Hello, from my understaning of EMC2 code this problem is another manifestation of axes/joints difference. Home switch is on joint, home position is probably considered in cartesian (axis) space. Not all joint coordinates are vadid. And homing should somehow avoid theese invalid positions.
Maybe using forward + inverse kinemmatics could help - use some (aproximated) starting axis and joint position, let single joint home as usual, but use forward and inverse kinematics (or some kinematics helper function from kinematics) to keep all other dependent joints in sync. As home positions are known, use them to update assumptions in model. This could be probably implemented quite easily for gantry kins. Much more interresting problem will arise when homing machine with nontrivial kinematics. For example hexapod machine can hit singular position with current homing (with much more descructive effects). Petr ------------------------------------------------------------------------------ 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
