reply-To: EMC developers <[email protected]> >> To: [email protected] >> Subject: Re: [Emc-developers] Coordinated Gantry Homing by Linked Joints >> >> Isn't the separate homing of linked joints needed to remove any >> misalignment in them? If you just want to do same speed and same >> acceleration to them, >> you might just connect control wires to both motors from single >> axis/joint and have one home switch. >> >> So, if you need to correct misalignment, you need at some point to move >> them independent of each other, >> so the speeds and accelerations will differ. >> >> Sorry if I'm restating obvious things... >> Alex. > > > Dont know a thing about gantrys but maybe one approach is to separate the > synchronization from homing, and do a synchronize operation first, then do > homing. For example a servo system with indexes on its encoder could always > synchronize within one leadscrew turn (and a servo with resolver or other > absolute encoder could sync with a minimal motion at startup), and then homing > is (almost) standard, with even one home switch being sufficient. > > > Peter Wallace >
(Syncing on index of course assuming you could not easily "rack" the gantry 1/2 a leadscrew turn) Peter Wallace ------------------------------------------------------------------------------ Download Intel® Parallel Studio Eval Try the new software tools for yourself. Speed compiling, find bugs proactively, and fine-tune applications for parallel performance. See why Intel Parallel Studio got high marks during beta. http://p.sf.net/sfu/intel-sw-dev _______________________________________________ Emc-developers mailing list [email protected] https://lists.sourceforge.net/lists/listinfo/emc-developers
