On Tue, 2010-04-20 at 08:14 -0700, Peter C. Wallace wrote:
> 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
Taking this a half-step further ...
a. hold position on master side of gantry
b. while monitoring a strain gage on the cross member minimize strain.
c. sync sides
d. home using master side.
Not easy but it makes sense to me. :-)
Of course, a lot of things that make sense to me don't to other
people. ;-)
You have to really serious about the end result to do it this way. :-)
Dave
>
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